YASKAWA E Series User manual

Model: SGMMV/SGM7J/SGM7A/SGM7P/SGM7G
Rotary Servomotor
-7-Series AC Servo Drive
Product Manual
MANUAL NO. SIEP S800001 36D
Basic Information on Servomotors
Capacity Selection
Servomotor Installation
Maintenance and Inspection
Appendices
Specifications, Ratings, and
External Dimensions of SGMMV Servomotors
Connections between
Servomotors and SERVOPACKs
Specifications, Ratings, and
External Dimensions of SGM7G Servomotors
Specifications, Ratings, and
External Dimensions of SGM7A Servomotors
Specifications, Ratings, and
External Dimensions of SGM7P Servomotors
1
2
3
4
5
6
7
8
9
10
11
Specifications, Ratings, and
External Dimensions of SGM7J Servomotors

Copyright © 2014 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 provides information required to select, install, connect, and maintain Rotary Servo-
motors for Σ-7-Series AC Servo Drives.
Read and understand this manual to ensure correct usage of the Σ-7-Series AC Servo Drives.
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 these chapters as required.
Chapter Chapter Title Contents
1 Basic Information on Servomotors Provides basic information on Rotary Servomotors, including Servomo-
tor part names and combinations with SERVOPACKs.
2 Capacity Selection Describes calculation methods to use when selecting Servomotor
capacities.
3
Specifications, Ratings, and
External Dimensions of
SGMMV Servomotors
Describes how to interpret the model numbers of SGMMV Servomotors
and gives their specifications, ratings, and external dimensions.
4
Specifications, Ratings, and
External Dimensions of
SGM7J Servomotors
Describes how to interpret the model numbers of SGM7J Servomotors
and gives their specifications, ratings, and external dimensions.
5
Specifications, Ratings, and
External Dimensions of
SGM7A Servomotors
Describes how to interpret the model numbers of SGM7A Servomotors
and gives their specifications, ratings, and external dimensions.
6
Specifications, Ratings, and
External Dimensions of
SGM7P Servomotors
Describes how to interpret the model numbers of SGM7P Servomotors
and gives their specifications, ratings, and external dimensions.
7
Specifications, Ratings, and
External Dimensions of
SGM7G Servomotors
Describes how to interpret the model numbers of SGM7G Servomotors
and gives their specifications, ratings, and external dimensions.
8 Servomotor Installation Describes the installation conditions, procedures, and precautions for
Servomotors.
9Connections between Servomo-
tors and SERVOPACKs
Describes the cables that are used to connect the Servomotors and
SERVOPACKs and provides related precautions.
10 Maintenance and Inspection Describes the maintenance, inspection, and disposal of a Servomotor.
11 Appendices Provide additional information on Servomotors with Gears and refer-
ence information on selecting Servomotor capacity.

iv
Related Documents
The relationships between the documents that are related to the Servo Drives are shown in the following
figure. The numbers in the figure correspond to the numbers in the table on the following pages. Refer
to these documents as required.
ManualsCatalogs
System Components

Machine
Controller
and
Servo Drive
General
Catalog

MP3300
Catalog
Machine Controllers

Σ-7-Series
Catalog
Servo Drives
Machine Controllers
SERVOPACKs: Σ-7Sand Σ-7W
SERVOPACKswith Built-in Controllers: Σ-7C
Servomotors
Other Documents

Built-in
Function
Manuals

Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Product
Manuals

Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Hardware Option
Product Manuals

Option
Module
User’s
Manuals
Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
FT/EX
Product Manuals
Option
Module
User’s
Manual
Σ-7-Series
Σ-7C
SERVOPACK
Product Manual

Σ-7-Series
Σ-7C
SERVOPACK
Troubleshooting
Manual

Enclosed
Documents

Enclosed
Documents

Built-in
Function
Manuals

Enclosed
Documents
Σ-7-Series
Peripheral
Device
Selection
Manual
Σ-7-Series
Operation
Interface
Operating
Manuals
Σ-7-Series
MECHATROLINK
Communications
Command
Manuals
Programming
Manuals
Distributed
I/O Module
User’s
Manual
Σ-7-Series
Servomotor
Product
Manuals
(such asthismanual)

v
Classification Document Name Document No. Description

Machine Controller and
Servo Drive
General Catalog
Machine Controller and
AC Servo Drive
Solutions Catalog
KAEP S800001 22
Describes the features and applica-
tion examples for combinations of
MP3000-Series Machine Control-
lers and Σ-7-Series AC Servo
Drives.

MP3300 Catalog
Machine Controller
MP3300 KAEP C880725 03
Provides detailed information on
MP3300 Machine Controllers,
including features and specifica-
tions.

Σ-7-Series Catalog
AC Servo Drives
Σ-7 Series KAEP S800001 23
Provides detailed information on Σ-
7-Series AC Servo Drives, including
features and specifications.

Built-in Function Manuals
Σ-7-Series AC Servo Drive
Σ-7C SERVOPACK
Motion Control
User’s Manual
SIEP S800002 03
Provides detailed information on
the specifications, system configu-
ration, and application methods of
the Motion Control Function Mod-
ules (SVD, SVC4, and SVR4) for Σ-
7-Series Σ-7C SERVOPACKs.
Machine Controller
MP3000 Series
Communications
User’s Manual
SIEP C880725 12
Provides detailed information on
the specifications, system configu-
ration, and communications con-
nection methods for the Ethernet
communications that are used with
MP3000-Series Machine Control-
lers and Σ-7-Series Σ-7C SERVO-
PACKs.

Option Module
User’s Manuals
Machine Controller
MP2000 Series
Communication Module
User’s Manual
SIEP C880700 04
Provide detailed information on the
specifications and communica-
tions methods for the Communica-
tions Modules that can be mounted
to MP3000-Series Machine Con-
trollers and Σ-7-Series Σ-7C
SERVOPACKs.
Machine Controller
MP2000 Series
262IF-01 FL-net
Communication Module
User’s Manual
SIEP C880700 36
Machine Controller
MP2000 Series
263IF-01 EtherNet/IP
Communication Module
User’s Manual
SIEP C880700 39
Machine Controller
MP2000 Series
I/O Module
User’s Manual
SIEP C880700 34
Provide detailed information on the
specifications and communica-
tions methods for the I/O Modules
that can be mounted to MP3000-
Series Machine Controllers and Σ-
7-Series Σ-7C SERVOPACKs.
Machine Controller
MP2000 Series
Analog Input/Analog Output
Module AI-01/AO-01
User’s Manual
SIEP C880700 26
Machine Controller
MP2000 Series
Counter Module CNTR-01
User’s Manual
SIEP C880700 27
Continued on next page.

vi

Enclosed Documents
Σ-7-Series AC Servo Drive
Σ-7S and Σ-7W SERVOPACK
Safety Precautions
TOMP C710828 00
Provides detailed information for
the safe usage of Σ-7-Series
SERVOPACKs.
Σ-V-Series/Σ-V-Series
for Large-Capacity Models/
Σ-7-Series
Safety Precautions
Option Module
TOBP C720829 00 Provides detailed information for
the safe usage of Option Modules.
Σ-V-Series/Σ-V-Series
for Large-Capacity Models/
Σ-7-Series
Installation Guide
Command Option Module
TOBP C720829 01
Provides detailed procedures for
installing the Command Option
Module in a SERVOPACK.
Σ-V-Series/Σ-V-Series
for Large-Capacity Models/
Σ-7-Series
Installation Guide
Fully-closed Module
TOBP C720829 03
Provides detailed procedures for
installing the Fully-closed Module in
a SERVOPACK.
Σ-V-Series/Σ-V-Series
for Large-Capacity Models/
Σ-7-Series
Installation Guide
Safety Module
TOBP C720829 06
Provides detailed procedures for
installing the Safety Module in a
SERVOPACK.
Σ-V-Series/Σ-V-Series
for Large-Capacity Models/
Σ-7-Series
Installation Guide
INDEXER Module
TOBP C720829 02
Provides detailed procedures for
installing the INDEXER Module in a
SERVOPACK.
Σ-V-Series/Σ-V-Series
for Large-Capacity Models/
Σ-7-Series
Installation Guide
DeviceNet Module
TOBP C720829 07
Provides detailed procedures for
installing the DeviceNet Module in a
SERVOPACK.

Σ-7-Series
Σ-7C SERVOPACK
Product Manual
Σ-7-Series AC Servo Drive
Σ-7C SERVOPACK
Product Manual
SIEP S800002 04
Provides detailed information on
selecting Σ-7-Series Σ-7C SERVO-
PACKs; installing, connecting, set-
ting, testing in trial operation, and
tuning Servo Drives; writing, moni-
toring, and maintaining programs;
and other information.

Σ-7-Series
Σ-7C SERVOPACK
Troubleshooting
Manual
Σ-7-Series AC Servo Drive
Σ-7C SERVOPACK
Troubleshooting Manual
SIEP S800002 07
Provides detailed troubleshooting
information for Σ-7-Series Σ-7C
SERVOPACKs.
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description

vii

Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Product Manuals
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
MECHATROLINK-III
Communications References
Product Manual
SIEP S800001 28
Provide detailed information on
selecting Σ-7-Series SERVO-
PACKs and information on install-
ing, connecting, setting, performing
trial operation for, tuning, monitor-
ing, and maintaining the Servo
Drives.
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
MECHATROLINK-II
Communications References
Product Manual
SIEP S800001 27
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
Analog Voltage/Pulse Train
References
Product Manual
SIEP S800001 26
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK
Command Option Attachable
Type with INDEXER Module
Product Manual
SIEP S800001 64
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK
Command Option Attachable
Type with DeviceNet Module
Product Manual
SIEP S800001 70
Σ-7-Series AC Servo Drive
Σ-7W SERVOPACK with
MECHATROLINK-III
Communications References
Product Manual
SIEP S800001 29

Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK with
Hardware Option
Specifications
Product Manuals
Σ-7-Series AC Servo Drive
Σ-7S/Σ-7W SERVOPACK with
Hardware Option Specifica-
tions
Dynamic Brake
Product Manual
SIEP S800001 73
Provide detailed information on
Hardware Options for Σ-7-Series
SERVOPACKs.
Σ-7-Series AC Servo Drive
Σ-7W/Σ-7C SERVOPACK with
Hardware Option Specifica-
tions
HWBB Function
Product Manual
SIEP S800001 72
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description

viii
Σ-7-Series
Σ-7S/Σ-7W SERVOPACK
FT/EX
Product Manuals
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
FT/EX Specification for Index-
ing Application
Product Manual
SIEP S800001 84
Provide detailed information on the
FT/EX Option for Σ-7-Series
SERVOPACKs.
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
FT/EX Specification for Track-
ing Application
Product Manual
SIEP S800001 89
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
FT/EX Specification
for Application with Special
Motor,
SGM7D Motor
Product Manual
SIEP S800001 91
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
FT/EX Specification
for Press and Injection
Molding Application
Product Manual
SIEP S800001 94
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
FT/EX Specification
for Transfer and Alignment
Application
Product Manual
SIEP S800001 95
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
FT/EX Specification
for Torque/Force Assistance
for Conveyance Application
Product Manual
SIEP S800002 09
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
FT/EX Specification
for Cutting Application
Feed Shaft Motor
Product Manual
SIEP S800002 10
Option Module
User’s Manual
AC Servo Drives
Σ-V Series/Σ-V Series
for Large-Capacity Models/
Σ-7 Series
User’s Manual
Safety Module
SIEP C720829 06
Provides details information
required for the design and mainte-
nance of a Safety Module.
Enclosed Documents
AC Servo Drive
Rotary Servomotor
Safety Precautions
TOBP C230260 00
Provides detailed information for
the safe usage of Rotary Servomo-
tors and Direct Drive Servomotors.
AC Servomotor
Linear ΣSeries
Safety Precautions
TOBP C230800 00
Provides detailed information for
the safe usage of Linear Servomo-
tors.
Σ-7-Series
Servomotor
Product Manuals
Σ-7-Series AC Servo Drive
Rotary Servomotor
Product Manual
This manual
(SIEP S800001 36)
Provide detailed information on
selecting, installing, and connecting
the Σ-7-Series Servomotors.
Σ-7-Series AC Servo Drive
Linear Servomotor
Product Manual
SIEP S800001 37
Σ-7-Series AC Servo Drive
Direct Drive Servomotor
Product Manual
SIEP S800001 38
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description

ix
Σ-7-Series
Peripheral Device
Selection Manual
Σ-7-Series AC Servo Drive
Peripheral Device
Selection Manual
SIEP S800001 32 Describes the peripheral devices
for a Σ-7-Series Servo System.
Σ-7-Series
MECHATROLINK
Communications
Command Manuals
Σ-7-Series AC Servo Drive
MECHATROLINK-II
Communications
Command Manual
SIEP S800001 30
Provides detailed information on
the MECHATROLINK-II communi-
cations commands that are used
for a Σ-7-Series Servo System.
Σ-7-Series AC Servo Drive
MECHATROLINK-III
Communications
Standard Servo Profile
Command Manual
SIEP S800001 31
Provides detailed information on
the MECHATROLINK-III communi-
cations standard servo profile com-
mands that are used for a Σ-7-
Series Servo System.
Programming
Manuals
Machine Controller
MP3000 Series
Ladder Programming
Manual
SIEP C880725 13
Provides detailed information on
the ladder programming specifica-
tions and instructions for MP3000-
Series Machine Controllers and Σ-
7-Series Σ-7C SERVOPACKs.
Machine Controller
MP3000 Series
Motion Programming
Manual
SIEP C880725 14
Provides detailed information on
the motion programming and
sequence programming specifica-
tions and instructions for MP3000-
Series Machine Controllers and Σ-
7-Series Σ-7C SERVOPACKs.
Σ-7-Series
Operation Interface
Operating Manuals
Machine Controller
MP2000/MP3000 Series
Engineering Tool
MPE720 Version 7
User’s Manual
SIEP C880761 03 Describes in detail how to operate
MPE720 version 7.
Σ-7-Series AC Servo Drive
Digital Operator
Operating Manual
SIEP S800001 33
Describes the operating proce-
dures for a Digital Operator for a
Σ-7-Series Servo System.
AC Servo Drive
Engineering Tool
SigmaWin+
Operation Manual
SIET S800001 34
Provides detailed operating proce-
dures for the SigmaWin+ Engineer-
ing Tool for a Σ-7-Series Servo
System.
Distributed
I/O Module
User’s Manuals
MECHATROLINK-III
Compatible I/O Module
User’s Manual
SIEP C880781 04
Describes the functions, specifica-
tions, operating methods, and
MECHATROLINK-III communica-
tions for the Remote I/O Modules
for MP2000/MP3000-Series
Machine Controllers.
Continued from previous page.
Classification Document Name Document No. Description

x
Using This Manual
Technical Terms Used in This Manual
The following terms are used in this manual.
Trademarks
•MECHATROLINK is a trademark of the MECHATROLINK Members Association.
•QR code is a trademark of Denso Wave Inc.
•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.
Te rm Meaning
Servomotor A Σ-7-Series Rotary Servomotor.
SERVOPACK A Σ-7-Series Σ-7S Servo Amplifier.
Servo Drive The combination of a Servomotor and SERVOPACK.
Main Circuit Cable One of the cables that connect to the main circuit terminals, including the Main Circuit
Power Supply Cable, Control Power Supply Cable, and Servomotor Main Circuit Cable.
Indicates precautions or restrictions that must be observed.
Also 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

xi
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.

xii
Safety Precautions That Must Always Be Observed
General Precautions
DANGER
Read and understand this manual to ensure the safe usage of the product.
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 product.
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 product, or burning.
WARNING
Connect the ground terminals on the SERVOPACK and Servomotor to ground poles according
to local electrical codes (100 Ωor less for a SERVOPACK with a 100-VAC or 200-VAC power
supply, and 10 Ωor less for a SERVOPACK with a 400-VAC power supply).
There is a risk of electric shock or fire.
Do not attempt to disassemble, repair, or modify the product.
There is a risk of fire or failure.
The warranty is void for the product if you disassemble, repair, or modify it.
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.
Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch cables.
There is a risk of failure, damage, or electric shock.
Do not use the product in an environment that is subject to water, corrosive gases, or flamma-
ble gases, or near flammable materials.
There is a risk of electric shock or fire.
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 stops operation
immediately when an error occurs.
Select the brake power supply for a Servomotor with a Holding Brake according to the power
supply voltage and capacity required for the Servomotor model, as given in manuals and cata-
logs. Also confirm the input voltage to the holding brake.
Always install a surge absorber as a protective device between the brake power supply and Ser-
vomotor.
There is a risk of damage to the Servomotor.
The time required for a holding brake to operate depends on the types of protective devices.
The time required for a holding brake to operate will also change if holding brakes are con-
nected in parallel. Always check the time required for a holding brake to operate on the actual
machine before you operate a Servomotor.
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 product failure.

xiii
Storage Precautions
Transportation Precautions
CAUTION
Do not place an excessive load on the product during storage. (Follow all instructions on the
packages.)
There is a risk of injury or damage.
NOTICE
Do not install or store the product in any of the following locations.
•Locations that are subject to direct sunlight
•Locations that are subject to ambient temperatures that exceed product specifications
•Locations that are subject to relative humidities that exceed product 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 product specifications
•Locations that are subject to radiation
If you store or install the product in any of the above locations, the product may fail or be damaged.
Although machined surfaces are covered with an anticorrosive coating, rust can develop due to
storage conditions or the length of storage. If you store the product for more than six months,
reapply an anticorrosive coating to machined surfaces, particularly the motor shaft.
Consult with your Yaskawa representative if you have stored products for an extended period of
time.
CAUTION
Transport the product in a way that is suitable to the mass of the product.
Do not hold onto the cables or motor shaft when you move a Servomotor.
There is a risk of disconnection, damage, or injury.
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.
There is a risk of injury.
Do not place an excessive load on the product during transportation. (Follow all instructions on
the packages.)
There is a risk of injury or damage.

xiv
Installation Precautions
NOTICE
A 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.
If disinfectants or insecticides must be used to treat packing materials such as wooden frames,
plywood, or pallets, the packing materials must be treated before the product 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
Do not touch the key slot with your bare hands on the shaft end on a Servomotor with a Key
Slot.
There is a risk of injury.
Securely mount the Servomotor to the machine.
If the Servomotor is not mounted securely, it may come off the machine during operation.
Install the Servomotor or SERVOPACK 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.
Do not step on or place a heavy object on the product.
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.
Implement safety measures, such as installing a cover so that the rotating part of the Servomo-
tor cannot be touched accidentally during operation.

xv
Wiring Precautions
NOTICE
Do not install or store the product in any of the following locations.
•Locations that are subject to direct sunlight
•Locations that are subject to ambient temperatures that exceed product specifications
•Locations that are subject to relative humidities that exceed product 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 product specifications
•Locations that are subject to radiation
If you store or install the product in any of the above locations, the product may fail or be damaged.
Use the product in an environment that is appropriate for the product specifications.
If you use the product in an environment that exceeds product specifications, the product may fail
or be damaged.
A 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.
A Servomotor is a precision device. Do not subject the output shaft or the main body of the Ser-
vomotor to strong shock.
Design the machine so that the thrust and radial loads on the motor shaft during operation do
not exceed the allowable values given in the catalog.
When you attach the key to the motor shaft, do not subject the key slot to direct shock.
Do not allow any foreign matter to enter a SERVOPACK or a Servomotor with a Cooling Fan and
do not cover the outlet from the Servomotor’s cooling fan.
There is a risk of failure.
If you use oil as the gear lubricant, always inject the specified oil before starting operation.
You can install the Servomotor either horizontally or vertically. However, if you install a Servomo-
tor with an Oil Seal with the output shaft facing upward, oil may enter the Servomotor depend-
ing on the operating conditions. Confirm the operating conditions sufficiently if you install a
Servomotor with the output shaft facing upward. Some Servomotors with Gears have restric-
tions on the installation orientation. Refer to the relevant technical documents.
If an installation orientation is specified for a Servomotor with a Gear, install the Servomotor in
the specified orientation.
There is a risk of failure due to oil leakage.
For a Servomotor with an Oil Seal, use the Servomotor with the oil seal in a lubricated condition
with only splashing of oil.
If the Servomotor is used with the oil seal under the surface of the oil, oil may enter the Servomotor,
possibly resulting in failure.
The shaft opening of a Servomotor is not waterproof or oilproof. Implement measures in the
machine to prevent water or cutting oil from entering the Servomotor.
There is a risk of failure.
In an application where the Servomotor would be subjected to large quantities of water or oil,
implement measures to protect the Servomotor from large quantities of liquid, such as installing
covers to protect against water and oil.
In an environment with high humidity or oil mist, face Servomotor lead wires and connectors
downward and provide cable traps.
There is a risk of failure or fire due to insulation failure or accidents from short circuits.
DANGER
Do not change any wiring while power is being supplied.
There is a risk of electric shock or injury.

xvi
WARNING
Wiring and inspections must be performed only by qualified engineers.
There is a risk of electric shock or product 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.
CAUTION
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 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 screened unshielded multi-twisted-pair cables for I/O Sig-
nal 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.
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 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.
For a motor with a cooling fan, check the rotation direction of the cooling fan after you wire the
fan.
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.

xvii
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 (Fn002), Origin Search
(Fn003), or Easy FFT (Fn206) 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.
CAUTION
Do not use the holding brake built into a Servomotor to stop the Servomotor. The holding brake
is designed to hold the motor shaft. It is not designed as a stopping device to ensure machine
safety. Provide an appropriate stopping device on the machine to ensure safety.
There is a risk of brake failure due to wear, damage to the machine, or injury.
Before you operate a Servomotor, supply power to the holding brake to release the holding
brake. Refer to the timing charts in your Servomotor manual for details.
During trial operation, confirm that the holding brake works correctly.
When overtravel occurs, the power supply to the motor is turned OFF and the brake is released.
If you use the Servomotor to drive a vertical load, 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.

xviii
Maintenance and Inspection Precautions
Troubleshooting Precautions
NOTICE
Always measure the vibration of the Servomotor with the Servomotor mounted to the machine
and confirm that the vibration is within the allowable value.
If the vibration is too large, the Servomotor will be damage quickly and bolts may become loose.
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.
An alarm or warning may occur if communications are performed with the host controller while
the SigmaWin+ or Digital Operator is operating.
If an alarm or warning occurs, it may interrupt the current process and stop the system.
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 product failure.
If you replace a Servomotor with a Holding Brake, secure the machine before you replace the
Servomotor.
There is a risk of injury or equipment damage if the equipment falls.
CAUTION
Wait for at least six minutes after turning OFF the power supply (with a SERVOPACK for a 100-
VAC power supply input, wait for at least nine minutes) and then make sure that the CHARGE
indicator is not lit before starting wiring or inspection work. Do not touch the power supply ter-
minals while the CHARGE lamp is lit after turning OFF the power supply because high voltage
may still remain in the SERVOPACK.
There is a risk of electric shock.
Replace the Battery according to the correct procedure.
If you remove the Battery or disconnect the Encoder Cable while the control power supply to the
SERVOPACK is OFF, the absolute encoder data will be lost and position deviation may occur.
WARNING
The product may suddenly start to operate when the power supply is recovered after a momen-
tary power interruption. Design the machine to ensure human safety when operation restarts.
There is a risk of injury.

xix
Disposal Precautions
General Precautions
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.
The holding brake on a Servomotor will not ensure safety if there is the possibility that an exter-
nal force (including 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 as a final product as
required.
Figures provided in this document 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 document are sometimes shown without covers or
protective guards. 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 document.
This document 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 document and issue revisions when changes are
made.
Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies
the product in any way. Yaskawa disavows any responsibility for damages or losses that are
caused by modified products.

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.