YASKAWA SGD7W Series User manual

Applicable SERVOPACK Model: SGD7S, SGD7W, SGD7C
Applicable Rotary Servomotor Model:
SGM7M, SGM7J, SGM7A, SGM7P, SGM7G, SGMMV
Applicable Direct Drive Servomotor Model: SGM7D, SGM7E, SGM7F, SGMCV, SGMCS
Applicable Linear Servomotor Model: SGLG, SGLF, SGLT
Peripheral Device
-7-Series AC Servo Drive
Selection Manual
MANUAL NO. SIEP S800001 32I
Option Modules
Software
Cables and User-Assembled Wiring
Materials for SGM7P Rotary Servomotors
Cables and User-Assembled Wiring
Materials for SGM7G Rotary Servomotors
Cables and User-Assembled Wiring
Materials for SGM7J Rotary Servomotors
Peripheral Devices
and System Configurations
Cables and User-Assembled Wiring
Materials for SGM7A Rotary Servomotors
Cables and User-Assembled Wiring
Materials for SGMMV Rotary Servomotors
Cables and User-Assembled Wiring
Materials for Direct Drive Servomotors
Cables and User-Assembled Wiring
Materials for Linear Servomotors
Cables and User-Assembled Wiring
Materials for SERVOPACKs
SERVOPACK
Peripheral Devices
Other Peripheral
Devices and Options
Cables and User-Assembled Wiring
Materials for SGM7M Rotary Servomotors
1
2
3
4
5
6
7
8
9
10
11
12
13
14

Copyright © 2014 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a
retrieval system, or transmitted, in any form, or by any means, mechanical, elec-
tronic, photocopying, recording, or otherwise, without the prior written permission
of Yaskawa. No patent liability is assumed with respect to the use of the informa-
tion contained herein. Moreover, because Yaskawa is constantly striving to
improve its high-quality products, the information contained in this manual is sub-
ject to change without notice. Every precaution has been taken in the preparation
of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or
omissions. Neither is any liability assumed for damages resulting from the use of
the information contained in this publication.

iii
About this Manual
This manual provides information required to select cables, peripheral devices, and options for Σ-7-
Series AC Servo Drives. It also describes the wiring materials that you can use to make your own cables.
Read and understand this manual to ensure correct usage of the Σ-7-Series AC Servo Drives.
Keep this manual in a safe place so that it can be referred to whenever necessary.
Outline of Manual
The contents of the chapters of this manual are described in the following table.
Refer to these chapters as required.
Chapter Chapter Title Contents
1Peripheral Devices and
System Configurations
This chapter provides system configuration diagrams of Servo Drives and
peripheral devices. References are provided to detailed information.
2
Cables and User-Assembled
Wiring Materials for SGM7M
Rotary Servomotors
These chapters provide the following information.
•Selection tables, specifications, and dimensional drawings for Servomotor
Main Circuit Cables, Encoder Cables, and user-assembled wiring materi-
als
Note: References to detailed information are provided in the system configu-
ration diagrams.
3
Cables and User-Assembled
Wiring Materials for SGM7J
Rotary Servomotors
4
Cables and User-Assembled
Wiring Materials for SGM7A
Rotary Servomotors
5
Cables and User-Assembled
Wiring Materials for SGM7P
Rotary Servomotors
6
Cables and User-Assembled
Wiring Materials for SGM7G
Rotary Servomotors
7
Cables and User-Assembled
Wiring Materials for SGMMV
Rotary Servomotors
8
Cables and User-Assembled
Wiring Materials for Direct
Drive Servomotors
9
Cables and User-Assembled
Wiring Materials for Linear
Servomotors
This chapter provides the following information.
•Information on recommended Linear Encoders and connected system
configurations
•Selection tables, specifications, and dimensional drawings for Servomotor
Main Circuit Cables, Linear Encoder Cables, Sensor Cables, and user-
assembled wiring materials
•Selection tables, specifications, and dimensional drawings for Serial Con-
verter Units and Cables
Note: References to detailed information are provided in the system configu-
ration diagrams.
10
Cables and User-Assembled
Wiring Materials for
SERVOPACKs
This chapter provides selection tables, specifications, and dimensional
drawings for SERVOPACK cables.
11 Option Modules
This chapter provides the specifications and dimensional drawings of Option Modules.
12 SERVOPACK Peripheral
Devices
This chapter provides selection tables, specifications, and dimensional
drawings for SERVOPACK peripheral devices.
13 Software This chapter provides information on the SigmaWin+, Yaskawa’s AC Servo
Drive Engineering Tool, and MPE720, our System Integrated Engineering Tool.
14 Other Peripheral Devices and
Options
This chapter provides information on surge absorbers and diodes for hold-
ing brake power supplies. It also provides information on the battery
required to use an absolute encoder.
And it provides information on the compatibility of cables for Σ-V-Series Ser-
vomotors and information on metal connectors.

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
System Components

Machine
Controller
and
Servo Drive
General
Catalog

MP3300
Catalog
Machine Controllers

Σ-7-Series
Catalog
Servo Drives
Machine Controllers
SERVOPACKs: Σ-7Sand Σ-7W
SERVOPACKswith Built-in Controllers: Σ-7C
Servomotors
Other Documents

Built-in
Function
Manuals

Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Product
Manuals

Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Hardware Option
Product Manuals

Option
Module
User’s
Manuals
Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
FT/EX
Product Manuals
Option
Module
User’s
Manuals
Σ-7-Series
Servomotor
Product
Manuals
Σ-7-Series
Σ-7C
SERVOPACK
Product
Manual

Σ-7-Series
Σ-7C
SERVOPACK
Troubleshooting
Manual

Enclosed
Documents

Enclosed
Documents

Built-in
Function
Manuals

Enclosed
Documents
Σ-7-Series
Peripheral
Device
Selection Manual
(thismanual)
Σ-7-Series
Operation
Interface
Operating
Manuals
Σ-7-Series
MECHATROLINK
Communications
Command
Manuals
Programming
Manuals
Distributed
I/O Module
User’s
Manuals

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

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

vii

Σ-7-Series
Σ-7S/Σ-7W
SERVOPACK
Product Manuals
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
MECHATROLINK-III
Communications References
Product Manual
SIEP S800001 28
Provide detailed information on
selecting Σ-7-Series Σ-7S and
Σ-7W SERVOPACKs; installing,
connecting, setting, testing in trial
operation, tuning, monitoring, and
maintaining Servo Drives; and
other information.
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
Provides 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
Provides 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
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
FT/EX Specification
for Three-Point Latching
for Conveyance Application
Product Manual
SIEP S800002 17
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
FT/EX Specification
for Semi-/Fully-Closed Loop
Control Online Switching
for Conveyance Application
Product Manual
SIEP S800002 27
Σ-7-Series AC Servo Drive
Σ-7W SERVOPACK with
FT/EX Specification
for Gantry Applications
Product Manual
SIEP S800002 29
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description

ix
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 detailed information
required for the design and mainte-
nance of a Safety Module.
Enclosed Documents
AC Servo Drive
Rotary Servomotor
Safety Precautions
TOBP C230260 00
Provides detailed information for
the safe usage of Rotary Servomo-
tors and Direct Drive Servomotors.
AC Servomotor
Linear ΣSeries
Safety Precautions
TOBP C230800 00
Provides detailed information for
the safe usage of Linear Servomo-
tors.
Σ-7-Series
Servomotor
Product Manuals
Σ-7-Series AC Servo Drive
Rotary Servomotor
Product Manual
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
This 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.
Continued on next page.
Continued from previous page.
Classification Document Name Document No. Description

x
Programming
Manuals
Machine Controller
MP3000 Series
Ladder Programming
Manual
SIEP C880725 13
Provides detailed information on
the ladder programming specifica-
tions and instructions for MP3000-
Series Machine Controllers and Σ-
7-Series Σ-7C SERVOPACKs.
Machine Controller
MP3000 Series
Motion Programming
Manual
SIEP C880725 14
Provides detailed information on
the motion programming and
sequence programming specifica-
tions and instructions for MP3000-
Series Machine Controllers and Σ-
7-Series Σ-7C SERVOPACKs.
Σ-7-Series
Operation Interface
Operating Manuals
Machine Controller
MP2000/MP3000 Series
Engineering Tool
MPE720 Version 7
User's Manual
SIEP C880761 03 Describes in detail how to operate
MPE720 version 7.
Σ-7-Series AC Servo Drive
Digital Operator
Operating Manual
SIEP S800001 33
Describes the operating proce-
dures for a Digital Operator for a
Σ-7-Series Servo System.
AC Servo Drive
Engineering Tool
SigmaWin+
Operation Manual
SIET S800001 34
Provides detailed operating proce-
dures for the SigmaWin+ Engineer-
ing Tool for a Σ-7-Series Servo
System.
Distributed
I/O Module
User’s 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

xi
Using This Manual
Technical Terms Used in This Manual
The following terms are used in this manual.
Trademarks
•MECHATROLINK is a trademark of the MECHATROLINK Members Association.
•Other product names and company names are the trademarks or registered trademarks of the
respective company. “TM” and the ®mark do not appear with product or company names in this
manual.
Visual Aids
The following aids are used to indicate certain types of information for easier reference.
Te rm Meaning
Servomotor A Σ-7-Series Rotary Servomotor, Direct Drive Servomotor, or Linear Servomotor.
Rotary Servomotor A Rotary Servomotor (SGM7M, SGM7J, SGM7A, SGM7P, SGM7G, or SGMMV).
Direct Drive Servomotor A Direct Drive Servomotor (SGM7D, SGM7E, SGM7F, SGMCV, or SGMCS).
Linear Servomotor A Σ-7-Series Linear Servomotor (SGLG, SGLF, or SGLT).
SERVOPACK A Σ-7-Series 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 con-
troller and peripheral devices.
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
Engineering Tool is installed.
Indicates precautions or restrictions that must be observed.
Also indicates alarm displays and other precautions that will not result in machine damage.
Indicates definitions of difficult terms or terms that have not been previously explained in this manual.
Indicates operating or setting examples.
Indicates supplemental information to deepen understanding or useful information.
Important
Term
Example
Information

xii
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.

xiii
Safety Precautions That Must Always Be Observed
General Precautions
DANGER
Read and understand this manual to ensure the safe usage of the product.
Keep this manual in a safe, convenient place so that it can be referred to whenever necessary.
Make sure that it is delivered to the final user of the product.
Do not remove covers, cables, connectors, or optional devices while power is being supplied to
the SERVOPACK.
There is a risk of electric shock, operational failure of the product, or burning.
WARNING
Use a power supply with specifications (number of phases, voltage, frequency, and AC/DC
type) that are appropriate for the product.
There is a risk of burning, electric shock, or fire.
Do not attempt to disassemble, repair, or modify the product.
There is a risk of fire or failure.
The warranty is void for the product if you disassemble, repair, or modify it.
CAUTION
The regenerative resistors, External Dynamic Brake Resistors, and other peripheral devices can
be very hot while power is ON or soon after the power is turned OFF. Implement safety mea-
sures, such as installing covers, so that hands and parts such as cables do not come into con-
tact 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 cables.
There is a risk of failure, damage, or electric shock.
Do not use the product in an environment that is subject to water, corrosive gases, or flamma-
ble gases, or near flammable materials.
There is a risk of electric shock or fire.
NOTICE
Do not attempt to use a peripheral device that is damaged or that has missing parts.
Install external emergency stop circuits that shut OFF the power supply and stops operation
immediately when an error occurs.
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 peripheral devices in the specified combinations.
Do not touch peripheral devices with wet hands.
There is a risk of product failure.

xiv
Storage Precautions
Transportation Precautions
CAUTION
Do not place an excessive load on the product during storage. (Follow all instructions on the
packages.)
There is a risk of injury or damage.
NOTICE
Do not install or store the product in any of the following locations.
•Locations that are subject to direct sunlight
•Locations that are subject to ambient temperatures that exceed product specifications
•Locations that are subject to relative humidities that exceed product specifications
•Locations that are subject to condensation as the result of extreme changes in temperature
•Locations that are subject to corrosive or flammable gases
•Locations that are near flammable materials
•Locations that are subject to dust, salts, or iron powder
•Locations that are subject to water, oil, or chemicals
•Locations that are subject to vibration or shock that exceeds product specifications
•Locations that are subject to radiation
If you store or install the product in any of the above locations, the product may fail or be damaged.
CAUTION
Transport the product in a way that is suitable to the mass of the product.
When you handle a peripheral device, be careful of sharp parts, such as the corners.
There is a risk of injury.
Do not place an excessive load on the product during transportation. (Follow all instructions on
the packages.)
There is a risk of injury or damage.
NOTICE
Peripheral devices are precision devices. Do not drop it or subject it to strong shock.
There is a risk of failure or damage.
Do not subject connectors to shock.
There is a risk of faulty connections or damage.
If disinfectants or insecticides must be used to treat packing materials such as wooden frames,
plywood, or pallets, the packing materials must be treated before the product is packaged, and
methods other than fumigation must be used.
Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30
minutes or more.
If the electronic products, which include stand-alone products and products installed in machines,
are packed with fumigated wooden materials, the electrical components may be greatly damaged
by the gases or fumes resulting from the fumigation process. In particular, disinfectants containing
halogen, which includes chlorine, fluorine, bromine, or iodine can contribute to the erosion of the
capacitors.

xv
Installation Precautions
Wiring Precautions
CAUTION
Install a peripheral device 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.
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 product.
There is a risk of failure, damage, or injury.
Do not allow any foreign matter to enter a peripheral device.
There is a risk of failure or fire.
NOTICE
Do not install or store the product in any of the following locations.
•Locations that are subject to direct sunlight
•Locations that are subject to ambient temperatures that exceed product specifications
•Locations that are subject to relative humidities that exceed product specifications
•Locations that are subject to condensation as the result of extreme changes in temperature
•Locations that are subject to corrosive or flammable gases
•Locations that are near flammable materials
•Locations that are subject to dust, salts, or iron powder
•Locations that are subject to water, oil, or chemicals
•Locations that are subject to vibration or shock that exceeds product specifications
•Locations that are subject to radiation
If you store or install the product in any of the above locations, the product may fail or be damaged.
DANGER
Do not change any wiring while power is being supplied.
There is a risk of electric shock or injury.
WARNING
Wiring and inspections must be performed only by qualified engineers.
There is a risk of electric shock or product failure.
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.

xvi
CAUTION
Wait for at least six minutes after turning OFF the power supply (with a SERVOPACK for a 100-
VAC input, wait for at least nine minutes) and then make sure that the CHARGE indicator is not
lit before starting wiring or inspection work. Do not touch the power supply terminals while the
CHARGE lamp is lit after turning OFF the power supply because high voltage may still remain in
the SERVOPACK.
There is a risk of electric shock.
Check the wiring to be sure it has been performed correctly.
Always confirm the pin layouts and wiring methods in technical documents for your peripheral
devices before operation.
There is a risk of failure or malfunction.
Connect wires to your peripheral devices securely with the specified methods and tightening
torque.
Insufficient tightening may cause wires and terminal blocks to generate heat due to faulty contact,
possibly resulting in fire.
Use shielded twisted-pair cables or screened unshielded multi-twisted-pair cables for I/O Sig-
nal Cables and Encoder Cables.
Observe the following precautions when wiring the SERVOPACK’s main circuit terminals.
•Turn ON the power supply to the SERVOPACK only after all wiring, including the main circuit termi-
nals, has been completed.
•If a connector is used for the main circuit terminals, remove the main circuit connector from the SER-
VOPACK before you wire it.
•Insert only one wire per insertion hole in the main circuit terminals.
•When you insert a wire, make sure that the conductor wire (e.g., whiskers) does not come into con-
tact with adjacent wires.
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.
NOTICE
Whenever possible, use the Cables specified by Yaskawa.
If you use any other cables, confirm the rated current and application environment of your model
and use the wiring materials specified by Yaskawa or equivalent materials.
Securely tighten cable connector screws and lock mechanisms.
Insufficient tightening may result in cable connectors falling off during operation.
Do not bundle power lines (e.g., the Main Circuit Cable) and low-current lines (e.g., the I/O Sig-
nal Cables or Encoder Cables) together or run them through the same duct. If you do not place
power lines and low-current lines in separate ducts, separate them by at least 30 cm.
If the cables are too close to each other, malfunctions may occur due to noise affecting the low-cur-
rent lines.
Install a battery at either the host controller or on the Encoder Cable.
If you install batteries both at the host controller and on the Encoder Cable at the same time, you
will create a loop circuit between the batteries, resulting in a risk of damage or burning.
When connecting a battery, connect the polarity correctly.
There is a risk of battery rupture or encoder failure.

xvii
Maintenance and Inspection Precautions
Disposal Precautions
General Precautions
DANGER
Do not change any wiring while power is being supplied.
There is a risk of electric shock or injury.
WARNING
Wiring and inspections must be performed only by qualified engineers.
There is a risk of electric shock or product failure.
CAUTION
Wait for at least six minutes after turning OFF the power supply (with a SERVOPACK for a 100-
VAC input, wait for at least nine minutes) and then make sure that the CHARGE indicator is not
lit before starting wiring or inspection work. Do not touch the power supply terminals while the
CHARGE lamp is lit after turning OFF the power supply because high voltage may still remain in
the SERVOPACK.
There is a risk of electric shock.
When disposing of the product, treat it as ordinary industrial waste. However, local ordinances
and national laws must be observed. Implement all labeling and warnings as a final product as
required.
Figures provided in this document are typical examples or conceptual representations. There
may be differences between them and actual wiring, circuits, and products.
The products shown in illustrations in this document are sometimes shown without covers or
protective guards. Always replace all covers and protective guards before you use the product.
If you need a new copy of this document because it has been lost or damaged, contact your
nearest Yaskawa representative or one of the offices listed on the back of this document.
This document is subject to change without notice for product improvements, specifications
changes, and improvements to the manual itself.
We will update the document number of the document and issue revisions when changes are
made.
Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies
the product in any way. Yaskawa disavows any responsibility for damages or losses that are
caused by modified products.

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

xix
Suitability for Use
•It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations
that apply if the Yaskawa product is used in combination with any other products.
•The customer must confirm that the Yaskawa product is suitable for the systems, machines, and
equipment used by the customer.
•Consult with Yaskawa to determine whether use in the following applications is acceptable. If use
in the application is acceptable, use the product with extra allowance in ratings and specifica-
tions, and provide safety measures to minimize hazards in the event of failure.
•Outdoor use, use involving potential chemical contamination or electrical interference, or use
in conditions or environments not described in product catalogs or manuals
•Nuclear energy control systems, combustion systems, railroad systems, aviation systems,
vehicle systems, medical equipment, amusement machines, and installations subject to sep-
arate industry or government regulations
•Systems, machines, and equipment that may present a risk to life or property
•Systems that require a high degree of reliability, such as systems that supply gas, water, or
electricity, or systems that operate continuously 24 hours a day
•Other systems that require a similar high degree of safety
•Never use the product for an application involving serious risk to life or property without first
ensuring that the system is designed to secure the required level of safety with risk warnings and
redundancy, and that the Yaskawa product is properly rated and installed.
•The circuit examples and other application examples described in product catalogs and manuals
are for reference. Check the functionality and safety of the actual devices and equipment to be
used before using the product.
•Read and understand all use prohibitions and precautions, and operate the Yaskawa product
correctly to prevent accidental harm to third parties.
Specifications Change
The names, specifications, appearance, and accessories of products in product catalogs and
manuals may be changed at any time based on improvements and other reasons. The next edi-
tions of the revised catalogs or manuals will be published with updated code numbers. Consult
with your Yaskawa representative to confirm the actual specifications before purchasing a product.

xx
Contents
About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Outline of Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Related Documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv
Using This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .xviii
Peripheral Devices and System Configurations
1
1.1 Configuration with a Rotary Servomotor. . . . . . . . . . . . . . . . . . . . . .1-2
1.2 Configuration with a Direct Drive Servomotor . . . . . . . . . . . . . . . . .1-3
1.3 Configuration with a Linear Servomotor . . . . . . . . . . . . . . . . . . . . . .1-4
Cables and User-Assembled Wiring Materials for SGM7M Rotary Servomotors
2
2.1 Cable Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
2.2 Servomotor Main Circuit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
2.2.1 Servomotor Main Circuit Cables for Servomotors
without Holding Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
2.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes . . . .2-4
2.3 Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-5
2.3.1 Encoder Cables for Incremental Encoders . . . . . . . . . . . . . . . . . . . . . . . . . .2-5
2.3.2 Encoder Cables for Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-6
2.4 User-Assembled Wiring Materials for Encoder Cables. . . . . . . . . . .2-7
2.4.1 Connector Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-7
2.4.2 Cables without Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-8
2.5 Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-9
2.5.1 Precautions for Standard Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-9
2.5.2 Precautions for Flexible Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-9
Cables and User-Assembled Wiring Materials for SGM7J Rotary Servomotors
3
3.1 Cable Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-2
3.2 Servomotor Main Circuit Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
3.2.1 Servomotor Main Circuit Cables for Servomotors
without Holding Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-3
3.2.2 Servomotor Main Circuit Cables for Servomotors with Holding Brakes . . . .3-4