YASKAWA SigmaLogic7 Compact User manual

SigmaLogic7 Compact
Hardware Manual

3
100V/200V Safety Standards and Performance Level
Certification marks for the standards for which the product has been certified by certifi-
cation bodies are shown on nameplate. Products that do not have the marks are not cer-
tified for the standards.
North American Safety Standards (UL)
European Directives
Safety Standards
Product Model UL Standards (UL File No.)
SERVOPACKs •SGD7S UL 61800-5-1 (E147823),
CSA C22.2 No.274
Product Model European Directive Harmonized Standards
SERVO-
PACKs •SGD7S
Machinery Directive
2006/42/EC EN ISO13849-1: 2015
EMC Directive
2014/30/EU
EN 55011 group 1, class A
EN 61000-6-2
EN 61000-6-4
EN 61800-3
(Category C, Second environ-
ment)
Low Voltage Directive
2014/35/EU
EN 50178
EN 61800-5-1
Product Model European Directive Harmonized Standards
SERVO-
PACKs •SGD7S
Safety of Machinery EN IOSO13849-1:2015
IEC 60204-1
Functional Safety
IEC 61508 series
IEC 62061
IEC61800-5-2
EMC IEC 61326-3-1

4
Safety Performance Amplifier Alone
Safety Performance with Safety Module
Items Standards Performance Level
Safety Integrity Level IEC 61508 SIL3
IEC 62061 SILCL3
Mission Time IEC 61508 10 years 20 years
Probability of Dangerous
Failure per Hour IEC 61508
IEC 62061 PFH = 4.60 x 10-9 [1/h]
4.60% of SIL3
PFH = 4.62 x 10-9 [1/h]
4.62% of SIL3
Performance Level EN ISO
13849-1 PLe (Category 3)
Mean Time to Dangerous
Failure of Each Channel
EN ISO
13849-1 MTTFd: High
Average Diagnostic
Coverage
EN ISO
13849-1 DCavg: Medium
Stop Category IEC 60204-1 Stop category 0
Safety Function IEC
61800-5-2 STO
Hardware Fault Tolerance IEC 61508 HFT = 1
Subsystem IEC 61508 B
Items Standards Performance Level
Safety Integrity Level IEC 61508 SIL2
IEC 62061 SILCL2
Probability of Dangerous
Failure per Hour
IEC 61508
IEC 62061 PFH = 3.3 x 10-7 [1/h]
3.3% of SIL2
Performance Level EN ISO 13849-1 PL d (Category 2)
Mean Time to Dangerous
Failure of Each Channel EN ISO 13849-1 MTTFd: High
Average Diagnostic
Coverage EN ISO 13849-1 DCavg: Medium
Safety Function IEC 61800-5-2 STO/SS1/SS2/SLS
Mission Time IEC 61508 10 Years
Hardware Fault Tolerance IEC 61508 HFT = 1
Subsystem IEC 61508 B

5
400V Safety Standards and Performance Level
Certification marks for the standards for which the product has been certified by certifi-
cation bodies are shown on nameplate. Products that do not have the marks are not cer-
tified for the standards.
North American Safety Standards (UL)
European Directives
Safety Standards
Product Model UL Standards (UL File No.)
SERVOPACKs •SGD7S UL 61800-5-1 (E147823),
CSA C22.2 No.274
Product Model European Directive Harmonized Standards
SERVO-
PACKs •SGD7S
Machinery Directive
2006/42/EC EN ISO13849-1: 2015
EMC Directive
2014/30/EU
EN 55011 group 1, class A
EN 61000-6-2
EN 61000-6-4
EN 61800-3
(Category C, Second environ-
ment)
Low Voltage Directive
2014/35/EU
EN 50178
EN 61800-5-1
RoHS Directive 2011/65/EU EN 50581
Product Model European Directive Harmonized Standards
SERVO-
PACKs •SGD7S
Safety of Machinery EN IOSO13849-1:2015
IEC 60204-1
Functional Safety
IEC 61508 series
IEC 62061
IEC61800-5-2
EMC IEC 61326-3-1

6
Safety Performance Amplifier Alone
Safety Performance with Safety Module
Items Standards Performance Level
Safety Integrity Level IEC 61508 SIL3
IEC 62061 SILCL3
Mission Time IEC 61508 10 years 20 years
Probability of Dangerous
Failure per Hour IEC 61508
IEC 62061 PFH = 4.60 x 10-9 [1/h]
4.60% of SIL3
PFH = 4.62 x 10-9 [1/h]
4.62% of SIL3
Performance Level EN ISO
13849-1 PLe (Category 3)
Mean Time to Dangerous
Failure of Each Channel
EN ISO
13849-1 MTTFd: High
Average Diagnostic
Coverage
EN ISO
13849-1 DCavg: Medium
Stop Category IEC 60204-1 Stop category 0
Safety Function IEC
61800-5-2 STO
Hardware Fault Tolerance IEC 61508 HFT = 1
Subsystem IEC 61508 B
Items Standards Performance Level
Safety Integrity Level IEC 61508 SIL2
IEC 62061 SILCL2
Probability of Dangerous
Failure per Hour
IEC 61508
IEC 62061 PFH = 3.3 x 10-7 [1/h]
3.3% of SIL2
Performance Level EN ISO 13849-1 PL d (Category 2)
Mean Time to Dangerous
Failure of Each Channel EN ISO 13849-1 MTTFd: High
Average Diagnostic
Coverage EN ISO 13849-1 DCavg: Medium
Safety Function IEC 61800-5-2 STO/SS1/SS2/SLS
Mission Time IEC 61508 10 Years
Hardware Fault Tolerance IEC 61508 HFT = 1
Subsystem IEC 61508 B

Table of Contents
1
Table of Contents
1 Introduction
1.1 SigmaLogic7 Compact Features - - - - - - - - - - - - - - - - -3
1.2 SigmaLogic7 Compact Appearance - - - - - - - - - - - - - - -4
1.3 Model Number Designation - - - - - - - - - - - - - - - - - - - -6
1.4 Accessories - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6
2 Specifications and Settings
2.1 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7
2.2 DIP Switch Settings - - - - - - - - - - - - - - - - - - - - - - - - -13
2.3 Rotary Switches - - - - - - - - - - - - - - - - - - - - - - - - - - -14
2.4 Switch Factory Settings - - - - - - - - - - - - - - - - - - - - - -14
3 Installation Standards
3.1 Mechanical Installation/Dimensions - - - - - - - - - - - - - -15
3.2 Installing Multiple SERVOPACKS in a Control Panel - -16
4 Inputs and Outputs
4.1 Input Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -19
4.2 Output Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - -21
4.3 I/O Signal Connector (CN1) Pin Arrangement - - - - - - -23
4.4 I/O Signal Wiring Examples - - - - - - - - - - - - - - - - - - -25
4.5 I/O Circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -29
5 LED Outputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 23
6 Ethernet Connectivity
6.1 Ethernet Connector Details - - - - - - - - - - - - - - - - - - - -33
6.2 Ethernet Cable - - - - - - - - - - - - - - - - - - - - - - - - - - - -34
6.3 Ethernet Connection Examples - - - - - - - - - - - - - - - - -34

Table of Contents
2
7 Cable Diagrams
7.1 SBK-U-VBA-xx (200 V Only) - - - - - - - - - - - - - - - - - -37
7.2 JZSP-CSI02-x-E (200 V Only) - - - - - - - - - - - - - - - - -38
8 EMC Installation Conditions - - - - - - - - - - - - - - - - - - 39
9 Safety - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 43
9.1 Safety Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - -43
9.2 Safety Module Installation - - - - - - - - - - - - - - - - - - - -43
9.3 Supported Safety Functions - - - - - - - - - - - - - - - - - - -43
9.4 Relationship with Function Blocks for Motion - - - - - - -43
9.5 Risk Assessment - - - - - - - - - - - - - - - - - - - - - - - - - - -46

1 Introduction
3
1 Introduction
1.1 SigmaLogic7 Compact Features
The SigmaLogic7 Compact is a Sigma-7 SERVOPACK that features
built-in functionality which can be accessed by a Rockwell PLC using
EtherNet/IP protocol. Product features include:
Easy configuration with Yaskawa's free LogicWorks software
Add On Instructions (AOIs) are provided for use with Rockwell RSLogix
5000 software
Ethernet (100Mbps) auto crossover switching
• EtherNet/IP
• Allow high-speed communications with PLC
Sigma-7 servo amplifier I/O features
• 7 digital inputs
• 3 digital outputs (200 V models)
• 5 digital outputs (400 V models)

1 Introduction
4
1.2 SigmaLogic7 Compact Appearance
The following figure shows the external appearance of the SigmaLogic7
Compact servo interface.
200V Front View
400V Front View
CN6A/B: Ethernet
CN7: USB
CN1: SERVOPACK I/O
CN8: HWBB
CN2: Encoder
LED Indicators
Switches
(under cover)
Main Circuit
Power Supply
Servo Motor
Power
Control Circuit
Power Supply
Regenerative
Resistor
Connections
Switches
(under cover) LED Indicators

1 Introduction
5
400V Top View
400V Bottom View
CN101:
Main Circuit
Power Supply
CN103:
DC Bus
Terminals
CN201: Control
Circuit Power Supply CN7: USB
CN2: Encoder
CN8: HWBB
CN1:
SERVOPACK I/O
CN6A/B: Ethernet
CN102: Servo
Motor Power
CN115:
Dynamic Brake

1 Introduction
6
1.3 Model Number Designation
1.4 Accessories
System Components
Type Description Model Number Note
Accessories and
Cables (100 V AC
and 200 VAC)
CN1 Terminal Block
Conversion Kit SBK-U-VBA-xx(B)
xx denotes cable length
A5: 0.5 m
01: 1.0 m
03: 3.0 m
CN1 Cable (Flying
leads) JZSP-CSI02-x-E
x denotes cable length
A: 1.0 m
B: 2.0 m
C: 3.0 m
Communication Ethernet Cable Customer Supplied
Use high quality shielded
industrial Ethernet cables
(Yaskawa model
JZSP-CM3RRM0-xx-E is
recommended)
Accessory
(400 VAC) CN1 Connector JUSP-7CN001 30 Pin I/O Connector
Option Case Kit
Module cover and
mounting plate for
200V amps
SGDV-OZA01A Used for mounting safety module
Option Case Kit Mounting plate for
400V amps JZSP-P7R2-8-E Using for mounting safety module
2R8 A
Q0
A
000 F51
Q0
SGD7S-
F51
FT/EX Specification
Application function for SigmaLogic7
A 200 VAC
F 100 VAC
D 400 VAC
A: Global design revision
B: 400 V global design revision
Voltage
Interface
Code
Code
Specification Code
000
Specification
Without optionsAll models
Applicable
Models
Specification
SigmaLogic7
Compact
Design Revision Order
Hardware Options
Specification
4th digit
5th+6th digits
7th digit
8th+9th+10th digits
-7 Series
SERVOPACK
4th
digit
1st+2nd+3rd
digits
5th+6th
digits
8th+9th+10th
digits
7th
digit
11th+12th+
13th digits
11th+12th+13th digits
Code Specification
*1: These modelscan be used with either a single-phase or three-phase power supply input
R70
*1
R90
*1
1R6
*1
2R8
*1
3R8
5R5
*1
7R6
120
180
200
330
470
550
590
780
R70
R90
2R1
2R8
0.05 kW
0.1 kW
0.2 kW
0.4 kW
0.5 kW
0.75 kW
1.0 kW
1.5 kW
2.0 kW
3.0 kW
5.0 kW
6.0 kW
7.5 kW
11 kW
15 kW
0.05 kW
0.1 kW
0.2 kW
0.4 kW
Maximum Applicable
Motor Capacity
Voltage Code Spec. Voltage Code Spec.
Three-
phase,
200
VAC
1R9
3R5
5R4
8R4
120
170
210
260
280
370
500 W
1.0 kW
1.5 kW
2.0 kW
3.0 kW
5.0 kW
6.0 kW
7.5 kW
11 kW
15 kW
Three-
phase,
400
VAC
Single-
phase,
100
VAC
1st+2nd+3rd digits
F82
Application function for SigmaLogic7
with support for SGM7D motors

2 Specifications and Settings
2.1.1 200 V Specifications
7
2 Specifications and Settings
2.1 Specifications
2.1.1 200 V Specifications
Item Specification
Control Method IGBT-based PWM control, sine wave current drive
Feedback
With Rotary
Servomotor
Serial encoder: 20 bits or 24 bits (incremental encoder/
absolute encoder)
22 bits (absolute encoder)
With Linear
Servomotor
•Absolute linear encoder (The signal resolution depends on the
absolute linear encoder.)
•Incremental linear encoder (The signal resolution depends on
the incremental linear encoder or Serial Converter Unit.)
Environmen-
tal Conditions
Surrounding Air
Temperature
-5°C to 55°C
(With derating, usage is possible between 55°C and 60°C.)
Storage Tempera-
ture -20°C to 85°C
Surrounding Air
Humidity 95% relative humidity max. (with no freezing or condensation)
Storage Humidity 95% relative humidity max. (with no freezing or condensation)
Vibration
Resistance 4.9 m/s2
Shock Resistance 19.6 m/s2
Degree of
Protection
Pollution Degree
•Must be no corrosive or flammable gases.
•Must be no exposure to water, oil, or chemicals.
•Must be no dust, salts, or iron dust.
Altitude 1,000 m or less. (With derating, usage is possible between 1,000
m and 2,000 m.)
Others
Do not use the SERVOPACK in the following locations: Locations
subject to static electricity noise, strong electromagnetic/magnetic
fields, or radioactivity
Applicable Standards Compliance with UL Standards, EU Directives and Other Safety
Standards
Mounting
Degree SERVOPACK Model: SGD7S-
IP20 R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A,
7R6A, 120A, R70F, R90F, 2R1F, 2R8F
IP10 180A, 200A, 330A, 470A, 550A, 590A,
780A
Mounting SERVOPACK Model: SGD7S-
Base-mounted All Models
Rack-mounted
R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A,
7R6A, 120A, 180A, 200A, 330A, R70F,
R90F, 2R1F, 2R8F
Duct-ventilated 470A, 550A, 590A, 780A

2 Specifications and Settings
2.1.1 200 V Specifications
8
Performance
Speed Control
Range
1:5000 (At the rated torque, the lower limit of the speed control
range must not cause the Servomotor to stop.)
Coefficient of
Speed Fluctuation
±0.01% of rated speed max. (for a load fluctuation of 0% to 100%)
0% of rated speed max. (for a voltage fluctuation of ±10%)
±0.1% of rated speed max. (for a temperature fluctuation of 25°C
±25°C)
Torque Control
Precision (Repeat-
ability)
±1%
Soft Start Time
Setting
0 s to 10 s (Can be set separately for acceleration and decelera-
tion.)
I/O Signals
Encoder Divided
Pulse Output
Phase A, phase B, phase C: Line-driver output
Number of divided output pulses: Any setting is allowed.
Linear Servomotor
Overheat Protec-
tion Signal Input
Number of input points: 1
Input voltage range: 0 V to +5 V
Digital
Input
Signals
Input
Sig-
nals
That
Can
Be
Allo-
cated
Allowable voltage range: 24 VDC ±20%
Number of input points: 7
Input method: Sink inputs or source inputs
Input Signals
•P-OT (Forward Drive Prohibit) and N-OT (Reverse Drive Pro-
hibit) signals
•/EXT1 External latch signal input (General purpose input)
•/EXT2 (General Purpose Input) signal
•/EXT3 (General Purpose Input) signal
•/P-CL (Forward External Torque Limit) and /N-CL (Reverse
External Torque Limit) signals
•FSTP (Forced Stop Input) signal
A signal can be allocated and the positive and negative logic can
be changed.
I/O Signals
Digital
Output
Signals
Fixed
Output
Allowable voltage range: 5 VDC to 30 VDC
Number of output points: 1
Output signal: ALM (Servo Alarm) signal
Output
Sig-
nals
That
Can Be
Allo-
cated
Allowable voltage range: 5 VDC to 30 VDC
Number of output points: 3
(A photocoupler output (isolated) is used.)
Output Signals
•/COIN (Positioning Completion) signal
•/V-CMP (Speed Coincidence Detection) signal
•/TGON (Rotation Detection) signal
•/S-RDY (Servo Ready) signal
•/CLT (Torque Limit Detection) signal
•/VLT (Speed Limit Detection) signal
•/BK (Brake) signal
•/WARN (Warning) signal
•/NEAR (Near) signal
A signal can be allocated and the positive and negative logic can
be changed.
(cont?d)
Item Specification

2 Specifications and Settings
2.1.1 200 V Specifications
9
Communica-
tions
RS-422A
Commu-
nica-
tions
(CN502)
Inter-
faces
A JUSP-JC001 Communications Unit is required to connect to a
Digital Operator (JUSP-OP05A-1-E).
1:N
Com-
muni-
cations
Up to N = 15 stations possible for RS-422A port
Axis
Addres
s Set-
ting
Set with parameters.
USB
Commu-
nica-
tions
(CN7)
Inter-
face Personal computer (with SigmaWin+)
Com-
muni-
cations
Stan-
dard
Conforms to USB2.0 standard (12 Mbps).
Displays/Indicators CHARGE, PWR, CN, RUN, ERR, and L/A (A and B) indicators,
and one-digit seven-segment display
Analog Monitor (CN5)
Number of points: 2
Output voltage range: ±10 VDC (effective linearity range: ±8 V)
Resolution: 16 bits
Accuracy: ±20 mV (Typ)
Maximum output current: ±10 mA
Settling time (±1%): 1.2 ms (Typ)
Dynamic Brake (DB) Activated when a servo alarm or overtravel (OT) occurs, or when
the power supply to the main circuit or servo is OFF.
Regenerative Processing
Built-in (An external resistor must be connected to the SGD7S-
470A to -780A.)
Refer to the following manual for details.
S-7-Series AC Servo Drive Peripheral Device Selection
Manual (Manual No.: SIEP S800001 32)
Overtravel (OT) Prevention
Stopping with dynamic brake, deceleration to a stop, or coasting
to a stop for the P-OT (Forward Drive Prohibit) or N-OT (Reverse
Drive Prohibit) signal
Protective Functions Overcurrent, overvoltage, low voltage, overload, regeneration
error , etc.
Utility Functions Gain adjustment, alarm history, jogging, origin search, etc.
Safety Func-
tions
Inputs /HWBB1 and /HWBB2: Base block signals for Power Modules
Output EDM1: Monitors the status of built-in safety circuit (fixed output).
Applicable
Standards ISO13849-1 PLe (Category 3), IEC61508 SIL3
Applicable Option Modules
Fully-closed Modules and Safety Modules
Note: You cannot use a Fully-closed Module and a Safety Mod-
ule together.
(cont?d)
Item Specification

2 Specifications and Settings
2.1.2 400 V Specifications
10
2.1.2 400 V Specifications
Item Specification
Control Method IGBT-based PWM control, sine wave current drive
Feedback
With Rotary
Servomotor
Serial encoder: 24 bits
(incremental encoder/absolute
encoder)
With Linear
Servomotor
•Absolute linear encoder (The signal resolution depends on
the absolute linear encoder.)
•Incremental linear encoder (The signal resolution depends
on the incremental linear encoder or Serial Converter Unit.)
Environ-
mental
Conditions
Surrounding Air
Temperature*1 -5°C to 55°C
Storage Temperature -20°C to 85°C
Surrounding Air Humidity 95% relative humidity max. (with no freezing or condensation)
Storage Humidity 95% relative humidity max. (with no freezing or condensation)
Vibration Resistance 4.9 m/s2
Shock Resistance 19.6 m/s2
Degree of Protection IP10
Pollution Degree
2
•Must be no corrosive or flammable gases.
•Must be no exposure to water, oil, or chemicals.
•Must be no dust, salts, or iron dust.
Altitude 1,000 m or less.
Others
Do not use the SERVOPACK in the following locations: Loca-
tions subject to static electricity noise, strong electromagnetic/
magnetic fields, or radioactivity
Applicable Standards
Refer to the following section for details.
Compliance with UL Standards, EU Directives, and Other
Safety Standards on page xxi
Mounting Base-mounted
Perfor-
mance
Speed Control Range 1:5000 (At the rated torque, the lower limit of the speed control
range must not cause the Servomotor to stop.)
Coefficient of Speed
Fluctuation*2
±0.01% of rated speed max. (for a load fluctuation of 0% to
100%)
0% of rated speed max. (for a voltage fluctuation of ±10%)
±0.1% of rated speed max. (for a temperature fluctuation of
25°C ±25°C)
Torque Control Precision
(Repeatability) ±1%
Soft Start Time
Setting
0 s to 10 s (Can be set separately for acceleration and deceler-
ation.)

2 Specifications and Settings
2.1.2 400 V Specifications
11
I/O Signals
Encoder Divided Pulse
Output
Phase A, phase B, phase C: Line-driver output
Number of divided output pulses: Any setting is allowed.
Linear Servomotor Over-
heat Protection Signal
Input
Number of input points: 1
Input voltage range: 0 V to +5 V
Digital Input
Signals
Input
Signals
That Can
Be
Allocated
Allowable voltage range: 24 VDC ±20%
Number of input points: 7
Input method: Sink inputs or source inputs
Input Signals
•P-OT (Forward Drive Prohibit) and N-OT (Reverse Drive Pro-
hibit) signals
•/EXT1 External latch signal input (General purpose input)
•/EXT2 (General purpose input) signal
•/EXT3 (General purpose input) signal
•/P-CL (Forward External Torque Limit) and /N-CL (Reverse
External Torque Limit) signals
•/SI0 and /SI3 (General-Purpose Input) signals
A signal can be allocated and the positive and negative logic
can be changed.
Digital Out-
put Signals
Fixed
Output
Allowable voltage range: 5 VDC to 30 VDC
Number of output points: 1
Output signal: ALM (Servo Alarm) signal
Output
Signals
That Can
Be Allo-
cated
Allowable voltage range: 5 VDC to 30 VDC
Number of output points: 5
(A photocoupler output (isolated) is used.)
Output Signals
•/COIN (Positioning Completion) signal
•/V-CMP (Speed Coincidence Detection) signal
•/TGON (Rotation Detection) signal
•/S-RDY (Servo Ready) signal
•/CLT (Torque Limit Detection) signal
•/VLT (Speed Limit Detection) signal
•/BK (Brake) signal
•/WARN (Warning) signal
•/NEAR (Near) signal
A signal can be allocated and the positive and negative logic
can be changed.
Communi-
cations
RS-422A
Communi-
cations
(CN502)
Interfaces Digital Operator (JUSP-OP05A-1-E).
1:N
Communi-
cations
Up to N = 15 stations possible for RS-422A port
Axis
Address
Setting
Set with parameters.
USB Com-
munica-
tions (CN7)
Interface
Personal computer (with SigmaWin+)
The software version of the SigmaWin+ must be version 7.11 or
higher.
Communi-
cations
Standard
Conforms to USB2.0 standard (12 Mbps).
Item Specification

2 Specifications and Settings
2.1.2 400 V Specifications
12
* 1. If you combine a -7-Series SERVOPACK with a -V-Series Option Module, the surrounding air tempera-
ture specification of the -V-Series SERVOPACKs must be used, i.e., 0°C to 55°C. Also, the applicable
surrounding range cannot be increased by derating.
* 2. The coefficient of speed fluctuation for load fluctuation is defined as follows:
* 3. Always perform risk assessment for the system and confirm that the safety requirements are met.
Displays/Indicators CHARGE, PWR, RUN, ERR, and L/A (A and B) indicators, and
one-digit seven-segment display
Ethernet IP Address Setting Switches Used to configure IP address
Analog Monitor (CN5)
Number of points: 2
Output voltage range: ±10 VDC (effective linearity range: ±8 V)
Resolution: 16 bits
Accuracy: ±20 mV (Typ)
Maximum output current: ±10 mA
Settling time (±1%): 1.2 ms (Typ)
Dynamic Brake (DB) Activated when a servo alarm or overtravel (OT) occurs, or
when the power supply to the main circuit or servo is OFF.
Regenerative Processing Built-in
Refer to the catalog for details.
Overtravel (OT) Prevention
Stopping with dynamic brake, deceleration to a stop, or coast-
ing to a stop for the P-OT (Forward Drive Prohibit) or N-OT
(Reverse Drive Prohibit) signal
Protective Functions Overcurrent, overvoltage, low voltage, overload, regeneration
error, etc.
Utility Functions Gain adjustment, alarm history, jogging, origin search, etc.
Safety
Functions
Inputs /HWBB1 and /HWBB2: Base block signals for Power Modules
Output EDM1: Monitors the status of built-in safety circuit (fixed out-
put).
Applicable
Standards*3 ISO13849-1 PLe (category 3), IEC61508 SIL3
Item Specification
×100%
Coefcient of speed uctuation = No-load motor speed - Total-load motor speed
Rated motor speed

2 Specifications and Settings
2.1.2 400 V Specifications
13
2.2 DIP Switch Settings
1
2
3
4
DIP Switches
Rotary
Switches
(used to
set IP
address)
Rotary Switch 1 Rotary Switch 0
Switch Name Setting Operating Mode
Setting for
Normal
Operation
Details
1
STOP
ON User program execution
inhibited OFF Inhibits user program execution
OFF Normal operation
2
SUP
ON Firmware programming
mode OFF
Enables servo controller firmware
programming. This mode can also be
performed via web UI without changing
the DIP switch.
OFF Normal operation
3
INIT
ON Configuration bypass
mode OFF
Set to ON to bypass the stored
configuration (e.g. in case of a
configuration problem that prevents
servo controller startup)
OFF Normal operation
4
E-INIT
ON Normal operation
OFF
Rotary switches used to set IP address
OFF Rotary switches ignored IP address is set from configuration
settings in servo controller

2 Specifications and Settings
2.1.2 400 V Specifications
14
2.3 Rotary Switches
When DIP switch 4 (E-INIT) is OFF, the rotary switches are ignored.
The IP address is set from configuration settings stored on the servo
controller.
Rotary switches are normally used to set the IP address. This is the
case when DIP switch 4 (E-INIT) is ON
If both rotary switches are set to 0, use DHCP.
If either rotary switch is non zero, the last octet of the IP address is set
by the value on the switches. Note that the switch values are labeled in
hexadecimal. The IP address will be 192.168.1.x where x is 0x01 to
0xFF for a decimal value of 01 to 255.
2.4 Switch Factory Settings
All DIP switches off
Rotary switches at 0 and 1.
Configured IP address is 192.168.1.1
Rotary Switch 1 Rotary Switch 0 IP Address
0 0 Set by DHCP
0 1 192.168.1.1
0 2 192.168.1.2
... ... ...
0 F 192.168.1.15
1 0 192.168.1.16
... ... ...
1 F 192.168.1.31
2 0 192.168.1.32
... ... ...
F F 192.168.1.255