YASKAWA SVC User manual

SVC/SVR, SVC32/SVR32
Motion Control
Machine Controller MP3000 Series
USER’S MANUAL
MANUAL NO. SIEP C880725 11E
1
2
3
4
5
6
7
8
9
10
11
Parameters for Motion Control
Other Useful Functions
Sample Programming
Stepping Motor Drive Operation
Inverter Operation
Appendices
Basic Information on
Motion Control
Basic Information on Motion
Control Function Modules
Motion Control Program
Commands and Instructions
Machine-Specific
Motion Control
Making Settings for Motion
Control with the MPE720

Copyright © 2011 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a
retrieval system, or transmitted, in any form, or by any means, mechanical, elec-
tronic, photocopying, recording, or otherwise, without the prior written permission
of Yaskawa. No patent liability is assumed with respect to the use of the informa-
tion contained herein. Moreover, because Yaskawa is constantly striving to
improve its high-quality products, the information contained in this manual is sub-
ject to change without notice. Every precaution has been taken in the preparation
of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or
omissions. Neither is any liability assumed for damages resulting from the use of
the information contained in this publication.

iii
About this Manual
This manual describes the specifications, system configurations, and operating methods for the
SVC, SVR, SVC32, and SVR32 Function Modules that are used in an MP3000-series Machine
Controller for motion control.
Read this manual carefully to ensure the correct usage of the Machine Controller and apply the
Machine Controller to control your manufacturing system.
Keep this manual in a safe place so that it can be referred to whenever necessary.
Outline of Manual
The contents of the chapters of this manual are described in the following table. Refer to the chap-
ters of this manual as required for your application.
Chapter Chapter Title Contents
1 Basic Information on Motion Control Describes the types of programs and the type of motion control that
are used to perform motion control with the MP3000.
2Basic Information on Motion Control
Function Modules
Provides basic information on Motion Control Function Modules that
are built into the MP3000.
3 Parameters for Motion Control Describes motion parameters required for motion control.
4Motion Control Program
Commands and Instructions
Describes the motion commands required to write ladder programs
and the motion language instructions required to write motion pro-
grams.
5 Machine-Specific Motion Control Provides information and describes settings that are necessary to
perform machine-specific motion control.
6 Other Useful Functions Describes convenient functions related to motion control that are
provided by the MP3000.
7Making Settings for Motion Control
with the MPE720
Describes how to confirm information and make settings for the
Motion Control Function Module.
8 Sample Programming Provides sample programming for motion control.
9 Stepping Motor Drive Operation
Of the information that is necessary to perform motion control with a
Stepping Motor Drive, provides the information that is different from
when a Servo Drive is connected.
10 Inverter Operation Describes the operations, commands, and parameter settings that
are necessary to perform motion control with an Inverter.
11 Appendices Provides supplemental information related to motion control.

iv
Related Documents
MP2000/MP3000 Series Related Manuals
The following table lists the manuals that are related to the MP2000/MP3000-series Machine Con-
trollers. Refer to these manuals as required.
Category Manual Name Manual Number Contents
Basic func-
tionality
Machine Controller MP2000/MP3000
Series Machine Controller System
Setup Manual
SIEP C880725 00
Describes the functions of the
MP2000/MP3000-series Machine Con-
trollers and the procedures that are
required to use the Machine Controller,
from installation and connections to
settings, programming, trial operation,
and debugging.
Machine Controller MP3000 Series
MP3200/MP3300
Troubleshooting Manual
SIEP C880725 01 Describes troubleshooting an MP3000-
series Machine Controller.
Machine Controller MP3000 Series
MP3200 User’s Manual SIEP C880725 10
Describes the specifications and sys-
tem configuration of the Basic Units in
an MP3000-series Machine Controller
and the functions of the CPU Unit.
Machine Controller MP3000 Series
MP3300 Product Manual SIEP C880725 21
Describes the specifications and sys-
tem configuration of an MP3000-series
MP3300 Machine Controller and the
functions of the CPU Module.
Communica-
tions func-
tionality
Machine Controller MP3000 Series
Communications User’s Manual SIEP C880725 12
Describes the specifications, system
configuration, and communications
connection methods for the Ethernet
communications that are used with an
MP3000-series Machine Controller.
Motion con-
trol function-
ality
Machine Controller MP2000 Series
SVA-01 Motion Module User’s Manual SIEP C880700 32
Describes the functions, specifica-
tions, and operating methods of the
MP2000-series SVA-01 Motion Mod-
ule.
Machine Controller MP2000 Series
Built-in SVB/SVB-01 Motion Module
User’s Manual
SIEP C880700 33
Describes the functions, specifica-
tions, and operating methods of the
MP2000-series Motion Module (built-in
Function Modules: SVB, SVB-01, and
SVR).
Machine Controller MP2000 Series
SVC-01 Motion Module User’s Manual SIEP C880700 41
Describes the functions, specifica-
tions, and operating methods of the
MP2000-series SVC-01 Motion Mod-
ule.
Machine Controller MP2000 Series
Pulse Output Motion Module PO-01
User’s Manual
SIEP C880700 28
Describes the functions, specifica-
tions, and operating methods of the
MP2000-series PO-01 Motion Module.
Program-
ming
Machine Controller MP3000 Series
Ladder Programming Manual SIEP C880725 13
Describes the ladder programming
specifications and instructions of
MP3000-series Machine Controller.
Machine Controller MP3000 Series
Motion Programming Manual SIEP C880725 14
Describes the motion programming
and sequence programming specifica-
tions and instructions of MP3000-
series Machine Controller.
Machine Controller MP900/MP2000
Series User’s Manual, Ladder Program-
ming
SIEZ-C887-1.2 Describes the instructions used in
MP2000 ladder programming.
Machine Controller MP2000 Series
User’s Manual for Motion Programming SIEP C880700 38 Describes the instructions used in MP2000 motion programming.
Continued on next page.

v
MECHA-
TROLINK
I/O
MECHATROLINK-III Compatible I/O
Module User’s Manual SIEP C880781 04
Describes the functions, specifica-
tions, operating methods, and MECHA-
TROLINK-III communications for the
Remote I/O Modules for MP2000/
MP3000-series Machine Controllers.
Machine Controller MP900/MP2000
Series Distributed I/O Module
User’s Manual, MECHATROLINK System
SIE-C887-5.1
Describes MECHATROLINK distrib-
uted I/O for MP900/MP2000-series
Machine Controllers.
Engineering
Tool
Machine Controller MP2000/MP3000
Series
Engineering Tool MPE720 Version 7
User’s Manual
SIEP C880761 03 Describes how to operate MPE720 ver-
sion 7.
Continued from previous page.
Category Manual Name Manual Number Contents

vi
Using this Manual
Basic Terms
Unless otherwise specified, the following definitions are used:
•Machine Controller: MP3000-series Machine Controller or MP2000-series Machine Controller.
•MPE720: The Engineering Tool or a personal computer running the Engineering Tool
•M-III: MECHATROLINK-III communications
•Fixed parameters: The fixed parameters in the motion parameters.
•Setting parameters: The setting parameters in the motion parameters.
•Monitor parameters: The monitor parameters in the motion parameters.
•PLC: A Programmable Logic Controller
•MP3000: A generic name for the MP3100, MP3200, and MP3300.
•MP3200: A generic name for the Power Supply Unit, CPU Unit, Base Unit, and Rack Expansion
Interface Unit.
•MP3300: A generic name for the CPU Module and Base Unit.
•SVC Function Module: A generic name for the SVC and SVC32.
•SVR Function Module: A generic name for the SVR and SVR32.
Engineering Tools Used in This Manual
In this manual, the operation is described using MPE720 screen captures.
Trademarks
•QR code is a trademark of Denso Wave Inc.
•MECHATROLINK is a trademark of the MECHATROLINK Members Association.
•Ethernet is a registered trademark of the Xerox Corporation.
•Other product names and company names are the trademarks or registered trademarks of the
respective company. “TM” and the
® mark do not appear with product or company names in this
manual.
Visual Aids
The following aids are used to indicate certain types of information for easier reference.
Indicates precautions or restrictions that must be observed.
Indicates alarm displays and other precautions that will not result in machine damage.
Indicates definitions of difficult terms or terms that have not been previously explained in this manual.
Indicates operating or setting examples.
Indicates supplemental information to deepen understanding or useful information.
Important
Term
Example
Information

vii
Safety Precautions
Safety Information
To prevent personal injury and equipment damage in advance, the following signal words are used
to indicate safety precautions in this document. The signal words are used to classify the hazards
and the degree of damage or injury that may occur if a product is used incorrectly. Information
marked as shown below is important for safety. Always read this information and heed the precau-
tions that are provided.
DANGER
Indicates precautions that, if not heeded, are likely to result in loss of life, serious injury, or fire.
WARNING
Indicates precautions that, if not heeded, could result in loss of life, serious injury, or fire.
CAUTION
Indicates precautions that, if not heeded, could result in relatively serious or minor injury, or in
fire.
NOTICE
Indicates precautions that, if not heeded, could result in property damage.

viii
Safety Precautions That Must Always Be Observed
General Precautions
DANGER
Read and understand this manual to ensure the safe usage of the SERVOPACK.
Keep this manual in a safe, convenient place so that it can be referred to whenever necessary.
Make sure that it is delivered to the final user of the SERVOPACK.
Do not remove covers, cables, connectors, or optional devices while power is being supplied to
the SERVOPACK.
There is a risk of electric shock, operational failure of the SERVOPACK, or burning.
WARNING
Use a power supply with specifications (number of phases, voltage, frequency, and AC/DC
type) that are appropriate for the SERVOPACK.
There is a risk of burning, electric shock, or fire.
Connect the ground terminals on the SERVOPACK and Servomotor to ground poles according
to local electrical codes (100 Ω or less for a SERVOPACK with a 200-VAC power supply).
There is a risk of electric shock or fire.
Do not attempt to disassemble, repair, or modify the SERVOPACK.
There is a risk of fire or malfunction.
The warranty is void for the SERVOPACK if you disassemble, repair, or modify it.
The installation must be suitable and it must be performed only by an experienced technician.
There is a risk of electric shock or injury.
Before connecting the machine and starting operation, make sure that an emergency stop pro-
cedure has been provided and is working correctly.
There is a risk of injury.
Do not touch anything inside the SERVOPACK.
There is a risk of electric shock.
CAUTION
The SERVOPACK heat sinks, regenerative resistors, External Dynamic Brake Resistors, Servo-
motors, and other components can be very hot while power is ON or soon after the power is
turned OFF. Implement safety measures, such as installing covers, so that hands and parts
such as cables do not come into contact with hot components.
There is a risk of burn injury.
For a 24-VDC power supply, use a power supply device with double insulation or reinforced
insulation.
There is a risk of electric shock.
Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch the cables.
There is a risk of failure, damage, or electric shock.
Never use the SERVOPACK in locations subject to water, corrosive atmospheres, or flammable
gas, or near flammable objects.
There is a risk of electric shock or fire.

ix
Storage Precautions
Transportation Precautions
NOTICE
Do not attempt to use a SERVOPACK or Servomotor that is damaged or that has missing parts.
Install external emergency stop circuits that shut OFF the power supply and stop operation
immediately when an error occurs.
In locations with poor power supply conditions, install the necessary protective devices (such as
AC reactors) to ensure that the input power is supplied within the specified voltage range.
There is a risk of damage to the SERVOPACK.
Use a Noise Filter to minimize the effects of electromagnetic interference.
Electronic devices used near the SERVOPACK may be affected by electromagnetic interference.
Always use a Servomotor and SERVOPACK in one of the specified combinations.
Do not touch a SERVOPACK or Servomotor with wet hands.
There is a risk of SERVOPACK failure.
CAUTION
Do not place an excessive load on the SERVOPACK during storage. (Follow all instructions on
the packages.)
There is a risk of injury or damage.
NOTICE
Do not install or store the SERVOPACK in any of the following locations.
•Locations that are subject to direct sunlight
•Locations that are subject to ambient temperatures that exceed SERVOPACK specifications
•Locations that are subject to relative humidities that exceed SERVOPACK specifications
•Locations that are subject to condensation as the result of extreme changes in temperature
•Locations that are subject to corrosive or flammable gases
•Locations that are near flammable materials
•Locations that are subject to dust, salts, or iron powder
•Locations that are subject to water, oil, or chemicals
•Locations that are subject to vibration or shock that exceeds SERVOPACK specifications
•Locations near devices that generate strong magnetic fields
•Locations that are subject to radiation
If you store or install the SERVOPACK in any of the above locations, the SERVOPACK may fail or be
damaged.
CAUTION
Transport the SERVOPACK in a way that is suitable to the mass of the SERVOPACK.
Do not use the eyebolts on a SERVOPACK or Servomotor to move the machine.
There is a risk of damage or injury.
When you handle a SERVOPACK or Servomotor, be careful of sharp parts, such as the corners.
Doing so may result in injury.
Do not place an excessive load on the SERVOPACK during transportation. (Follow all instruc-
tions on the packages.)
There is a risk of injury or damage.

x
Installation Precautions
NOTICE
Do not hold onto the front cover or connectors when you move a SERVOPACK.
There is a risk of the SERVOPACK falling.
The SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong
shock.
There is a risk of failure or damage.
Do not subject connectors to shock.
There is a risk of faulty connections or damage.
Never subject the SERVOPACK to an atmosphere containing halogen (fluorine, chlorine, bro-
mine, or iodine) during transportation.
There is a risk of failure or damage.
If disinfectants or insecticides must be used to treat packing materials such as wooden frames,
pallets, or plywood, the packing materials must be treated before the SERVOPACK is packaged,
and methods other than fumigation must be used.
Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C
for 30 minutes or more.
If the electronic products, which include stand-alone products and products installed in machines,
are packed with fumigated wooden materials, the electrical components may be greatly damaged
by the gases or fumes resulting from the fumigation process. In particular, disinfectants containing
halogen, which includes chlorine, fluorine, bromine, or iodine can contribute to the erosion of the
capacitors.
Do not overtighten the eyebolts on a SERVOPACK or Servomotor.
If you use a tool to overtighten the eyebolts, the tapped holes may be damaged.
CAUTION
Install the SERVOPACK or Servomotor in a way that will support the mass given in technical
documents.
Install SERVOPACKs, Servomotors, regenerative resistors, and External Dynamic Brake Resis-
tors on nonflammable materials.
Installation directly onto or near flammable materials may result in fire.
Provide the specified clearances between the SERVOPACK and the control panel as well as
with other devices.
There is a risk of fire or failure.
Install the SERVOPACK in the specified orientation.
There is a risk of fire or failure.
Do not step on or place a heavy object on the SERVOPACK.
There is a risk of failure, damage, or injury.
Do not allow any foreign matter to enter the SERVOPACK or Servomotor.
There is a risk of failure or fire.

xi
Wiring Precautions
NOTICE
Do not install or store the SERVOPACK in any of the following locations.
•Locations that are subject to direct sunlight
•Locations that are subject to ambient temperatures that exceed SERVOPACK specifications
•Locations that are subject to relative humidities that exceed SERVOPACK specifications
•Locations that are subject to condensation as the result of extreme changes in temperature
•Locations that are subject to corrosive or flammable gases
•Locations that are near flammable materials
•Locations that are subject to dust, salts, or iron powder
•Locations that are subject to water, oil, or chemicals
•Locations that are subject to vibration or shock that exceeds SERVOPACK specifications
•Locations near devices that generate strong magnetic fields
•Locations that are subject to radiation
If you store or install the SERVOPACK in any of the above locations, the SERVOPACK may fail or be
damaged.
Use the SERVOPACK in an environment that is appropriate for the SERVOPACK specifications.
If you use the SERVOPACK in an environment that exceeds SERVOPACK specifications, the SER-
VOPACK may fail or be damaged.
The SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong
shock.
There is a risk of failure or damage.
Always install a SERVOPACK in a control panel.
Do not allow foreign objects to enter a SERVOPACK or a Servomotor with a Cooling Fan and do
not cover the inlet or outlet of the Servomotor’s cooling fan.
There is a risk of failure.
Never install the SERVOPACK in an atmosphere containing halogen (fluorine, chlorine, bromine,
or iodine).
There is a risk of failure or damage.
DANGER
Do not change any wiring while power is being supplied.
There is a risk of electric shock or injury.
WARNING
Wiring and inspections must be performed only by qualified engineers.
There is a risk of electric shock or SERVOPACK failure.
Check all wiring and power supplies carefully.
Incorrect wiring or incorrect voltage application to the output circuits may cause short-circuit fail-
ures. If a short-circuit failure occurs as a result of any of these causes, the holding brake will not
work. This could damage the machine or cause an accident that may result in death or injury.
Connect the AC or DC power supplies to the specified SERVOPACK terminals.
•Connect an AC power supply to the L1, L2, and L3 terminals and the L1C and L2C terminals on the
SERVOPACK.
•Connect a DC power supply to the B1/ and 2 terminals and the L1C and L2C terminals on the
SERVOPACK.
There is a risk of failure or fire.
If you use a SERVOPACK with the Dynamic Brake Hardware Option, connect an External
Dynamic Brake Resistor that is suitable for the machine and equipment specifications to the
specified terminals.
There is a risk of unexpected operation, machine damage, burning, or injury when an emergency
stop is performed.

xii
CAUTION
Wait for at least six minutes after turning OFF the power supply and then make sure that the
CHARGE indicator is not lit before starting wiring or inspection work. Do not touch the power
supply terminals while the CHARGE lamp is lit because high voltage may still remain in the SER-
VOPACK even after turning OFF the power supply.
There is a risk of electric shock.
Observe the precautions and instructions for wiring and trial operation precisely as described in
this document.
Failures caused by incorrect wiring or incorrect voltage application in the brake circuit may cause
the SERVOPACK to fail, damage the equipment, or cause an accident resulting in death or injury.
Check the wiring to be sure it has been performed correctly.
Connectors and pin layouts are sometimes different for different models. Always confirm the pin
layouts in technical documents for your model before operation.
There is a risk of SERVOPACK failure or malfunction.
Connect wires to power supply terminals and motor connection terminals securely with the
specified methods and tightening torque.
Insufficient tightening may cause wires and terminal blocks to generate heat due to faulty contact,
possibly resulting in fire.
Use shielded twisted-pair cables or shielded multi-twisted-pair cables for I/O Signal Cables and
Encoder Cables.
Observe the following precautions when wiring the SERVOPACK’s main circuit terminals.
•Turn ON the power supply to the SERVOPACK only after all wiring, including the main circuit termi-
nals, has been completed.
•If a connector is used for the main circuit terminals, remove the main circuit connector from the SER-
VOPACK before you wire it.
•Insert only one wire per insertion hole in the main circuit terminals.
•When you insert a wire, make sure that the conductor wire (e.g., whiskers) does not come into con-
tact with adjacent wires and cause a short-circuit.
Install molded-case circuit breakers and other safety measures to provide protection against
short circuits in external wiring.
There is a risk of fire or failure.
In places with poor power supply conditions, ensure that the input power is supplied within the
specified voltage range.
There is a risk of equipment damage.
Provide sufficient shielding when using the SERVOPACK in the following locations.
•Locations that are subject to noise, such as from static electricity
•Locations that are subject to strong electromagnetic or magnetic fields
•Locations that are subject to radiation
•Locations that are near power lines
There is a risk of equipment damage.

xiii
Configure the circuits to turn ON the control power supply to the SERVOPACK before the 24-V
I/O power supply.
If the control power supply to the SERVOPACK is turned ON after the external power supply, e.g.,
the 24-V I/O power supply, the outputs from the SERVOPACK may momentarily turn ON when the
power supply to the SERVOPACK turns ON. This can result in unexpected operation that may
cause injury or device damage.
Provide emergency stop circuits, interlock circuits, limit circuits, and any other required safety
measures in control circuits outside of the SERVOPACK.
There is a risk of injury or device damage.
If you use MECHATROLINK I/O Modules, use the establishment of MECHATROLINK communi-
cations as an interlock output condition.
There is a risk of device damage.
Select the I/O signal wires for external wiring to connect the SERVOPACK to external devices
based on the following criteria:
•Mechanical strength
•Noise interference
•Wiring distance
•Signal voltage
Separate the I/O signal cables for control circuits from the power cables both inside and outside
the control panel to reduce the influence of noise from the power cables.
If the I/O signal lines and power lines are not separated properly, malfunction may occur.
NOTICE
Whenever possible, use the Cables specified by Yaskawa.
If you use any other cables, confirm the rated current and application environment of your model
and use the wiring materials specified by Yaskawa or equivalent materials.
Securely tighten cable connector lock screws and lock mechanisms.
Insufficient tightening may result in cable connectors falling off during operation.
Do not bundle power lines (e.g., the Main Circuit Cable) and low-current lines (e.g., the I/O Sig-
nal Cables or Encoder Cables) together or run them through the same duct. If you do not place
power lines and low-current lines in separate ducts, separate them by at least 30 cm.
If the cables are too close to each other, malfunctions may occur due to noise affecting the low-cur-
rent lines.
Install a battery at either the host controller or on the Encoder Cable.
If you install batteries both at the host controller and on the Encoder Cable at the same time, you
will create a loop circuit between the batteries, resulting in a risk of damage or burning.
When connecting a battery, connect the polarity correctly.
There is a risk of battery rupture or encoder failure.
CAUTION
Steel separator
I/O signal
cablesin
control circuits
Power
cables
Example of Separated Cables

xiv
Operation Precautions
WARNING
Before starting operation with a machine connected, change the settings of the switches and
parameters to match the machine.
Unexpected machine operation, failure, or personal injury may occur if operation is started before
appropriate settings are made.
Do not radically change the settings of the parameters.
There is a risk of unstable operation, machine damage, or injury.
Install limit switches or stoppers at the ends of the moving parts of the machine to prevent
unexpected accidents.
There is a risk of machine damage or injury.
For trial operation, securely mount the Servomotor and disconnect it from the machine.
There is a risk of injury.
Forcing the motor to stop for overtravel is disabled when the Jog, Origin Search, or Easy FFT
utility function is executed. Take necessary precautions.
There is a risk of machine damage or injury.
When an alarm occurs, the Servomotor will coast to a stop or stop with the dynamic brake
according to the SERVOPACK Option and settings. The coasting distance will change with the
moment of inertia of the load and the resistance of the External Dynamic Brake Resistor. Check
the coasting distance during trial operation and implement suitable safety measures on the
machine.
Do not enter the machine’s range of motion during operation.
There is a risk of injury.
Do not touch the moving parts of the Servomotor or machine during operation.
There is a risk of injury.

xv
CAUTION
Design the system to ensure safety even when problems, such as signal line disconnection,
occur.
For example, the P-OT and N-OT signals are set in the default settings to operate on the safe
side if there is a signal line disconnection. Do not change the polarity of this type of signal.
When overtravel occurs, the power supply to the motor is turned OFF and the brake is released.
If you use the Servomotor to drive in a vertical direction, set the Servomotor to enter a zero-
clamped state after the Servomotor stops. Also, install safety devices (such as an external
brake or counterweight) to prevent the moving parts of the machine from falling.
Always turn OFF the servo before you turn OFF the power supply. If you turn OFF the main cir-
cuit power supply or control power supply during operation before you turn OFF the servo, the
Servomotor will stop as follows:
•If you turn OFF the main circuit power supply during operation without turning OFF the servo, the
Servomotor will stop abruptly with the dynamic brake.
•If you turn OFF the control power supply without turning OFF the servo, the stopping method that is
used by the Servomotor depends on the model of the SERVOPACK. For details, refer to the manual
for the SERVOPACK.
•If you use a SERVOPACK with the Dynamic Brake Hardware Option, the Servomotor stopping meth-
ods will be different from the stopping methods used without the Option or with other Hardware
Options. For details, refer to the following manual for details.
Σ-7-Series Σ-7S/Σ-7W SERVOPACK with Dynamic Brake Hardware Option Specifications Product Manual
(Manual No.: SIEP S800001 73)
Do not use the dynamic brake for any application other than an emergency stop.
There is a risk of failure due to rapid deterioration of elements in the SERVOPACK and the risk of
unexpected operation, machine damage, burning, or injury.
Implement interlock signals and other safety circuits external to the SERVOPACK to ensure
safety in the overall system even if the following conditions occur.
•SERVOPACK failure or errors caused by external factors
•Shutdown of operation due to SERVOPACK detection of an error in self-diagnosis and the subse-
quent turning OFF or holding of output signals
•Holding of the ON or OFF status of outputs from the SERVOPACK due to fusing or burning of output
relays or damage to output transistors
•Voltage drops from overloads or short-circuits in the 24-V output from the SERVOPACK and the sub-
sequent inability to output signals
•Unexpected outputs due to errors in the power supply, I/O, or memory that cannot be detected by
the SERVOPACK through self-diagnosis.
There is a risk of injury, device damage, or burning.
Observe the setting methods that are given in the manual for the following parameters.
•Parameters for absolute position detection when the axis type is set to a finite-length axis
•Parameters for simple absolute infinite-length position control when the axis type is set to an infinite-
length axis
If any other methods are used, offset in the current position when the power supply is turned OFF
and ON again may result in device damage.
OL48 (Zero Point Position Offset in Machine Coordinate System) is always valid when the
axis type is set to a finite-length axis. Do not change the setting of OL48 while the
machine is operating.
There is a risk of machine damage or an accident.

xvi
Always check to confirm the paths of axes when any of the following axis movement instruc-
tions are used in programs to ensure that the system operates safely.
•Positioning (MOV)
•Linear Interpolation (MVS)
•Circular Interpolation (MCC or MCW)
•Helical Interpolation (MCC or MCW)
•Set-Time Positioning (MVT)
•Linear Interpolation with Skip Function (SKP)
•Zero Point Return (ZRN)
•External Positioning (EXM)
There is a risk of injury or device damage.
The travel path for the Positioning (MOV) instructions will not necessarily be a straight line.
Check to confirm the paths of the axis when this instruction is used in programs to ensure that
the system operates safely.
There is a risk of injury or device damage.
The Linear Interpolation (MVS) instruction can be used on both linear axes and rotary axes.
However, if a rotary axis is included, the linear interpolation path will not necessarily be a
straight line. Check to confirm the paths of the axis when this instruction is used in programs to
ensure that the system operates safely.
There is a risk of injury or device damage.
The linear interpolation for the Helical Interpolation (MCW and MCC) instructions can be used
for both linear axes and rotary axes. However, depending on how the linear axis is taken, the
path of helical interpolation will not be a helix. Check to confirm the paths of the axis when this
instruction is used in programs to ensure that the system operates safely.
There is a risk of injury or device damage.
Unexpected operation may occur if the following coordinate instructions are specified incor-
rectly: Always confirm that the following instructions are specified correctly before you begin
operation.
•Absolute Mode (ABS)
•Incremental Mode (INC)
•Current Position Set (POS)
There is a risk of injury or device damage.
CAUTION
Each axisismoved independently
at rapid travel speed.
Axis3
Axis1
Axis2
End position
Positioning operation
Current position
Axis3
Axis2
Axis1
Example of Basic Path for Positioning (MOV) Instructions
Example
(0,0)
(0,0)
Axis2
Axis2
Axis1
Axis1
(Axis2)
(Axis1)
Machine coordinate system
Working coordinate
system
Current position
Example of Working Coordinate System Created with the Set Current Position (POS) Instruction
Example

xvii
Maintenance and Inspection Precautions
The Move on Machine Coordinates (MVM) instruction temporarily performs positioning to a
coordinate position in the machine coordinate system. Therefore, unexpected operation may
occur if the instruction is executed without confirming the origin position in the machine coordi-
nate system first. When you use the MVM instruction, always confirm that the machine origin is
in the correct position before you begin operation.
There is a risk of injury or device damage.
NOTICE
When you adjust the gain during system commissioning, use a measuring instrument to monitor
the torque waveform and speed waveform and confirm that there is no vibration.
If a high gain causes vibration, the Servomotor will be damaged quickly.
Do not frequently turn the power supply ON and OFF. After you have started normal operation,
allow at least one hour between turning the power supply ON and OFF (as a guideline).
Do not use the SERVOPACK in applications that require the power supply to be turned ON and
OFF frequently.
The elements in the SERVOPACK will deteriorate quickly.
An alarm or warning may occur if axis movement instructions are executed from the MP3000
during MPE720 or SigmaWin+ operation.
If an alarm or warning occurs, it may interrupt the current process and stop the system.
After you complete trial operation of the machine and facilities, use the MPE720 or the Sig-
maWin+ to create a backup file of the SERVOPACK parameters. You can use them to reset the
parameters after SERVOPACK replacement.
If you do not copy backed up parameter settings, normal operation may not be possible after a
faulty SERVOPACK is replaced, which could result in machine or equipment damage.
DANGER
Do not change any wiring while power is being supplied.
There is a risk of electric shock or injury.
WARNING
Wiring and inspections must be performed only by qualified engineers.
There is a risk of electric shock or SERVOPACK failure.
CAUTION
Wait for at least six minutes after turning OFF the power supply and then make sure that the
CHARGE indicator is not lit before starting wiring or inspection work. Do not touch the power
supply terminals while the CHARGE lamp is lit because high voltage may still remain in the SER-
VOPACK even after turning OFF the power supply.
There is a risk of electric shock.
Before you replace a SERVOPACK, back up the settings of the SERVOPACK parameters. Copy
the backed up parameter settings to the new SERVOPACK and confirm that they were copied
correctly.
If you do not copy backed up parameter settings or if the copy operation is not completed correctly,
normal operation may not be possible, possibly resulting in machine or equipment damage.
Do not attempt to disassemble or repair the SERVOPACK.
There is a risk of electric shock, injury, or device damage.
CAUTION

xviii
Troubleshooting Precautions
Disposal Precautions
NOTICE
Discharge all static electricity from your body before you operate any of the buttons or switches
inside the front cover of the SERVOPACK.
There is a risk of equipment damage.
DANGER
If the safety device (molded-case circuit breaker or fuse) installed in the power supply line oper-
ates, remove the cause before you supply power to the SERVOPACK again. If necessary, repair
or replace the SERVOPACK, check the wiring, and remove the factor that caused the safety
device to operate.
There is a risk of fire, electric shock, or injury.
WARNING
The SERVOPACK may suddenly restart when the power supply is recovered after a momentary
power interruption. Design the machine to ensure human safety when operation restarts.
There is a risk of injury.
CAUTION
When an alarm occurs, remove the cause of the alarm and ensure safety. Then reset the alarm
or turn the power supply OFF and ON again to restart operation.
There is a risk of injury or machine damage.
If the Servo ON signal is input to the SERVOPACK and an alarm is reset, the Servomotor may
suddenly restart operation. Confirm that the servo is OFF and ensure safety before you reset an
alarm.
There is a risk of injury or machine damage.
Always insert a magnetic contactor in the line between the main circuit power supply and the
main circuit power supply terminals on the SERVOPACK so that the power supply can be shut
OFF at the main circuit power supply.
If a magnetic contactor is not connected when the SERVOPACK fails, a large current may flow con-
tinuously, possibly resulting in fire.
If an alarm occurs, shut OFF the main circuit power supply.
There is a risk of fire due to a regenerative resistor overheating as the result of regenerative transis-
tor failure.
Install an earth leakage breaker against overloads and short-circuiting or install a molded-case
circuit breaker combined with an earth leakage breaker against ground faults.
There is a risk of SERVOPACK failure or fire if a ground fault occurs.
The holding brake on a Servomotor will not ensure safety if there is the possibility that an exter-
nal force (such as gravity) may move the current position and create a hazardous situation when
power is interrupted or an error occurs. If an external force may cause movement, install an
external braking mechanism that ensures safety.
When disposing of the product, treat it as ordinary industrial waste. However, local ordinances
and national laws must be observed. Implement all labeling and warnings for the final product
as required.

xix
Other General Precautions
Figures provided in this manual are typical examples or conceptual representations. There may
be differences between them and actual wiring, circuits, and products.
The products shown in illustrations in this manual are sometimes shown with their covers or
protective guards removed to illustrate detail. Always replace all covers and protective guards
before you use the product.
If you need a new copy of this document because it has been lost or damaged, contact your
nearest Yaskawa representative or one of the offices listed on the back of this manual.
This manual is subject to change without notice for product improvements, specifications
changes, and improvements to the manual itself.
We will update the document number of the manual and issue revisions when changes are
made.
Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies
the SERVOPACK in any way. Yaskawa disavows any responsibility for damages or losses that
are caused by modified SERVOPACKs.

xx
Warranty
Details of Warranty
Warranty Period
The warranty period for a product that was purchased (hereinafter called the “delivered product”) is
one year from the time of delivery to the location specified by the customer or 18 months from the
time of shipment from the Yaskawa factory, whichever is sooner.
Warranty Scope
Yaskawa shall replace or repair a defective product free of charge if a defect attributable to
Yaskawa occurs during the above warranty period.
This warranty does not cover defects caused by the delivered product reaching the end of its ser-
vice life and replacement of parts that require replacement or that have a limited service life.
This warranty does not cover failures that result from any of the following causes.
•Improper handling, abuse, or use in unsuitable conditions or in environments not described in
product catalogs or manuals, or in any separately agreed-upon specifications
•Causes not attributable to the delivered product itself
•Modifications or repairs not performed by Yaskawa
•Use of the delivered product in a manner in which it was not originally intended
•Causes that were not foreseeable with the scientific and technological understanding at the time
of shipment from Yaskawa
•Events for which Yaskawa is not responsible, such as natural or human-made disasters
Limitations of Liability
•Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer
that arises due to failure of the delivered product.
•Yaskawa shall not be responsible for any programs (including parameter settings) or the results of
program execution of the programs provided by the user or by a third party for use with program-
mable Yaskawa products.
•The information described in product catalogs or manuals is provided for the purpose of the cus-
tomer purchasing the appropriate product for the intended application. The use thereof does not
guarantee that there are no infringements of intellectual property rights or other proprietary rights
of Yaskawa or third parties, nor does it construe a license.
•Yaskawa shall not be responsible for any damage arising from infringements of intellectual prop-
erty rights or other proprietary rights of third parties as a result of using the information described
in catalogs or manuals.