YASKAWA E-V Series User manual

SGDV SERVOPACK
SGLGW/SGLFW/SGLTW/SGLCW/SGT Linear Servomotors
Linear Motor
Analog Voltage and Pulse Train Reference
MANUAL NO. SIEP S800000 47C
Σ-VSeries
AC Servo Drives
Outline
Panel Operator
Wiring and Connection
Trial Operation
Operation
Adjustments
Utility Functions (Fn)
Monitor Modes (Un)
Troubleshooting
Appendix
1
2
3
4
5
6
7
8
9
10
USER'S MANUAL
Design and Maintenance

Copyright ©2007 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, electronic, photocopying, recording,
or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed
with respect to the use of the information contained herein. Moreover, because Yaskawa is con-
stantly striving to improve its high-quality products, the information contained in this manual is
subject 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 informations required for designing, and maintaining Σ-V Series SERVOPACKs.
Be sure to refer to this manual and perform design and maintenance to select devices correctly.
Keep this manual in a location where it can be accessed for reference whenever required.
Description of Technical Terms
The following table shows the meanings of terms used in this manual.
IMPORTANT Explanations
The following icon is displayed for explanations requiring special attention.
Notation Used in this Manual
In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/)
before the signal name, as shown in the following example:
Example
S-ON = /S-ON
Term Meaning
Linear Servomotor Σ-V Series SGLGW, SGLFW, SGLTW, SGLCW or SGT linear servo-
motor
SERVOPACK Σ-V Series SGDV SERVOPACK
Servo Drive A set including a servomotor and SERVOPACK (i.e., a servo ampli-
fier)
Servo System A servo control system that includes the combination of a servo drive
with a host controller and peripheral devices
Analog Pulse Model Analog voltage and pulse-train reference used for SERVOPACK inter-
face
M-II Model MECHATROLINK-II communications reference used for SERVO-
PACK interface
• Indicates important information that should be memorized, as well as precautions, such as
alarm displays, that do not involve potential damage to equipment.

iv
Manuals Related to the Σ-V Series
Refer to the following manuals as required.
Name
Selecting
Models and
Peripheral
Devices
Ratings and
Specifications
System
Design
Panels and
Wiring
Trial
Operation
Trial
Operation
and Servo
Adjustment
Maintenance
and
Inspection
Σ-V Series
User's Manual
Setup
Linear Motor
(SIEP S800000 44)
99
Σ-V Series
Product Catalog
(KAEP S800000 42)
99
Σ-V Series
User’s Manual
Operation of Digital
Operator
(SIEP S800000 55)
999
Σ-V Series
AC SERVOPACK SGDV
Safety Precautions
(TOBP C710800 10)
999
ΣSeries
Digital Operator
Safety Precautions
(TOBP C730800 00)
9
AC SERVOMOTOR
Safety Precautions
(TOBP C230200 00)
99

v
Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed precautions pro-
vided in this manual can result in serious or possibly even fatal injury or damage to the products or to related
equipment and systems.
Indicates precautions that, if not heeded, could possibly result in loss of
life or serious injury.
Indicates precautions that, if not heeded, could result in relatively serious
or minor injury, damage to the product, or faulty operation.
In some situations, the precautions indicated could have serious
consequences if not heeded.
Indicates prohibited actions that must not be performed. For example,
this symbol would be used to indicate that fire is prohibited as follows:
Indicates compulsory actions that must be performed. For example, this
symbol would be used as follows to indicate that grounding is
compulsory:
WARNING
CAUTION
PROHIBITED
MANDATORY

vi
Safety Precautions
These safety precautions are very important. Read them before performing any procedures such as checking
products on delivery, storage and transportation, installation, wiring, operation and inspection, or disposal. Be
sure to always observe these precautions thoroughly.
WARNING
• If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of
the linear servomotor.
Failure to observe this warning may result in the malfunction of the medical device.
• Be sure to use nonmagnetic tools when installing or working close to the linear servomotor.
(Example: a beryllium-copper alloy hexagonal wrench set, made by NGK Insulators, Ltd.)
• Before starting operation with a machine connected, make sure that an emergency stop can be
applied at any time.
Failure to observe this warning may result in injury or damage to the product.
• Never touch the linear servomotor or machinery during operation.
Failure to observe this warning may result in injury.
• Before wiring, install the SERVOPACK and the linear servomotor.
Failure to observe this warning may result in electric shock.
• Never touch the inside of the SERVOPACKs.
Failure to observe this warning may result in electric shock.
• Do not remove the cover of the power supply terminal block while the power is ON.
Failure to observe this warning may result in electric shock.
• After the power is turned OFF or after a voltage resistance test, do not touch terminals while the
charge indicator is ON.
Residual voltage may cause electric shock.
• Follow the procedures and instructions provided in the user’s manual of the product for trial opera-
tion.
Failure to do so may result not only in faulty operation and damage to equipment, but also in personal injury.
• Do not remove the front cover, cables, connectors, or optional items from the upper front of the
SERVOPACK while the power is ON.
Failure to observe this warning may result in electric shock.
• Do not damage, press, exert excessive force on, or place heavy objects on the cables.
Failure to observe this warning may result in electric shock, stopping operation of the product, or fire.
• Do not modify the product.
Failure to observe this warning may result in injury, fire, or damage to the product.
• Provide an appropriate stopping device on the machine side to ensure safety. A holding brake for a
linear servomotor with brake is not a stopping device for ensuring safety.
Failure to observe this warning may result in injury.
• Do not come close to the machine immediately after resetting momentary power loss to avoid an
unexpected restart. Take appropriate measures to ensure safety against an unexpected restart.
Failure to observe this warning may result in injury.
• Connect the ground terminal according to local electrical codes (100 Ωor less for a SERVOPACK
with a 200 V power supply. 10 Ωor less for a SERVOPACK with a 400 V power supply.)
Improper grounding may result in electric shock or fire.
• Installation, disassembly, or repair must be performed only by authorized personnel.
Failure to observe this warning may result in electric shock or injury.
• The person who designs a system using the safety function (Hard Wire Baseblock function) must
have full knowledge of the related safety standards and full understanding of the instructions in this
manual.
Failure to observe this warning may result in injury.

vii
Storage and Transportation
CAUTION
• Be sure to store the magnetic way in the package that was used for delivery.
• Do not store or install the product in the following locations.
Failure to observe this caution may result in fire, electric shock, or damage to the product.
• Locations subject to direct sunlight
• Locations subject to temperatures outside the range specified in the storage/installation temperature condi-
tions
• Locations subject to humidity outside the range specified in the storage/installation humidity conditions
• Locations subject to condensation as the result of extreme changes in temperature
• Locations subject to corrosive or flammable gases
• Locations subject to dust, salts, or iron dust
• Locations subject to exposure to water, oil, or chemicals
• Locations subject to shock or vibration
• Do not carry the linear servomotor by its cables.
Failure to observe this caution may result in injury or malfunction.
• Do not place any load exceeding the limit specified on the packing box.
Failure to observe this caution may result in injury or malfunction.
• If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pal-
lets, or plywood, the packing materials must be treated before the product is packaged, and meth-
ods 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 chlo-
rine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors.

viii
Installation
CAUTION
• When unpacking and installing magnetic way, check that no metal fragments or magnetized objects
near the magnetic because they may be affected by the magnetic attraction of the magnetic way.
Failure to observe this caution may result in injury or damage to the magnetic way's magnets.
• Do not use the magnetic way near metal or other magnetized objects.
Failure to observe this caution may result in injury.
• Do not place clocks, magnetic cards, floppy disks, or measuring instruments close to the magnetic
way.
Failure to observe this caution may result in malfunction or damage to these items by the magnetic force.
• Securely mount the linear servomotor onto the machine.
If the linear servomotor is not mounted securely, it may loosen during operation.
• Do not carry the magnetic way by its magnet protection cover.
Failure to observe this caution may result in injury by the cover’s edge or the shape of the cover may become
distorted.
• When removing the dummy plate for reducing magnetic force used for the SGLFM magnetic way,
pay attention to the magnetic attraction of the magnetic way. Do not place the removed plate close
to the magnetic way.
Failure to observe this caution may result in injury or damage to the magnetic way’s magnets or the magnet
protection cover.
• Install SERVOPACKs, linear servomotors, and regenerative resistors on nonflammable objects.
Installation directly onto or near flammable objects may result in fire.
• Never use the product in an environment subject to water, corrosive gases, inflammable gases, or
combustibles.
Failure to observe this caution may result in electric shock or fire.
• Do not step on or place a heavy object on the product.
Failure to observe this caution may result in injury.
• Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product.
Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.
• Be sure to install the product in the correct direction.
Failure to observe this caution may result in malfunction.
• Provide the specified clearances between the SERVOPACK and the control panel or with other
devices.
Failure to observe this caution may result in fire or malfunction.
• Do not apply any strong impact.
Failure to observe this caution may result in malfunction.
Cover
Magnetic way

ix
Wiring
CAUTION
• Securely tighten the cable connector screws and securing mechanism.
If the connector screws and securing mechanism are not secure, they may loosen during operation.
• Use cables with a radius, heat resistance, and flexibility suitable for the system.
• If the SERVOPACK malfunctions, turn OFF the main circuit’s power supply of the SERVOPACK.
The continuous flow of a large current may cause fire.
• Use a noise filter to minimize the effects of electromagnetic damage.
Failure to observe this caution may result in electromagnetic damage to electronic devices used near the SER-
VOPACK.
• Do not connect a commercial power supply to the U, V, or W terminals for the servomotor connec-
tion.
Failure to observe this caution may result in injury or fire.
• Securely connect the main circuit power supply terminal screws and servomotor connection termi-
nal screws.
Failure to observe this caution may result in fire.
• Do not bundle or run the main circuit cables together with the I/O signal cables or the serial con-
verter unit connection cable in the same duct. Keep them separated by at least 30 cm.
Failure to do so may result in malfunction.
• Use shielded twisted-pair wires or multi-core shielded twisted-pair wires for I/O signal cables and
the serial converter unit connection cable.
• I/O signal cables must be no longer than 3 m, serial converter unit connection cable must be no
longer than 20 m.
• Do not touch the power terminals while the charge indicator is ON after turning power OFF because
high voltage may still remain in the SERVOPACK.
Make sure the charge indicator is off first before starting an inspection.
• Observe the following precautions when wiring main circuit terminals.
• Remove main circuit terminals from the SERVOPACK prior to wiring.
• Insert only one main power line per opening in the main circuit terminals.
• Make sure that no part of the core wire comes into contact with (i.e., short-circuit) adjacent wires.
• Do not turn ON the power to the SERVOPACK until all wiring has been completed, including the
main circuit terminals.
• Do not connect the SERVOPACK for 200 V directly to a voltage of 400 V.
The SERVOPACK will be destroyed.
• Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
• Always use the specified power supply voltage.
An incorrect voltage may result in burning.
• Make sure that the polarity is correct.
Incorrect polarity may cause ruptures or damage.
• Take appropriate measures to ensure that the input power supply is supplied within the specified
voltage fluctuation range. Be particularly careful in places where the power supply is unstable.
An incorrect power supply may result in damage to the product.
• Install external breakers or other safety devices against short-circuiting in external wiring.
Failure to observe this caution may result in fire.
• Take appropriate and sufficient countermeasures for each form of potential interference when
installing systems in the following locations.
Failure to observe this caution may result in damage to the product.
• Locations subject to static electricity or other forms of noise
• Locations subject to strong electromagnetic fields and magnetic fields
• Locations subject to possible exposure to radioactivity
• Locations close to power supplies
• Wiring or inspection must be performed by a technical expert.
• Use a 24 VDC power supply with double insulation or reinforced insulation.

x
Operation
Maintenance and Inspection
CAUTION
• Always use the linear servomotor and SERVOPACK in one of the specified combinations.
Failure to observe this caution may result in fire or malfunction.
• Do not stand within the machine's range of motion during operation.
Failure to observe this caution may result in injury.
• Before operation, install a limit switch or stopper on the end of the slider to prevent unexpected
movement.
Failure to observe this caution may result in injury.
• Before starting operation with a machine connected, change the settings to match the parameters
of the machine.
Starting operation without matching the proper settings may cause the machine to run out of control or mal-
function.
• Do not frequently turn power ON and OFF.
Since the SERVOPACK has a capacitor in the power supply, a high charging current (charging time 0.2 ms)
flows when power is turned ON. Frequently turning power ON and OFF causes main power devices like
capacitors and fuses to deteriorate, resulting in unexpected problems.
• When using JOG operations (Fn002), search operations (Fn003), or EasyFFT operations (Fn206),
the dynamic brake function does not work for reverse overtravel or forward overtravel. Take neces-
sary precautions.
Failure to observe this caution may result in damage to the product.
• When using the linear servomotor on a vertical axis, install a safety device such as a counterbal-
ance so that the workpiece does not fall if an alarm or overtravel occurs.
The workpiece may fall during overtraveling.
• When not using turning-less function, set to the correct mass ratio (Pn103).
Setting an incorrect mass ratio may cause vibration.
• Do not touch the SERVOPACK heatsinks, regenerative resistor, or servomotor while power is ON or
soon after the power is turned OFF.
Failure to observe this caution may result in burns due to high temperatures.
• Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury or damage to the product due to unstable operation.
• If an alarm occurs, shut down the main circuit power supply.
Failure to observe this caution may result in fire due to regenerative resistor overheating caused by regenera-
tive transistor failure.
• When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume
operation.
Failure to observe this caution may result in damage to the product, fire, or injury.
• An alarm or warning may be generated if communications are executed with the host controller dur-
ing operation using SigmaWin+ or the digital operator.
If an alarm or warning is generated, the process currently being executed may be aborted and the system may
stop.
CAUTION
• When replacing the SERVOPACK, resume operation only after copying the previous SERVOPACK
parameters to the new SERVOPACK.
Failure to observe this caution may result in damage to the product.
• Do not attempt to change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
• Do not disassemble or repair the linear servomotor.
Failure to observe this caution may result in electric shock or injury.

xi
Disposal
General Precautions
CAUTION
• When disposing of the products, treat them as ordinary industrial waste.
Observe the following general precautions
to ensure safe application.
• The products shown in illustrations in this manual are sometimes shown without covers or protective guards.
Always replace the cover or protective guard as specified first, and then operate the products in accordance with
the manual.
• The drawings presented in this manual are typical examples and may not match the product you received.
• This manual is subject to change due to product improvement, specification modification, and manual improve-
ment. When this manual is revised, the manual code is updated and the new manual is published as a next edition.
The edition number appears on the front and back covers.
• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the
offices listed on the back of this manual.
• Yaskawa will not take responsibility for the results of unauthorized modifications of this product.
Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modification.

xii
Applicable Standards
North American Safety Standards (UL)
∗Underwriters Laboratories Inc.
European Standards
Note: Because SERVOPACKs and servomotors are built into machines, certification is required after installation in the
final product.
Model UL∗Standards
(UL File No.)
SERVOPACK • SGDV UL508C (E147823)
Model Low Voltage
Directive
EMC Directive Safety
Standards
EMI EMS
SERVOPACK •SGDV EN50178
EN61800-5-1
EN55011/A2
group 1 class A
EN61800-3
EN61800-3
EN61000-6-2
EN954-1
IEC61508-1 to 4

xiii
Contents
About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi
Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
Chapter 1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
1.1 Σ-V Series SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.2 Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.3 SERVOPACK Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.3.1 Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.3.2 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.3.3 Speed/Position/Force Control Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1.4 SERVOPACK Internal Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1.4.1 Single-phase 100 V, SGDV-R70F05A, -R90F05A, -2R1F05A Models . . . . . . . . . . . . . . . 1-7
1.4.2 Single-phase 100 V, SGDV-2R8F05A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1.4.3 Three-phase 200 V, SGDV-R70A05A, -R90A05A, -1R6A05A Models . . . . . . . . . . . . . . . 1-8
1.4.4 Three-phase 200 V, SGDV-2R8A05A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
1.4.5 Three-phase 200 V, SGDV-3R8A05A, -5R5A05A, -7R6A05A Models . . . . . . . . . . . . . . .1-9
1.4.6 Three-phase 200 V, SGDV-120A05A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
1.4.7 Three-phase 200 V, SGDV-180A05A, -200A05A Models . . . . . . . . . . . . . . . . . . . . . . . . 1-10
1.4.8 Three-phase 200 V, SGDV-330A05A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
1.4.9 Three-phase 200 V, SGDV-470A05A, -550A05A Models . . . . . . . . . . . . . . . . . . . . . . . . 1-11
1.4.10 Three-phase 200 V SGDV-590A05A, -780A05A Models. . . . . . . . . . . . . . . . . . . . . . . . 1-11
1.4.11 Three-phase 400 V, SGDV-1R9D05A, -3R5D05A, -5R4D05A Models . . . . . . . . . . . . .1-12
1.4.12 Three-phase 400 V, SGDV-8R4D05A, -120D05A Models . . . . . . . . . . . . . . . . . . . . . . . 1-12
1.4.13 Three-phase 400 V, SGDV-170D05A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
1.4.14 Three-phase 400 V, SGDV-210D05A, -260D05A Models . . . . . . . . . . . . . . . . . . . . . . . 1-13
1.4.15 Three-phase 400 V SGDV-280D05A, -370D05A Models . . . . . . . . . . . . . . . . . . . . . . . 1-14
1.5 Examples of Servo System Configurations . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
1.5.1 Connecting to SGDV-F05A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
1.5.2 Connecting to SGDV-A05A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-16
1.5.3 Connecting to SGDV-D05A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17
1.6 SERVOPACK Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18
1.7 Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-19
Chapter 2 Panel Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.1 Panel Operator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2 Display Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.3 Status Display Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.4 Utility Function Mode (Fn ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.5 How to Read a Parameter Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.5.1 Explanation Method for Parameter Setting Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.5.2 Explanation Method for Function Selection Type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.5.3 Explanation Method for Tuning Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2.6 Parameter Setting Mode (Pn). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.6.1 Parameter Setting Mode for Parameter Setting Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.6.2 Parameter Setting Mode for Function Selection Type . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
2.7 Monitor Mode (Un) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11

xiv
Chapter 3 Wiring and Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1
3.1 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.1.1 Names and Functions of Main Circuit Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.1.2 SERVOPACK Main Circuit Wire Size. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.1.3 Typical Main Circuit Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.1.4 General Precautions for Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3.1.5 Precautions When Using the SERVOPACK with a DC Power Input . . . . . . . . . . . . . . . . 3-10
3.1.6 Precautions When Using the SERVOPACK with Single-phase, 200 V Power Input . . . . 3-12
3.1.7 Precautions When Using More Than One SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . 3-15
3.1.8 Designing a Power ON Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
3.2 I/O Signal Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
3.2.1 I/O Signal (CN1) Names and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
3.2.2 I/O Signal Connector (CN1) Terminal Layout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
3.2.3 Safety Function Signal (CN8) Names and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
3.2.4 Safety Function Signal (CN8) Terminal Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
3.2.5 Example of I/O Signal Connections in Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
3.2.6 Example of I/O Signal Connections in Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
3.2.7 Example of I/O Signal Connections in Force Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.3 I/O Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
3.3.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
3.3.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-28
3.4 Examples of Connection to Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . 3-32
3.4.1 Connection Examples of Reference Input Circuits to SERVOPACK . . . . . . . . . . . . . . . . 3-32
3.4.2 Connection Examples of Sequence Input Circuits to SERVOPACK . . . . . . . . . . . . . . . . 3-34
3.4.3 Connection Examples of Output Circuits to SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . 3-35
3.5 Examples of Linear Scale Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38
3.5.1 Connection Example of a Linear Scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38
3.5.2 CN2 Linear Scale Connector Terminal Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-39
3.6 Connecting Regenerative Resistors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-40
3.6.1 Connecting Regenerative Resistors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-40
3.6.2 Setting Regenerative Resistor Capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-42
3.7 Noise Control and Measures for Harmonic Suppression . . . . . . . . . . . . . . . 3-43
3.7.1 Wiring for Noise Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-43
3.7.2 Precautions on Connecting Noise Filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-45
3.7.3 Connecting DC Reactor for Harmonic Suppression. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-47
Chapter 4 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1
4.1 Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2 Trial Operation for Linear Servomotor without Load. . . . . . . . . . . . . . . . . . . . 4-2
4.3 Trial Operation for Linear Servomotor without Load from Host Reference . . 4-2
4.4 Trial Operation with the Linear Servomotor Connected to the Machine. . . . . 4-3
4.5 Test Without Motor Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.5.1 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.5.2 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.5.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4.5.4 Operator Display during Testing without Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
Chapter 5 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1
5.1 Control Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.2 Setting Common Basic Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.2.1 Servo ON Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.2.2 Servomotor Movement Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.2.3 Overtravel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5.2.4 Stopping Servomotors after /S_ON Turned OFF or Alarm Occurrence . . . . . . . . . . . . . . . 5-9
5.2.5 Power Loss Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11

xv
5.2.6 Motor Maximum Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.2.7 SEMI F47 Function
(Force Limit Function for Low Power Supply Voltage for Main Circuit) . . . . . . . . . . . . . . 5-12
5.2.8 Setting Motor Overload Detection Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15
5.3 Operating Using Speed Control with Analog Voltage Reference . . . . . . . . . 5-17
5.3.1 Basic Settings for Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
5.3.2 Reference Offset Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19
5.3.3 Soft Start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21
5.3.4 Speed Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-22
5.3.5 Zero Clamp Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
5.3.6 Encoder Pulse Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-25
5.3.7 Encoder Pulse Output Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-27
5.3.8 Speed Coincidence Signal Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
5.4 Operating Using Position Control with Pulse Train Reference. . . . . . . . . . . 5-29
5.4.1 Basic Settings for Position Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-29
5.4.2 Clear Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-34
5.4.3 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35
5.4.4 Smoothing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-37
5.4.5 Positioning Completed Output Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-38
5.4.6 Positioning Near Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-39
5.4.7 Reference Pulse Inhibit Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-40
5.5 Operating Using Force Control with Analog Voltage Reference . . . . . . . . . 5-42
5.5.1 Basic Settings for Force Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-42
5.5.2 Adjustment of Reference Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
5.5.3 Speed Limit in Force Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-45
5.6 Operating Using Speed Control with an Internally Set Speed . . . . . . . . . . . 5-48
5.6.1 Basic Settings for Speed Control with an Internally Set Speed . . . . . . . . . . . . . . . . . . . .5-48
5.6.2 Example of Operating with Internally Set Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-50
5.7 Control Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-52
5.7.1 Combination of Control Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-52
5.7.2 Switching Internally Set Speed Control (Pn000.1 = 4, 5, or 6) . . . . . . . . . . . . . . . . . . . . . 5-52
5.7.3 Switching Other Than Internally Set Speed Control
(Pn000.1 = 7, 8, 9, A, or B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-53
5.8 Limiting Force . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-54
5.8.1 Internal Force Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-54
5.8.2 External Force Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-55
5.8.3 Force Limiting Using an Analog Voltage Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-56
5.8.4 Force Limiting Using an External Force Limit and Analog Voltage Reference. . . . . . . . .5-57
5.8.5 Checking Output Force Limiting during Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-59
5.9 Setting Absolute Linear Scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-60
5.9.1 Setup Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-60
5.9.2 Setting the SEN Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-61
5.9.3 Designing a Power ON Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-62
5.9.4 Polarity Detection (Fn080) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-62
5.9.5 Origin Setting (Fn020) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63
5.9.6 Absolute Encoder Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-64
5.10 Output Signals Used in All Control Modes. . . . . . . . . . . . . . . . . . . . . . . . . 5-68
5.10.1 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals (ALO1, ALO2, and
ALO3). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-68
5.10.2 Warning Output Signal (/WARN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-69
5.10.3 Movement Detection Output Signal (/TGON). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-70
5.10.4 Servo Ready Output Signal (/S-RDY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-70
5.11 Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71
5.11.1 Hard Wire Base Block (HWBB) Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71
5.11.2 External Device Monitor (EDM1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-75
5.11.3 Application Example of Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-77
5.11.4 Confirming Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-78
5.11.5 Precautions for Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-78

xvi
Chapter 6 Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1
6.1 Adjustments and Basic Adjustment Procedure . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.1.1 Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.1.2 Basic Adjustment Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.1.3 Monitoring Analog Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-5
6.1.4 Safety Precautions on Adjustment of Servo Gains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6.2 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
6.2.1 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
6.2.2 Tuning-less Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
6.3 Advanced Autotuning (Fn201) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
6.3.1 Advanced Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-15
6.3.2 Advanced Autotuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20
6.3.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
6.4 Advanced Autotuning by Reference (Fn202) . . . . . . . . . . . . . . . . . . . . . . . . 6-25
6.4.1 Advanced Autotuning by Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-25
6.4.2 Advanced Autotuning by Reference Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30
6.4.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-32
6.5 One-parameter Tuning (Fn203) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-33
6.5.1 One-parameter Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-33
6.5.2 One-parameter Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-35
6.5.3 One-parameter Tuning Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-39
6.5.4 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-40
6.6 Anti-Resonance Control Adjustment Function (Fn204) . . . . . . . . . . . . . . . . 6-41
6.6.1 Anti-Resonance Control Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-41
6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure. . . . . . . . . . . . . . . . 6-42
6.6.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-46
6.7 Vibration Suppression Function (Fn205) . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-47
6.7.1 Vibration Suppression Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-47
6.7.2 Vibration Suppression Function Operating Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . 6-48
6.7.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-50
6.8 Servo Gain Adjustment Application Function . . . . . . . . . . . . . . . . . . . . . . . . 6-51
6.8.1 Feedforward Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-52
6.8.2 Force Feedforward. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-53
6.8.3 Speed Feedforward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-54
6.8.4 Proportional Control Operation (Proportional Operation Reference) . . . . . . . . . . . . . . . . 6-55
6.8.5 Using the Mode Switch (P/PI Switching) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-56
6.8.6 Switching Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-60
6.8.7 Force Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-64
6.8.8 Position Integral Time Constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-66
6.8.9 Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-67
6.8.10 Current Control Mode Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-68
6.8.11 Current Gain Level Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-69
6.8.12 Speed Detection Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-69
Chapter 7 Utility Functions (Fn) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1
7.1 List of Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.2 Alarm History Display (Fn000) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.3 JOG Operation (Fn002) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7.4 Origin Search (Fn003) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7.5 Program JOG Operation (Fn004). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
7.6 Initializing Parameter Settings (Fn005) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11
7.7 Clearing Alarm History (Fn006) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12
7.8 Manual Zero-adjustment of Analog Monitor Output (Fn00C) . . . . . . . . . . . . 7-13
7.9 Manual Gain-adjustment of Analog Monitor Output (Fn00D) . . . . . . . . . . . . 7-15

xvii
7.10 Automatic Offset-Signal Adjustment of the Motor Current Detection
(Fn00E) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-17
7.11 Manual Offset-Signal Adjustment of the Motor Current Detection (Fn00F) 7-18
7.12 Write Prohibited Setting (Fn010) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-19
7.13 Servomotor Model Display (Fn011) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-21
7.14 Software Version Display (Fn012) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-22
7.15 Resetting Configuration Error of Option Module (Fn014) . . . . . . . . . . . . . 7-23
7.16 Vibration Detection Level Initialization (Fn01B) . . . . . . . . . . . . . . . . . . . . . 7-24
7.17 Display of SERVOPACK and Servomotor ID (Fn01E). . . . . . . . . . . . . . . . 7-26
7.18 EasyFFT (Fn206). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-27
7.19 Online Vibration Monitor (Fn207). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-31
7.20 Software Reset (Fn030). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-33
Chapter 8 Monitor Modes (Un) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1
8.1 List of Monitor Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.2 Operation in Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.3 Monitor Display of Reference Pulse Counter (Un00C) and Feedback Pulse
Counter (Un00D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
8.4 Allowable Maximum Motor Speed and Encoder Output Resolution Monitor . 8-5
8.5 Hall Sensor Signal Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
8.6 Monitoring Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
8.6.1 Checking Input Signal Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-7
8.6.2 Interpreting Input Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
8.6.3 Input Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8
8.7 Monitoring Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-9
8.7.1 Checking Output Signal Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-9
8.7.2 Interpreting Output Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-9
8.7.3 Output Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-9
8.8 Monitor Display at Power ON. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10
8.9 Monitoring I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10
Chapter 9 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-1
9.1 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.1.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.1.2 Troubleshooting of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-6
9.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-20
9.2.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-20
9.2.2 Troubleshooting of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-21
9.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servo-
motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-23
Chapter 10 Appendix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-1
10.1 Connection to Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10.1.1 Example of Connection to MP2200/MP2300 Motion Module SVA-01 . . . . . . . . . . . . . . 10-2
10.1.2 Example of Connection to MP920 4-axes Analog Module SVA-01 . . . . . . . . . . . . . . . . 10-3
10.1.3 Example of Connection to OMRON’s Motion Control Unit . . . . . . . . . . . . . . . . . . . . . . . 10-4
10.1.4 Example of Connection to OMRON’s Position Control Unit . . . . . . . . . . . . . . . . . . . . . . 10-5
10.1.5 Connection to MITSUBISHI’s AD72 Positioning Unit
(SERVOPACK in Speed Control Mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-6
10.1.6 Connection to MITSUBISHI’s AD75 Positioning Unit
(SERVOPACK in Position Control Mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-7

xviii
10.2 List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-8
10.2.1 Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-8
10.2.2 Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-9
10.3 Monitor Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-30
10.4 Parameter Recording Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-31
Revision History

1-1
1
Outline
1
Outline
1.1 Σ-V Series SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-2
1.2 Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.3 SERVOPACK Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . .1-3
1.3.1 Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.3.2 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-4
1.3.3 Speed/Position/Force Control Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1.4 SERVOPACK Internal Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . .1-7
1.4.1 Single-phase 100 V, SGDV-R70F05A, -R90F05A, -2R1F05A Models . . . . . . . . . . . . 1-7
1.4.2 Single-phase 100 V, SGDV-2R8F05A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1.4.3 Three-phase 200 V, SGDV-R70A05A, -R90A05A, -1R6A05A Models . . . . . . . . . . . . 1-8
1.4.4 Three-phase 200 V, SGDV-2R8A05A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
1.4.5 Three-phase 200 V, SGDV-3R8A05A, -5R5A05A, -7R6A05A Models . . . . . . . . . . . . 1-9
1.4.6 Three-phase 200 V, SGDV-120A05A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
1.4.7 Three-phase 200 V, SGDV-180A05A, -200A05A Models . . . . . . . . . . . . . . . . . . . . . 1-10
1.4.8 Three-phase 200 V, SGDV-330A05A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
1.4.9 Three-phase 200 V, SGDV-470A05A, -550A05A Models . . . . . . . . . . . . . . . . . . . . . 1-11
1.4.10 Three-phase 200 V SGDV-590A05A, -780A05A Models . . . . . . . . . . . . . . . . . . . . 1-11
1.4.11 Three-phase 400 V, SGDV-1R9D05A, -3R5D05A, -5R4D05A Models . . . . . . . . . . 1-12
1.4.12 Three-phase 400 V, SGDV-8R4D05A, -120D05A Models . . . . . . . . . . . . . . . . . . . 1-12
1.4.13 Three-phase 400 V, SGDV-170D05A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
1.4.14 Three-phase 400 V, SGDV-210D05A, -260D05A Models . . . . . . . . . . . . . . . . . . . . 1-13
1.4.15 Three-phase 400 V SGDV-280D05A, -370D05A Models . . . . . . . . . . . . . . . . . . . . 1-14
1.5 Examples of Servo System Configurations . . . . . . . . . . . . . . . . . . . . . . .1-15
1.5.1 Connecting to SGDV-F05A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
1.5.2 Connecting to SGDV-A05A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-16
1.5.3 Connecting to SGDV-D05A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17
1.6 SERVOPACK Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18
1.7 Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-19

1 Outline
1-2
1.1 Σ-V Series SERVOPACKs
The Σ-V Series SERVOPACKs are designed for applications that require frequent high-speed, high-pre-
cision positioning. The SERVOPACK makes the most of machine performance in the shortest time possi-
ble, thus contributing to improving productivity.
1.2 Part Names
This section describes the part names of SGDV type SERVOPACK for analog voltage and pulse train refer-
ence.
CN5 Analog monitor connector
Used to monitor motor speed, torque
reference, and other values through
a special cable (option).
Refer to 6.1.3 Analog Monitor.
Panel display
Used to display SERVOPACK
status, alarm status, and other
values when parameters are input.
Refer to 2.1 Panel operator.
Connects external regenerative resistors.
Refer to 3.6 Connecting Regenerative Resistors.
Used for control power supply input.
Refer to 3.1 Main Circuit Wiring.
Panel operator keys
Used to set parameters.
Refer to 2.1 Panel operator.
Panel operator
Charge indicator
Front cover
CN3 Connector for digital operator
Connects a digital operator
(option, JUSP-OP05A-1-E) or a personal
computer (RS422).
Refer to
(KAEPS80000042) and
,
Operation of Digital Operator (SIEPS80000055).
CN1 I/O signal connector
Used for reference input signals and
sequence I/O signals.
Refer to 3.2 I/O Signal Connections.
CN7 Connector for personal computer
Communicates with a
personal computer.
Use the connection cable (JZSP-CVS06-02-E).
CN2 Encoder connector
Connects a serial converter unit or a linear scale.
Refer to 3.5 Examples of Encoder Connection.
Ground terminal
Be sure to connect to protect against electrical shock.
Refer to 3.1 Main Circuit Wiring.
Main circuit power
supply terminals
Used for main circuit power supply input.
Refer to 3.1 Main Circuit Wiring.
Control power
supply Terminals
Servomotor terminals
Connects the main circuit cable for servomotor.
Refer to 3.1 Main Circuit Wiring.
SERVOPACK model
Refer to 1.5 SERVOPACK Model Designation.
Regenerative
resistor connecting terminals
Input voltage
CN8 Connector for safety function devices
Connects a safety function device.
DC reactor terminals for harmonic suppression
Connects DC reactor for harmonic suppression.
Refer to 3.7.3 Connecting DC Reactor for Hormonic
Suppression.
CN3
CN7
CN1
CN8
CN2
㧢
Serial number
With front cover open
Nameplate (side view)
Indicates the SERVOPACK model and ratings.
Lights when the main circuit power supply is ON
and stays lit as long as the internal capacitor
remains charged. Therefore, do not touch the
SERVOPACK even after the power supply is
turned OFF if the indicator is lit.
It may result in electric shock.
Σ-V series Product Catalog
Σ-V series User's Manual
Note: When not using the safety function, use
the SERVOPACK with the safety function
jumper connector (JZSP-CVH05-E,
provided as an accessory) inserted.
For the connecting method,
refer to 3.2.3 Safety Function Signal (CN8)
Names and Function. For the operation,
refer to 5.11 Safety Function.


Refer to 2.1 Panel Operator.
Refer to 2.1 Panel Operator.
Refer to 3.1 Main Circuit Wiring.
Refer to 3.1 Main Circuit Wiring.
Refer to 3.6 Connecting Regenerative Resistors.
Refer to 3.1 Main Circuit Wiring.
Refer to 3.1 Main Circuit Wiring.
Refer to 3.2 I/O Signal Connections.
Refer to 1.6 SERVOPACK Model Designation.
Refer to 3.5 Examples of Linear Scale Connection.
refer to 5.11 Safety Function.
refer to 3.2.3 Safety Function Signal (CN8)
Names and Functions.
Refer to 6.1.3 Monitoring Analog Signals.
Refer to 3.7.3 Connecting DC Reactor for Harmonic
Suppression.