YASKAWA SGMJV User manual

SGMJV/SGMAV/SGMPS/SGMGV/SGMCS Servomotors
SGDV SERVOPACK
Rotational Motor
Analog Voltage and Pulse Train Reference
MANUAL NO. SIEP S800000 45C
Σ-VSeries
AC Servo Drives
Outline
Panel Operator
Wiring and Connection
Trial Operation
Operation
Adjustments
Utility Functions (Fn)
Monitor Modes (Un)
Fully-closed Loop Control
Troubleshooting
Appendix
1
2
3
4
5
6
7
8
9
10
11
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
Ter m Meaning
Servomotor Σ-V Series SGMJV, SGMAV, SGMPS, SGMGV, SGMSV, or SGMCS
(Direct Drive) servomotor
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
Rotational Motor
(SIEP S800000 43)
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 series
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
• Never touch any rotating motor parts while the motor is running.
Failure to observe this warning may result in injury.
• 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 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 lamp is ON.
Residual voltage may cause electric shock.
• Follow the procedures and instructions provided in this manual for trial operation.
Failure to do so may result not only in faulty operation and damage to equipment, but also in personal injury.
• The multi-turn output range for the Σ-V Series absolute position detecting system is different from
that of earlier systems (15-bit and 12-bit encoders). In particular, change the system to configure
the Σseries infinite-length positioning system with the Σ-V Series.
• The multi-turn limit value need not be changed except for special applications.
Changing it inappropriately or unintentionally can be dangerous.
• If the Multi-turn Limit Disagreement alarm occurs, check the setting of parameter Pn205 in the SER-
VOPACK to be sure that it is correct.
If Fn013 is executed when an incorrect value is set in Pn205, an incorrect value will be set in the encoder. The
alarm will disappear even if an incorrect value is set, but incorrect positions will be detected, resulting in a
dangerous situation where the machine will move to unexpected positions.
• 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.
• Provide an appropriate stopping device on the machine side to ensure safety. The holding brake on
a servomotor with a brake is not a stopping device for ensuring safety.
Failure to observe this warning may result in 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.
• Connect the ground terminal according to local electrical codes (100 Ωor less for a SERVOPACK
with a 100 V, 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.

vii
Storage and Transportation
Installation
CAUTION
• 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 hold the product by the cables or motor shaft while transporting it.
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.
CAUTION
• 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.

viii
Wiring
CAUTION
• 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 input/output signal cables or the
encoder cables 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 input/output signal
cables and the encoder cables.
• I/O signal cables must be no longer than 3 m, encoder cables must be no longer than 50 m, control
power supply cables for the SERVOPACK with a 400 V power supply (+24 V, 0 V) must be no
longer 10 m.
• Do not touch the power terminals while the CHARGE lamp 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 terminal blocks.
• Remove detachable main circuit terminals from the SERVOPACK prior to wiring.
• Insert only one 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.
• Install a battery at either the host controller or the SERVOPACK, but not both.
It is dangerous to install batteries at both ends simultaneously, because that sets up a loop circuit between the
batteries.
• 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 fire or malfunction.
• 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.
• 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
Failure to observe this caution may result in damage to the product.
• Do not reverse the polarity of the battery when connecting it.
Failure to observe this caution may damage the battery, the SERVOPACK, or cause an explosion.
• Wiring or inspection must be performed by a technical expert.
• Use a 24 VDC power supply with a double-shielded enclosure.

ix
Operation
Maintenance and Inspection
Disposal
CAUTION
• Always use the servomotor and SERVOPACK in one of the specified combinations.
Failure to observe this caution so may result in fire or malfunction.
• Conduct trial operation on the servomotor alone with the motor shaft disconnected from the
machine to avoid accidents.
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 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 servomotor for a vertical axis, install safety devices to prevent workpieces from fall-
ing due to alarms or overtravels. Set the servomotor so that it will stop in the zero clamp state when
overtravel occurs.
Failure to observe this caution may cause workpieces to fall due to overtravel.
• When not using turning-less function, set to the correct moment of inertia ratio (Pn103).
Setting to an incorrect moment of inertia 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.
• 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.
• Do not use the brake of the servomotor for braking.
Failure to observe this caution may result in malfunction.
CAUTION
• Do not disassemble the SERVOPACK.
Failure to observe this caution may result in electric shock or injury.
• Do not attempt to change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
• 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.
CAUTION
• When disposing of the products, treat them as ordinary industrial waste.

x
General Precautions
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.

xi
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)
Servomotor
•SGMJV
•SGMAV
•SGMPS
•SGMGV
•SGMSV
UL1004 (E165827)
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
Servomotor
•SGMJV
•SGMAV
•SGMPS
• SGMGV
•SGMSV
IEC60034-1
IEC60034-5
IEC60034-8
IEC60034-9
EN55011/A2
group 1 class A
EN61800-3
EN61800-3
EN61000-6-2 –

xii
Contents
About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi
Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi
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/Torque Control Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1.4 SERVOPACK Internal Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1.4.1 Single-phase 100 V, SGDV-R70F01A, -R90F01A, -2R1F01A Models . . . . . . . . . . . . . . . 1-7
1.4.2 Single-phase 100 V, SGDV-2R8F01A Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1.4.3 Three-phase 200 V, SGDV-R70A01A, -R90A01A, -1R6A01A Models . . . . . . . . . . . . . . . 1-8
1.4.4 Three-phase 200 V, SGDV-2R8A01A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
1.4.5 Three-phase 200 V, SGDV-3R8A01A, -5R5A01A, -7R6A01A Models . . . . . . . . . . . . . . . 1-9
1.4.6 Three-phase 200 V, SGDV-120A01A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
1.4.7 Three-phase 200 V, SGDV-180A01A, -200A01A Models . . . . . . . . . . . . . . . . . . . . . . . . 1-10
1.4.8 Three-phase 200 V, SGDV-330A01A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
1.4.9 Three-phase 200 V, SGDV-470A01A, -550A01A Models . . . . . . . . . . . . . . . . . . . . . . . . 1-11
1.4.10 Three-phase 200 V SGDV-590A01A, -780A01A Models. . . . . . . . . . . . . . . . . . . . . . . . 1-11
1.4.11 Three-phase 400 V, SGDV-1R9D01A, -3R5D01A, -5R4D01A Models . . . . . . . . . . . . . 1-12
1.4.12 Three-phase 400 V, SGDV-8R4D01A, -120D01A Models . . . . . . . . . . . . . . . . . . . . . . . 1-12
1.4.13 Three-phase 400 V, SGDV-170D01A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
1.4.14 Three-phase 400 V, SGDV-210D01A, -260D01A Models . . . . . . . . . . . . . . . . . . . . . . . 1-13
1.4.15 Three-phase 400 V SGDV-280D01A, -370D01A Models . . . . . . . . . . . . . . . . . . . . . . . 1-14
1.5 Examples of Servo System Configurations . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
1.5.1 Connecting to SGDV-F01A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
1.5.2 Connecting to SGDV-A01A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-16
1.5.3 Connecting to SGDV-D01A 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

xiii
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
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
3.2 I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
3.2.1 I/O Signal (CN1) Names and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
3.2.2 I/O Signal Connector (CN1) Terminal Layout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18
3.2.3 Safety Function Signal (CN8) Names and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
3.2.4 Example of I/O Signal Connections in Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
3.2.5 Example of I/O Signal Connections in Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
3.2.6 Example of I/O Signal Connections in Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
3.3 I/O Signal Allocations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.3.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.3.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-27
3.4 Examples of Connection to Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . 3-31
3.4.1 Reference Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-31
3.4.2 Sequence Input Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33
3.4.3 Sequence Output Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-34
3.5 Examples of Encoder Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36
3.5.1 Connection Example of an Encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36
3.5.2 CN2 Encoder Connector Terminal Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-37
3.6 Connecting Regenerative Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38
3.6.1 Connecting Regenerative Resistors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38
3.6.2 Setting Regenerative Resistor Capacity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-40
3.7 Noise Control and Measures for Harmonic Suppression. . . . . . . . . . . . . . . 3-41
3.7.1 Wiring for Noise Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-41
3.7.2 Precautions on Connecting Noise Filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-43
3.7.3 Connecting AC/DC Reactor for Harmonic Suppression. . . . . . . . . . . . . . . . . . . . . . . . . . 3-45
Chapter 4 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1
4.1 Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2 Trial Operation for Servomotor without Load . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.3 Trial Operation for Servomotor without Load from Host Reference . . . . . . . . 4-3
4.3.1 Inspecting Connection and Status of Input Signal Circuits. . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.3.2 Trial Operation in Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4.3.3 Trial Operation under Position Control from the Host with the SERVOPACK Used for Speed
Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4.3.4 Trial Operation in Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.4 Trial Operation with the Servomotor Connected to the Machine . . . . . . . . . 4-10
4.5 Trial Operation of Servomotor with Brakes . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
4.6 Test Without Motor Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4.6.1 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4.6.2 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4.6.3 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
4.6.4 Operator Display during Testing without Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15

xiv
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 Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.2.3 Overtravel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5.2.4 Holding Brakes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.2.5 Stopping Servomotors after /S_ON Turned OFF or Alarm Occurrence . . . . . . . . . . . . . . 5-13
5.2.6 Instantaneous Power Interruption Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15
5.2.7 SEMI F47 Function (Torque Limit Function for Low Power Supply Voltage
for Main Circuit) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-16
5.2.8 Setting Motor Overload Detection Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19
5.3 Operating Using Speed Control with Analog Voltage Reference . . . . . . . . . 5-21
5.3.1 Basic Settings for Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21
5.3.2 Reference Offset Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
5.3.3 Soft Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
5.3.4 Speed Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-26
5.3.5 Zero Clamp Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27
5.3.6 Encoder Output Pulses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-30
5.3.7 Encoder Output Pulse Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-31
5.3.8 Speed Coincidence Signal Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32
5.4 Operating Using Position Control with Pulse Train Reference . . . . . . . . . . . 5-33
5.4.1 Basic Settings for Position Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33
5.4.2 Clear Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-38
5.4.3 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-39
5.4.4 Smoothing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-42
5.4.5 Positioning Completed Output Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
5.4.6 Positioning Near Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-44
5.4.7 Reference Pulse Inhibit Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-45
5.5 Operating Using Torque Control with Analog Voltage Reference. . . . . . . . . 5-47
5.5.1 Basic Settings for Torque Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-47
5.5.2 Reference Offset Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-48
5.5.3 Torque Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-51
5.5.4 Speed Limit in Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-51
5.6 Operating Using Speed Control with an Internal Set Speed. . . . . . . . . . . . . 5-53
5.6.1 Basic Settings for Speed Control with an Internal Set Speed . . . . . . . . . . . . . . . . . . . . . 5-53
5.6.2 Example of Operating with Internal Set Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-55
5.7 Combination of Control Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-56
5.7.1 Switching Internal Set Speed Control (Pn000.1 = 4, 5, or 6) . . . . . . . . . . . . . . . . . . . . . . 5-57
5.7.2 Switching Other Than Internal Set Speed Control (Pn000.1 = 7, 8 or 9) . . . . . . . . . . . . . 5-59
5.7.3 Switching Other Than Internal Set Speed Control (Pn000.1 = A or B) . . . . . . . . . . . . . . 5-59
5.8 Limiting Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-60
5.8.1 Internal Torque Limit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-60
5.8.2 External Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-61
5.8.3 Torque Limiting Using an Analog Voltage Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-62
5.8.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference . . . . . . . 5-63
5.8.5 Checking Output Torque Limiting during Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-64
5.9 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-65
5.9.1 Encoder Resolutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-65
5.9.2 Standard Connection Diagram and Setting the Absolute Data Request Signal
(SEN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-66
5.9.3 Absolute Encoder Data Backup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-67
5.9.4 Battery Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-68
5.9.5 Absolute Encoder Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-70
5.9.6 Absolute Encoder Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71
5.9.7 Multiturn Limit Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-74
5.9.8 Multiturn Limit Disagreement Alarm (A.CC0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-75

xv
5.10 Other Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-76
5.10.1 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals
(ALO1, ALO2, and ALO3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-76
5.10.2 Warning Output Signal (/WARN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-77
5.10.3 Rotation Detection Output Signal (/TGON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-78
5.10.4 Servo Ready Output Signal (/S-RDY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-78
5.11 Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-79
5.11.1 Hard Wire Base Block (HWBB) Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-79
5.11.2 External Device Monitor (EDM1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-83
5.11.3 Application Example of Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-85
5.11.4 Confirming Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-86
5.11.5 Precautions for Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-87
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.1.3 Monitoring Analog Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-6
6.1.4 Safety Precautions on Adjustment of Servo Gains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
6.2 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
6.2.1 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
6.2.2 Tuning-less Levels Setting (Fn200) Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-14
6.3 Advanced Autotuning (Fn201) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-17
6.3.1 Advanced Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-17
6.3.2 Advanced Autotuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20
6.3.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-26
6.4 Advanced Autotuning by Reference (Fn202). . . . . . . . . . . . . . . . . . . . . . . . 6-27
6.4.1 Advanced Autotuning by Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27
6.4.2 Advanced Autotuning by Reference Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30
6.4.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-34
6.5 One-parameter Tuning (Fn203) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-35
6.5.1 One-parameter Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-35
6.5.2 One-parameter Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-37
6.5.3 One-parameter Tuning Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-43
6.5.4 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-44
6.6 Anti-Resonance Control Adjustment Function (Fn204) . . . . . . . . . . . . . . . . 6-45
6.6.1 Anti-Resonance Control Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-45
6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure. . . . . . . . . . . . . . . .6-46
6.6.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-50
6.7 Vibration Suppression Function (Fn205) . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-51
6.7.1 Vibration Suppression Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-51
6.7.2 Vibration Suppression Function Operating Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . 6-52
6.7.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-55
6.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-56
6.8.1 Switching Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-56
6.8.2 Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-61
6.8.3 Current Control Mode Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-63
6.8.4 Current Gain Level Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-63
6.8.5 Speed Detection Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-63
6.9 Compatible Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-64
6.9.1 Feedforward Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-64
6.9.2 Torque Feedforward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-65
6.9.3 Speed Feedforward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-66
6.9.4 Proportional Control Operation (Proportional Operation Reference) . . . . . . . . . . . . . . . .6-67
6.9.5 Using the Mode Switch (P/PI Switching) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-68
6.9.6 Torque Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-73
6.9.7 Position Integral Time Constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-74

xvi
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). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
7.6 Initializing Parameter Settings (Fn005) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12
7.7 Clearing Alarm History (Fn006) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-13
7.8 Offset Adjustment of Analog Monitor Output (Fn00C) . . . . . . . . . . . . . . . . . 7-14
7.9 Gain Adjustment of Analog Monitor Output (Fn00D) . . . . . . . . . . . . . . . . . . 7-16
7.10 Automatic Offset-Signal Adjustment of the Motor Current Detection
(Fn00E) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-18
7.11 Manual Offset-Signal Adjustment of the Motor Current Detection (Fn00F) 7-19
7.12 Write Prohibited Setting (Fn010) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-20
7.13 Servomotor Model Display (Fn011) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-22
7.14 Software Version Display (Fn012) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-23
7.15 Resetting Configuration Error of Option Module (Fn014). . . . . . . . . . . . . . 7-24
7.16 Vibration Detection Level Initialization (Fn01B) . . . . . . . . . . . . . . . . . . . . . 7-25
7.17 Display of SERVOPACK and Servomotor ID (Fn01E) . . . . . . . . . . . . . . . . 7-27
7.18 Display of Servomotor ID in Feedback Option Module (Fn01F). . . . . . . . . 7-28
7.19 Origin Setting (Fn020) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-29
7.20 Software Reset (Fn030) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-30
7.21 EasyFFT (Fn206) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-31
7.22 Online Vibration Monitor (Fn207) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-35
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 Reading 32-bit Decimal Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
8.4 Monitoring Input Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5
8.4.1 Displaying Input Signal Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-5
8.4.2 Interpreting Input Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5
8.4.3 Input Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
8.5 Monitoring Safety Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
8.5.1 Interpreting Safety Input Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
8.5.2 Safety Input Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
8.6 Monitoring Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8
8.6.1 Displaying Output Signal Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8
8.6.2 Interpreting Output Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8
8.6.3 Output Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8
8.7 Monitor Display at Power ON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-9

xvii
Chapter 9 Fully-closed Loop Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-1
9.1 System Configuration and Connection Example for SERVOPACK with
Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.1.1 System Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.1.2 Internal Configuration of Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3
9.1.3 Serial Converter Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-4
9.1.4 Connection Example of External Encoder by Heidenhain . . . . . . . . . . . . . . . . . . . . . . . . . 9-6
9.1.5 Connection Example of External Encoder by Mitutoyo . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
9.1.6 Connection Example of External Encoder by Renishaw . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8
9.1.7 Encoder Output Pulse Signals from SERVOPACK with a External Encoder by
Renishaw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
9.2 Settings for Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10
9.2.1 Setting Order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-10
9.2.2 Motor Rotation Direction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-11
9.2.3 Sine Wave Pitch (Frequency) for an External Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . 9-13
9.2.4 Number of Encoder Output Pulses (PAO, PBO, and PCO) from the SERVOPACK . . . . 9-13
9.2.5 Absolute External Encoder Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14
9.2.6 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-17
9.2.7 Alarm Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-17
9.2.8 Analog Monitor Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-18
9.2.9 Speed Feedback Method during Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . . 9-19
Chapter 10 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-1
10.1 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10.1.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-2
10.1.2 Troubleshooting of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-6
10.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-20
10.2.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-20
10.2.2 Troubleshooting of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-21
10.3 Troubleshooting Malfunction Based on Operation and Conditions of the
Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-24
Chapter 11 Appendix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-1
11.1 Connection to Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2
11.1.1 Example of Connection to MP2200/MP2300 Motion Module SVA-01 . . . . . . . . . . . . . . 11-2
11.1.2 Example of Connection to MP920 4-axes Analog Module SVA-01 . . . . . . . . . . . . . . . . 11-3
11.1.3 Example of Connection to OMRON’s Motion Control Unit . . . . . . . . . . . . . . . . . . . . . . . 11-4
11.1.4 Example of Connection to OMRON’s Position Control Unit . . . . . . . . . . . . . . . . . . . . . . 11-5
11.1.5 Connection to MITSUBISHI’s AD72 Positioning Unit
(SERVOPACK in Speed Control Mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-6
11.1.6 Connection to MITSUBISHI’s AD75 Positioning Unit
(SERVOPACK in Position Control Mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-7
11.2 List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-8
11.2.1 Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-8
11.2.2 Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-9
11.3 Monitor Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-29
11.4 Parameter Recording Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-30
Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index-1
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/Torque Control Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1.4 SERVOPACK Internal Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . .1-7
1.4.1 Single-phase 100 V, SGDV-R70F01A, -R90F01A, -2R1F01A Models . . . . . . . . . . . . 1-7
1.4.2 Single-phase 100 V, SGDV-2R8F01A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1.4.3 Three-phase 200 V, SGDV-R70A01A, -R90A01A, -1R6A01A Models . . . . . . . . . . . . 1-8
1.4.4 Three-phase 200 V, SGDV-2R8A01A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
1.4.5 Three-phase 200 V, SGDV-3R8A01A, -5R5A01A, -7R6A01A Models . . . . . . . . . . . . 1-9
1.4.6 Three-phase 200 V, SGDV-120A01A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
1.4.7 Three-phase 200 V, SGDV-180A01A, -200A01A Models . . . . . . . . . . . . . . . . . . . . . 1-10
1.4.8 Three-phase 200 V, SGDV-330A01A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
1.4.9 Three-phase 200 V, SGDV-470A01A, -550A01A Models . . . . . . . . . . . . . . . . . . . . . 1-11
1.4.10 Three-phase 200 V SGDV-590A01A, -780A01A Models . . . . . . . . . . . . . . . . . . . . 1-11
1.4.11 Three-phase 400 V, SGDV-1R9D01A, -3R5D01A, -5R4D01A Models . . . . . . . . . . 1-12
1.4.12 Three-phase 400 V, SGDV-8R4D01A, -120D01A Models . . . . . . . . . . . . . . . . . . . 1-12
1.4.13 Three-phase 400 V, SGDV-170D01A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
1.4.14 Three-phase 400 V, SGDV-210D01A, -260D01A Models . . . . . . . . . . . . . . . . . . . . 1-13
1.4.15 Three-phase 400 V SGDV-280D01A, -370D01A Models . . . . . . . . . . . . . . . . . . . . 1-14
1.5 Examples of Servo System Configurations . . . . . . . . . . . . . . . . . . . . . . .1-15
1.5.1 Connecting to SGDV-F01A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
1.5.2 Connecting to SGDV-A01A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-16
1.5.3 Connecting to SGDV-D01A 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
,
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 the encoder in the SERVOPACK.
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
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.
(KAEPS80000042) and
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 Encoder 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 AC/DC Reactor for
Harmonic Suppression.

1.3 SERVOPACK Ratings and Specifications
1-3
1
Outline
1.3 SERVOPACK Ratings and Specifications
This section describes the ratings and specifications of SERVOPACKs.
1.3.1 Ratings
Ratings of SERVOPACKs are as shown below.
(1) 100 VAC Rating
(2) 200 VAC Rating
(3) 400 VAC Rating
SGDV (100 VAC) R70 R90 2R1 2R8
Continuous Output Current
[Arms] 0.66 0.91 2.1 2.8
Max. Output Current [Arms] 2.1 2.9 6.5 9.3
Main Circuit Power Supply Single-phase, 100 to 115 VAC , 50/60 Hz
Control Power Single-phase, 100 to 115 VAC , 50/60 Hz
Overvoltage Category III
SGDV (200 VAC) R70 R90 1R6 2R8 3R8 5R5 7R6 120 180 200 330 470 550 590 780
Continuous Output Current
[Arms] 0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6 32.9 46.9 54.7 58.6 78.0
Max. Output Current [Arms] 2.1 2.9 5.8 9.3 11.0 16.9 17 28 42 56 84 110 130 140 170
Main Circuit Power Supply Three-phase, 200 to 230 VAC , 50/60 Hz
Control Power Single-phase, 200 to 230 VAC , 50/60 Hz
Overvoltage Category III
SGDV (400 VAC) 1R9 3R5 5R4 8R4 120 170 210 260 280 370
Continuos Output Current
[Arms] 1.9 3.5 5.4 8.4 11.9 16.5 20.8 25.7 28.1 37.2
Max. Output Current [Arms] 5.5 8.5 14 20 28 42 55 65 70 85
Main Circuit Power Supply Three-phase, 380 to 480 VAC , 50/60 Hz
Control Power 24 VDC ±15%
Overvoltage Category III
+10%
–15%
+10%
–15%
+10%
–15%
+10%
–15%
+10%
–15%