YASKAWA SGD7C-***AMAA*** User manual

Model: SGD7C-AMAA
-7C SERVOPACK
-7-Series AC Servo Drive
Product Manual
MANUAL NO. SIEP S800002 04B
1
2
3
4
5
6
7
8
9
10
11
12
Installation
Wiring and Connections
Preparations
Device-Specific Settings
Trial Operation
Creating User Programs
Tuning
Monitoring
Maintenance
Parameter Lists
Basic Information on
SERVOPACKs
Functions of the
Controller Section

Copyright © 2016 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 Σ-7C SERVOPACKs for Σ-7-Series AC Servo
Drives, and to design, perform trial operation of, tune, operate, and maintain the Servo Drives.
Read this manual carefully to ensure the correct usage of 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. First-time users of
a SERVOPACK should perform operations in the sequence given in this manual.
Chapter Chapter Title Contents
1 Basic Information on SERVOPACKs Provides an overview of the SERVOPACKs and gives the SERVO-
PACK specifications.
2Installation Provides information on installing SERVOPACKs in the required loca-
tions.
3 Wiring and Connections Provides information on wiring and connecting SERVOPACKs to
power supplies and peripheral devices.
4Preparations Describes the Engineering Tool and the SERVOPACK setting proce-
dures that are necessary to make device-specific settings.
5 Device-Specific Settings Describes the procedure for making device-specific settings for the
Servo Drive.
6 Trial Operation Describes the flow of and operating procedures for trial operation.
7 Creating User Programs Describes how to create user programs for the Controller Section.
8Tuning Describes the flow of tuning with SigmaWin+ and provides details on
tuning functions and related operating procedures.
9 Monitoring Provides information on monitoring SERVOPACK product information
and SERVOPACK status.
10 Maintenance Describes inspections and parts replacement.
11 Parameter Lists Provides information on the parameters.
12 Functions of the Controller Section Describes the functions of the Controller Section.

iv
Related Documents
The relationships between the documents that are related to the Servo Drives are shown in the fol-
lowing figure. The numbers in the figure correspond to the numbers in the table on the following
pages. Refer to these documents as required.
ManualsCatalogs
Σ-7-Series
Operation
Interface
Operating
Manuals
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
(such asthismanual)

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
Servomotor
Product
Manuals
Σ-7-Series
Σ-7C
SERVOPACK
Product
Manuals
(such asthismanual)

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
MECHATROLINK
Communications
Command
Manuals
Programming
Manuals
Distributed
I/O Module
User’s
Manual

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
This 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
Σ Series
Safety Precautions
TOBP C230800 00
Provides detailed information for
the safe usage of Linear Servomo-
tors.
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description
11
12
13

ix
Σ -7-Series
Servomotor
Product Manuals
Σ -7-Series AC Servo Drive
Rotary Servomotor
Product 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
Σ -7-Series
Peripheral Device
Selection Manual
Σ -7-Series AC Servo Drive
Peripheral Device
Selection Manual
SIEP S800001 32
Provides the following information
in detail for
Σ -7-Series Servo Sys-
tems.
•Cables: Models, dimensions, wir-
ing materials, connector models,
and connection specifications
•Peripheral devices: Models,
specifications, diagrams, and
selection (calculation) methods
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.
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description
14
15
16
17

x
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 Manual
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
18
19

xi
Using this Manual
Technical Terms Used in This Manual
The following terms are used in this manual.
Differences in Terms for Rotary Servomotors and Linear Servomotors
There are differences in the terms that are used for Rotary Servomotors and Linear Servomotors.
This manual primarily describes Rotary Servomotors. If you are using a Linear Servomotor, you
need to interpret the terms as given in the following table.
Te rm Meaning
Servomotor Α Σ-7-Series Rotary Servomotor, Direct Drive Servomotor, or Linear Servomotor.
Rotary Servomotor
A generic term used for a Σ-7-Series Rotary Servomotor (SGMMV, SGM7J, SGM7A, SGM7P,
or SGM7G) or a Direct Drive Servomotor (SGM7E, SGM7F, SGMCV or SGMCS).
The descriptions will specify when Direct Drive Servomotors are excluded.
Linear Servomotor A generic term used for a Σ-7-Series Linear Servomotor (SGLG, SGLF, or SGLT).
SERVOPACK A Σ-7-Series Σ-7C Servo Amplifier.
Servo Drive The combination of a Servomotor and SERVOPACK.
Servo System A servo control system that includes the combination of a Servo Drive with a host controller
and peripheral devices.
servo ON Supplying power to the motor.
servo OFF Not supplying power to the motor.
base block (BB) Shutting OFF the power supply to the motor by shutting OFF the base current to the power
transistor in the SERVOPACK.
servo lock A state in which the motor is stopped and is in a position loop with a position reference of 0.
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.
SigmaWin+ The Engineering Tool for setting up and tuning Servo Drives or a computer in which the Engi-
neering Tool is installed.
MPE720 The Engineering Tool or a personal computer running the Engineering Tool
PLC A Programmable Logic Controller.
Servo Section The part of a Σ-7C SERVOPACK that provides servo functionality.
Controller Section The part of a Σ-7C SERVOPACK that provides controller functionality.
CPU The CPU built into the Controller Section of a Σ-7C SERVOPACK.
Motion Control
Function Module The SVD, SVC4, or SVR4 Function Modules in the Controller Section of the SERVOPACK.
SVD A Motion Control Function Module for the two axes of a Σ-7C SERVOPACK that connects to
the Controller Section and Servo Section of the Σ-7C SERVOPACK through a bus.
SVC4 A Motion Control Function Module that uses MECHATROLINK-III communications to commu-
nicate with MECHATROLINK-III slave devices.
Communications
Function Module The Function Module in the 218IFD built into the CPU.
Rotary Servomotors Linear Servomotors
torque force
moment of inertia mass
rotation movement
forward rotation and reverse rotation forward movement and reverse movement
CW and CCW pulse trains forward and reverse pulse trains
rotary encoder linear encoder
absolute rotary encoder absolute linear encoder
incremental rotary encoder incremental linear encoder
unit: min-1 unit: mm/s
unit: Nmunit:N

xii
Notation Used in this Manual
Notation for Reverse Signals
The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/)
before the signal abbreviation.
Notation Example
BK is written as /BK.
Notation for Parameters
The notation depends on whether the parameter requires a numeric setting (parameter for numeric
setting) or requires the selection of a function (parameter for selecting functions).
•Parameters for Numeric Settings
n.0
n.1
Pn00F
Position Torque
Speed : Speed control : Position control : Torque control
Pn100
0.1 Hz 400
Position
Speed
All Axes
All Axes
All Axes
Parameter number
Tuning
Classication
When EnabledDefault SettingSetting Unit
Immediately10 to 20,000
Setting Range
Speed Loop Gain
Thisisthe minimum
unit (setting increment)
that you can set for
the parameter.
Thisisthe parameter
classication.
Thisiswhen any
change made to the
parameter will
become effective.
Thisisthe
parameter setting
set before
shipment.
The control methodsfor which the parametersapply are given.
Thiscolumn explainsthe selectionsfor the function.
Parameter number
Thisisthe setting range for the parameter.
Detect preventative maintenance warnings.
SetupAfter restart
Do not detect preventative maintenance warnings.
(default setting)
ClassicationWhen EnabledMeaningParameter
If isgiven
here, the parameter
appliesto both axesA
and B.
If you change the
setting, the new setting
will be applied to both
axes.
If isgiven here, the parameter appliesto both axesA and B.
If you change the setting, the new setting will be applied to both axes.
The notation “n.” indicatesa parameter for selecting functions.
Each indicatesthe setting for one digit.
The notation shown here meansthat the first digit from the right isset to 1.
•Parameters for Selecting Functions

xiii
Notation Example
Engineering Tools Used in This Manual
This manual uses the interfaces of the MPE720 and SigmaWin+ for descriptions.
Trademarks
•QR code is a trademark of Denso Wave Inc.
•MECHATROLINK is a trademark of the MECHATROLINK Members Association.
•DeviceNet is a registered trademark of the ODVA (Open DeviceNet Vendors Association).
•PROFIBUS is a trademark of the PROFIBUS User Organization.
•Ethernet is a registered trademark of the Xerox Corporation.
•Other product names and company names are the trademarks or registered trademarks of the
respective company. “TM” and the
® mark do not appear with product or company names in this
manual.
Visual Aids
The following aids are used to indicate certain types of information for easier reference.
Indicates precautions or restrictions that must be observed.
Indicates alarm displays and other precautions that will not result in machine damage.
Indicates definitions of difficult terms or terms that have not been previously explained in this manual.
Indicates operating or setting examples.
Indicates supplemental information to deepen understanding or useful information.
Pn002 =
n.X
Pn002 =
n.1
Pn002 =
n.X
Pn002 =
n.1
Pn002 =
n.X
Pn002 =
n.1
Pn002 =
n.X
Pn002 =
n.1
n.0 0 0 0 MeaningNotationMeaning
Numeric Value NotationDigit Notation
Notation
Indicatesthat the fourth digit from
the right in Pn002 isset to 1.
Indicatesthe fourth digit from
the right in Pn002.
Indicatesthat the third digit from
the right in Pn002 isset to 1.
Indicatesthe third digit from
the right in Pn002.
Indicatesthat the second digit from
the right in Pn002 isset to 1.
Indicatesthe second digit
from the right in Pn002.
Indicatesthat the rst digit from
the right in Pn002 isset to 1.
Indicatesthe rst digit from
the right in Pn002.
Notation Examplesfor Pn002
Important
Term
Example
Information

xiv
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.

xv
Safety Precautions That Must Always Be Observed
General Precautions
DANGER
Read and understand this manual to ensure the safe usage of the SERVOPACK.
Keep this manual in a safe, convenient place so that it can be referred to whenever necessary.
Make sure that it is delivered to the final user of the SERVOPACK.
Do not remove covers, cables, connectors, or optional devices while power is being supplied to
the SERVOPACK.
There is a risk of electric shock, operational failure of the SERVOPACK, or burning.
WARNING
Use a power supply with specifications (number of phases, voltage, frequency, and AC/DC
type) that are appropriate for the SERVOPACK.
There is a risk of burning, electric shock, or fire.
Connect the ground terminals on the SERVOPACK and Servomotor to ground poles according
to local electrical codes (100 Ω or less for a SERVOPACK with a 100-VAC or 200-VAC power
supply, and 10 Ω or 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 SERVOPACK.
There is a risk of fire or malfunction.
The warranty is void for the SERVOPACK if you disassemble, repair, or modify it.
The installation must be suitable and it must be performed only by an experienced technician.
There is a risk of electric shock or injury.
Before connecting the machine and starting operation, make sure that an emergency stop pro-
cedure has been provided and is working correctly.
There is a risk of injury.
Do not touch anything inside the SERVOPACK.
There is a risk of electric shock.
CAUTION
The SERVOPACK heat sinks, regenerative resistors, External Dynamic Brake Resistors, Servo-
motors, and other components can be very hot while power is ON or soon after the power is
turned OFF. Implement safety measures, such as installing covers, so that hands and parts
such as cables do not come into contact with hot components.
There is a risk of burn injury.
For a 24-VDC power supply, use a power supply device with double insulation or reinforced
insulation.
There is a risk of electric shock.
Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch the cables.
There is a risk of failure, damage, or electric shock.
Never use the SERVOPACK in locations subject to water, corrosive atmospheres, or flammable
gas, or near flammable objects.
There is a risk of electric shock or fire.

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

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

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

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

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