$10

Quick
Reference
Guide SGDH Amplifier
Document TRM003-00-S2GEN 9/13/2000 V1.2.4 Yaskawa Electric America Technical Training Services

2121 Norman Dr. South

Part Number Guide Waukegan, IL 60085

1-800-YASKAWA
Fax: (847) 887-7185

Amplifier: SGDH - 15 A E-

SGDH Amplifier
Rated Output*
A3, A5, 01, 02, 04, 05, 08,10,
15, 20, 30, 50, 60, 75, 1A, 1E

Power Supply Voltage

A: 200V, B: 100V, D: 400V

Model
E: Speed, Torque, & Position Control

Single Phase Option

S: Single Phase Option (For sizes 08 and 15 only)

* Power rating of the amplifier should match the motor power rating. An amplifier with
power rating one step up or down may also be used. Use of the smaller amplifier will
decrease motor performance.
NOTES
1. Sizes A3, A5, 01, 02 available in 1-phase: 100V or 200V only.
2. Size 04 available in 1-phase: 200V only.
3. Sizes 08 and 15 available in 1-phase or 3-phase: 200V only.
4. Sizes 05, 10, 20, 30, 50, 60, 75, 1A, 1E available in 3-phase: 200V or 400V.

Motor: SGMGH - 09 A C A 6 C
Accessories
Sigma II Servomotor type 1: Standard -AH, -GH, -SH, -UH
SGMAH: 30W-750W SGMGH: 0.5kW-15kW C: 24VDC Brake -AH, -GH, -SH, -UH
3000/5000rpm 1500/3000rpm S: Shaft Seal -AH, -GH, -SH, -UH
IP55 IP67 E: Brake & Shaft Seal -AH, -GH, -SH, -UH
1D: Standard, -PH
SGMPH: 100W-1500W SGMSH: 1.0kW-5.0kW CD: 24VDC Brake, -PH
3000/5000rpm 3000/5000rpm SD: Shaft Seal, -PH
IP67 IP67 ED: Brake & Shaft Seal, -PH
Shaft
2: Straight Shaft w/o keyway -AH
SGMUH: 1.0kW-3.0kW
4: Straight Shaft w/ keyway -AH, -PH
3000/6000rpm
6: Straight Shaft w/ keyway -GH, -SH, -UH
IP67
Power Rating Rated Speed
A3: 30W (0.04 hp) -AH 15: 1.5kW (2.0 hp) -PH, -SH Encoder A: 1500rpm -GH
A5: 50W (0.07 hp) -AH 20: 2.0kW (2.7 hp) -GH, -SH A: 3000rpm –SH, -UH
A: 13-Bit (2048×4) Incremental -AH, -PH
01: 100W (0.13 hp) -AH, -PH 30: 3.0kW (4.0 hp) -GH, -SH, -UH F: Standard Revision Level -AH
C: 17-Bit (32,768×4) Incremental -GH, -SH, -UH
02: 200W (0.25 hp) -AH, -PH 40: 4.0 kW (5.4 hp) -SH H: Standard Revision Level -PH
1: 16-Bit (16,384×4) Absolute -AH, -PH
04: 400W (0.5 hp) -AH, -PH 44: 4.4kW (6.0 hp) -GH 2: 17-Bit (32,768×4) Absolute -GH, -SH, -UH
05: 500W (0.7 hp) -GH 50: 5.0kW (6.7 hp) -SH
08: 750W (1.0 hp) -AH, -PH 55: 5.5kW (7.5 hp) -GH Power Supply
09: 850W (1.14 hp) -GH 75: 7.5kW (10 hp) -GH A: 200V -AH, -PH, -GH, -SH
10: 1.0 kW (1.3 hp) -SH, -UH 1A: 11kW (15 hp) -GH B: 100V -AH (200W and under), -PH (200W and under)
13: 1.3kW (1.7 hp) -GH 1E: 15kW (20 hp) -GH D: 400V -GH, -SH, -UH

Quick Reference Guide V1.2.4 9/13/2000. Page 1 ©2000 Yaskawa Electric America, Inc.
 2121 Norman Dr. South

I/O Wiring Waukegan, IL 60085

1-800-YASKAWA
Fax: (847) 887-7185

I/O: CN1 Terminal Layout

Terminal Symbol Description Reference Selectable Inputs
CN1-1 SG Signal Ground - 24V
CN1-2 SG Signal Ground for SEN input (CN1-4) - (or 0V)
CN1-3 PL1 +12V supply for open collector input PULS (CN1-7) 5.2.2
CN1-4 SEN Initial data request input signal for absolute encoder 5.7.1 SI0
Speed Reference Input. Range: ±12V. Scale: Pn300.
CN1-5 V-REF SI1
Usage: Pn002.1, Pn207.1 5.2.1
CN1-6 SG Signal Ground for Speed Reference Input V-REF (CN1-5)
CN1-7 PULS SI2
Position Reference Input "Pulse" 5.2.2
CN1-8 /PULS
Torque Reference Input. Range: ±12V Scale: Pn400.
CN1-9 T-REF SI3
Usage: Pn002.0 5.2.1
CN1-10 SG Signal Ground for Torque Reference Input T-REF (CN1-9)
CN1-11 SIGN SI4
Position Reference Input "Sign" 5.2.2
CN1-12 /SIGN
CN1-13 PL2 +12V supply for open collector input SIGN (CN1-11) 5.2.2
SI5
CN1-14 /CLR
Clear error counter in position control. Options: Pn200.1,2 5.2.2
CN1-15 CLR
SI6
CN1-16 - Not Used -
CN1-17 - Not Used -
CN1-18 PL3 +12V supply for open collector input CLR (CN1-14) 5.2.2
CN1-19 PCO
Phase C Encoder Output 5.2.3 Outputs
CN1-20 /PCO
CN1-21 BAT (+)
Absolute Encoder Battery Terminals 5.7.3
CN1-22 BAT (-) SO 1
CN1-23 - Not Used -
CN1-24 - Not Used -
CN1-25 SO1 (+) Selectable Output 1. Default: /COIN (Pn50E.0) in position control SO 2
5.3.4
CN1-26 SO1 (-) . Default /V-CMP (Pn50E.1) velocity control
CN1-27 SO2 (+)
Selectable Output 2. Default: /TGON (Pn50E.2) 5.3.4
CN1-28 SO2(-) SO 3
CN1-29 SO3 (+)
Selectable Output 3. Default: /S-RDY (Pn50E.3) 5.3.4
CN1-30 SO3 (-)
CN1-31 ALM (+)
Alarm Output. Normally ON (Closed). Configure: Pn001.3 5.5.1
CN1-32 ALM (-)
CN1-33 PAO ALM
Phase-A Encoder Output. Scale: Pn201 (PG Dividing Ratio) 5.2.3
CN1-34 /PAO
CN1-35 PBO
Phase-B Encoder Output. Scale: Pn201 (PG Dividing Ratio) 5.2.3
CN1-36 /PBO
CN1-37 AL01 7-15 mA max through each input.
3-bit Alarm Code Output. Configure: Pn001.3 (Warning Code Output
CN1-38 AL02 5.5.1 50 mA max through each output.
Selection)
CN1-39 AL03 I/O circuits shown in sec 3.4 (p.3-13)
CN1-40 SI0 Selectable Input 0. Default: /S-ON (Pn50A.1) Use Pn50A-D to 5.3.3
CN1-41 SI1 Selectable Input 1. Default: /P-CON (Pn50A.2) assign inputs. 5.3.3
If current is flowing through an
CN1-42 SI2 Selectable Input 2. Default: /P-OT (Pn50A.3) 5.3.3
input or output, the logic state is
CN1-43 SI3 Selectable Input 3. Default: /N-OT (Pn50B.0) Set Pn50A.0=1 5.3.3
LOW.
CN1-44 SI4 Selectable Input 4. Default: /ALM-RST (Pn50B.1) for user-defined 5.3.3
* Names of I/O signals that are
CN1-45 SI5 Selectable Input 5. Default: /P-CL (Pn50B.2) inputs to take 5.3.3 "ACTIVE LOW" are preceded by
CN1-46 SI6 Selectable Input 6. Default: /N-CL (Pn50B.3) effect 5.3.3 a ' / '.
CN1-47 +24V IN Selectable Input Common (24V or 0V) 5.2.4 If no current is flowing , or the I/O is
CN1-48 PSO not connected, the logic state is
Phase S Output; absolute encoder serial output 5.2.3
CN1-49 /PSO HIGH.
CN1-50 - Not Used - * Names of I/O signals that are
"ACTIVE HIGH" are not preceded
Analog Output Monitor (Terminals under battery cover) by a ' / '. ex. P-OT, N-OT
Configure using Pn003.0, Pn003.1., Fn00C, Fn00D

Quick Reference Guide V1.2.4 9/13/2000. Page 2 ©2000 Yaskawa Electric America, Inc.
 2121 Norman Dr. South

Selectable Inputs Waukegan, IL 60085

1-800-YASKAWA
Fax: (847) 887-7185

Input Signal Allocation Mode

Default
Parameter Nibble Name Ref. Setting Description
Setting
Allocate input signals
Input Signal Allocation Mode
0 according to SDGB

Pn50A 0
*Pn50A.0=1 0 5.3.3
defaults.

MUST be set for user-defined Allocate input signals

1 according to user-defined
inputs to take effect* parameter settings.

Input Signal Selection

Default
Parameter Nibble Name Ref. Setting Description
Setting

1 /S-ON (Servo On) Servo Off Mode: Pn001.0 0: SI0 5.5.2 0 Assign to SI0 at CN1-40

Pn50A 2 /P-CON (Proportional Control) Also See Pn10B.0 1: SI1 5.2.1 1 Assign to SI1 at CN1-41

P-OT (Positive Overtravel prohibited) Normally ON.

3 2: SI2 5.1.2 2 Assign to SI2 at CN1-42
Overtravel Stop Mode set in Pn001.1
N-OT (Negative Overtravel prohibited) Normally ON.
0 3: SI3 5.1.2 3 Assign to SI3 at CN1-43
Overtravel Stop Mode set in Pn001.1

1 /ALM-RST (Alarm Reset) 4: SI4 5.5.1 4 Assign to SI4 at CN1-44

Pn50B
2 /P-CL (Positive Current Limit) Set in Pn404 5: SI5 5.1.3 5 Assign to SI5 at CN1-45

3 /N-CL (Negative Current Limit) Set in Pn405 6: SI6 5.1.3 6 Assign to SI6 at CN1-46

0 /SPD-D (Contact Speed DIRECTION) 8: OFF 5.2.6 7 Mask ON

/SPD-A (Contact Speed SWITCH A)

1 8: OFF 5.2.6 8 Mask OFF
Speeds Set In Pn301, Pn302, Pn303
Pn50C
/SPD-B (Contact Speed SWITCH B) Assign to SI0 at CN1-40
2 8: OFF 5.2.6 9
Speeds Set In Pn301, Pn302, Pn303 INVERTED
/C-SEL (Control Mode Select) Set in Pn000.1 Assign to SI1 at CN1-41
3 8: OFF - A
Select secondary mode when ON INVERTED
/ZCLAMP (Zero Clamp) Hold position when Assign to SI2 at CN1-42
0 8: OFF 5.4.3 B
commanded below RPM level set in Pn501 INVERTED
Assign to SI3 at CN1-43
1 /INHIBIT (Ignore Pulse Reference Input) 8: OFF 5.2.10 C
INVERTED
Assign to SI4 at CN1-44
Pn50D 2 /G-SEL (Gain Select) Set: Pn104, Pn105, Pn106 8: OFF - D
INVERTED
Assign to SI5 at CN1-45
E
INVERTED
3 (Reserved) 8: OFF -
Assign to SI6 at CN1-46
F
INVERTED

NOTES:
1. Pn50A.0=1 MUST be set for user-defined inputs to take effect.
Exception: /S-ON may be masked on (Pn50A.1=7) and
P-OT and N-OT may be disabled (Pn50A.3=8, Pn50B.0=8) without setting Pn50A.0=1.
2. Cycle control power for input changes to take effect
3. Mask OFF the default input signal mapping when assigning new inputs.
Multiple input signal selections can be assigned to the same input terminals (Uses AND logic).
4. To disable overtravel inputs, set Pn50A.3=8 (P-OT off), Pn50B.0=8 (N-OT off).
5. An amplifier alarm may be reset (1) using /ALM-RST input, (2) through software, (3) by pressing the UP and
DOWN arrows simultaneously on built-in digital operator (4) by cycling control power.

Quick Reference Guide V1.2.4 9/13/2000. Page 3 ©2000 Yaskawa Electric America, Inc.
 2121 Norman Dr. South

Selectable Outputs Waukegan, IL 60085

1-800-YASKAWA
Fax: (847) 887-7185

Output Signal Selection

Parameter Nibble Name Default Ref. Setting Description

/COIN (Position Coincidence)

0 Motor position within range set in Pn500. 1: SO1 5.5.3 0 Disabled
Active only in Position Control

/V-CMP (Velocity Comparison)

Pn50E 1 Motor speed within range set in Pn50E. 1: SO1 5.5.4
Active only in Speed Control
/TGON (Tach Generator On) 1 Assign to SO1 at CN1-25,26
2 2: SO2 5.5.5
Motor speed above level set in Pn502
/S-RDY Servo Ready
3 3: SO3 5.5.6
(Drive ready to receive /S-ON signal)

/CLT (Current Limit reached) Limits Set In

0 0 5.1.3
Pn402, Pn403, Pn404, Pn405, Pn002.0

/VLT (Velocity Limit reached) 2 Assign to SO2 at CN1-27,28

1 0 5.2.7
Pn50F Limit Set In Pn407
/BK (Brake) Activate brake relay.
2 0 5.4.4
Configure: Pn506, Pn507, Pn508
/WARN (Warning)
3 0 5.5.7
Current approaching overload level
/NEAR (Near Position)
0 0 5.5.8 3 Assign to SO3 at CN1-29,30
Motor position within range set in Pn504
Pn510 1 Reserved 0 -
2
Not Used 0 -
3

Output Signal Inversion

Parameter Nibble Name Default Ref. Setting Description
0 Invert Output Signal on SO-1
0 Not Inverted
0:
Pn512 1 Invert Output Signal on SO-2 Not 5.3.4
Inverted
2 Invert Output Signal on SO-3 1 Inverted

3 Not Used 0 -

NOTES:
1. Cycle control power for output changes to take effect
2. Mask OFF the default output signal mapping for when assigning new outputs
Multiple output signal selections can be assigned to the same output terminals (Uses OR logic).

4 0 7
F Nibble 0
Nibble 2 Nibble 1
Nibble 3

arameter Pn50B
P
Quick Reference Guide V1.2.4 9/13/2000. Page 4 ©2000 Yaskawa Electric America, Inc.
 2121 Norman Dr. South

Parameters Waukegan, IL 60085

1-800-YASKAWA
Fax: (847) 887-7185

Adjustment-Type Parameters
Setting Factory
Category Pn No. Description Unit Manual Ref.
Range Default
Pn100 Speed Loop Gain Hz 1-2000 40 6.2.1
Pn101 Speed Loop Integral Time Constant 0.01 ms 15-51200 2000 6.2.1
Pn102 Position Loop Gain 1/s 1-2000 40 6.2.1
Pn103 Inertia Ratio. See Fn007, Pn110.0 % 0-10000 0 6.2.1, 6.3.3
Pn104 2nd Speed Loop Gain Used with Hz 1-2000 40 -
Pn105 2nd Speed Loop Integral Time Constant /G-SEL Input 0.01 ms 15-51200 2000 -
(Pn50D.2)
Pn106 2nd Position Loop Gain 1/s 1-2000 40 -
Pn107 Position Bias Gain rpm 0-450 0 6.2.4
Gain
Pn108 Position Bias Gain Activation Level ref units 0-250 7 6.2.4
Pn109 Position Feed-Forward Gain % 0-100 0 6.2.2, 6.4.3
Pn10A Feed-Forward Delay Filter Time Constant 0.01 ms 0-6400 0 5.2.5, 6.4.3
Pn10C Mode Switch Torque Reference Level % 0-800 200 6.2.5
Pn10D Mode Switch Speed Reference Level Select in rpm 0-10000 0 6.2.5
Pn10B.0
Pn10E Mode Switch Acceleration Level 10 rpm/s 0-3000 0 6.2.5
Pn10F Mode Switch Error Pulse Level ref units 0-10000 0 6.2.5
Pn111 Speed Feedback Compensation. Activate: Pn110.1=1 % 1-500 100 6.2.6
PG Divider: Number of PRE-QUAD pulses/rev on encoder outputs
Pn201 p/r 16-16384 16384 5.2.3
PAO and PBO (CN1-33,34 and CN1-35,36)
Pn202 Electronic Gear Ratio (encoder feedback pulses) - 1-65535 4 5.2.5
Position* Pn203 Electronic Gear Ratio (command pulses) - 1-65535 1 5.2.5
Pn204 Accel/Decel Filter Time Constant. Select: Pn207.0=0 0.01 ms 0-6400 0 6.1.2
Pn205 Multi-turn Limit Setting ** see NOTE 2 rev 0-65535 65535 5.7.2
Pn208 Average Movement Filter Time Constant. Select: Pn207.0=1 0.01 ms 6-6400 0 6.1.2
Pn300 Speed Reference Input Scaling (V-REF: CN1-5,6) 0.01V / rated speed 150-3000 600 5.2.1
Pn301 Contact Speed 1 rpm 0-10000 100 5.2.6
Pn302 Contact Speed 2 rpm 0-10000 200 5.2.6
Pn303 Contact Speed 3 rpm 0-10000 300 5.2.6
Speed Pn304 Jog Speed. Jog: Fn002 rpm 0-10000 500 5.3.2
Pn305 Soft Start Acceleration Time (0 to specified max motor rpm) ms 0-10000 0 6.1.1
Pn306 Soft Start Deceleration Time (specified max motor rpm to 0) ms 0-10000 0 6.1.1
Pn307 Speed Reference Filter Time Constant 0.01 ms 0-65535 40 -
Pn308 Speed Feedback Filter Time Constant 0.01 ms 0-65535 0 6.2.6
Pn400 Torque Reference Input Scaling (T-REF: CN1-9,10) 0.1 V/ rated torque 10-100 30 5.2.7
Pn401 Torque Reference Filter Time Constant 0.01 ms 0-65535 100 6.1.5
Pn402 Forward Internal Torque Limit (always active) % 0-800 800 5.1.3
Pn403 Reverse Internal Torque Limit (always active) % 0-800 800 5.1.3
Torque Pn404 Forward External Torque Limit. Activate with /P-CL: Pn50B.2 % 0-800 100 5.1.3
Pn405 Reverse External Torque Limit. Activate with /N-CL: Pn50B.3 % 0-800 100 5.1.3
Pn406 Overtravel Stop Torque. See Pn001.1 % 0-800 800 5.1.2
Pn407 Speed Limit during Torque Control rpm 0-10000 10000 5.2.7
Pn409 Notch Filter Frequency. Select: Pn408 Hz 50-2000 2000 6.1.6
Pn500 Width for /COIN (Pn50E.1) Output Signal ref units 0-250 7 5.5.3
Pn501 Threshold for /ZCLAMP (Pn50D.0) Input Signal rpm 0-10000 10 5.4.3
Pn502 Level for /TGON (Pn50E.2) Output Signal rpm 1-10000 20 5.5.5
Pn503 Level for /V-CMP (Pn50E.1) Output Signal rpm 0-100 10 5.5.4
Pn504 Width for NEAR (Pn510.0) Output Signal ref units 1-250 7 5.5.8
I/O
Pn505 Position Error Overflow Level 256 pulses 1-32767 1024 6.2.1
Pn506 Brake Output Delay Time at servo off 10 ms 0-50 0 5.4.4
Brake
Pn507 Brake Output Speed Threshold (Servo off when moving) /BK:
rpm 0-10000 100 5.4.4
Pn508 Brake Output Max Delay Time (Servo off when moving) Pn50F.2 10 ms 10-100 50 5.4.4
Pn509 Momentary Hold Time During Power Loss ms 20-1000 20 5.5.9
Regen Pn600 Regeneration Power Produced ** See NOTE 3 10 W 0-capacity 0 5.6.1

NOTES
1. Cycle power for position parameter changes to take effect.
2. Pn205: multi-turn limit.
a) The default value (Pn205=65535) means the limit is +32767 to -32768 turns before it rolls over to 0.
b) The multi-turn limit is valid only when Pn002.2=2 (Absolute Encoder Usage set to use multi-turn limit setting in Pn205).
c) If Pn002.2 is not set to 2, the default multi-turn limit value will be used (Pn205=65535), even if Pn205 is changed.
d) There is no need to change Pn205 except in special cases, so do not change it unless necessary.
e) If Pn205 is changed, use Fn013 to send the new multi-turn limit to the encoder.
3. Pn600: Regen Power Produced. The maximum regen capacity is the same as the maximum power output capacity of the amplifier.

Quick Reference Guide V1.2.4 9/13/2000. Page 5 ©2000 Yaskawa Electric America, Inc.
 2121 Norman Dr. South

Parameters Waukegan, IL 60085

1-800-YASKAWA
Fax: (847) 887-7185

Selection-Type Parameters (Switches)

Parameter Nibble Setting Description
Direction Selection default= 0 sec 5.1.1
0 0 Sets CCW as forward
1 Sets CW as forward
Control Method Selection default=0 sec 5.3.5
0 Speed Control (analog reference)
1 Position Control (pulse train reference)
2 Torque Control (analog reference)
Pn000 3 Contact Speed Control (contact reference)
Function Automatic input mapping when using SGDB defaults
4 Contact Speed Control / Speed Control
(Pn50A.0=0 default )
Selection 1 5 Contact Speed Control/ Position Control
* For Pn000.1=3-6: (Contact Speed Control)
Basic 6 Contact Speed Control / Torque Control
SI1=/SPD-D, SI5=/SPD-A, SI6=/SPD-B (Control mode
Switches 7 Position Control / Speed Control automatically switches when /SPD-A and /SPD-B are both OFF)
8 Position Control / Torque Control * For Pn000.1=7-9: SI1=/C-SEL
9 Torque Control / Speed Control * For Pn000.1=A: SI1=/ZCLAMP
A Speed Control with /ZCLAMP input * For Pn000.1=B: SI1=/INHIBIT
B Position Control with /INHIBIT input
Axis Address default=0
2
0-F Sets servo amplifier axis address.
3 - Reserved. Default setting =0
Servo OFF or Alarm Stop Mode default=0 sec 5.4.2
0 Stops the motor by applying DB (DB = Dynamic Brake)
0
1 Stops the motor by applying DB and then releases DB (coasting state).
2 Coasts to a stop without using DB
Overtravel Stop Mode default=0 sec 5.1.2 Overtravel Inputs: P-OT (Pn50A.3), N-OT (Pn50B.0)
Stops the motor by applying DB and then releases DB (When Pn001.0=0,1) or
Pn001 0
1 Coasts to a stop without using DB (When Pn001.0=2).
Function
1 Decelerates the motor to a stop using the torque set in Pn406, and then holds position.
Selection
Application 2 Decelerates the motor to a stop using the torque set in Pn406, and then sets it to coasting state.
Switches AC/DC Power Input Selection default=0
2 0 Not applicable to DC power input: Input AC power supply through L1, L2 (and L3) terminals
1 Applicable to DC power input: Input DC power supply through (+) and (-) terminals.
Warning Code Output Selection default=0 sec 5.5.7 Alarm Code Outputs: CN1-37,38,39
0 AL01, AL02, and AL03 output only alarm codes.
3
AL01, AL02, and AL03 output both alarm codes and warning codes. While warning codes are output, ALM
1
signal output remains ON (normal state)
T-REF Terminal Allocation default=0 sec 5.2.8, 5.2.9
0 None. (Torque Reference in torque control)
0
1 Uses T-REF as an external torque limit input.
2 Uses T-REF as a torque feed-forward input
Pn002 V-REF Terminal Allocation default=0
Function 1 0 None. (Speed Reference in speed control)
Selection 1 Uses V-REF as an external speed limit input.
Application Absolute Encoder Usage default=0 sec 5.7.2
Switches 0 Uses absolute encoder as an absolute encoder (with default multi-turn limit)
2 1 Uses absolute encoder as an incremental encoder
Uses absolute encoder as an absolute encoder with multi-turn limit set in Pn205.
2
Execute Fn013 to send new multi-turn limit to encoder.
3 0 Not Used
Analog Monitor 1: Torque Ref. Monitor default=2 sec 6.5
0 Motor Speed: 1V/1000rpm
1 Speed reference: 1V/1000rpm
2 Torque reference: 1V/100%
Pn003 0 3 Position error: 0.05/1 reference unit
Function 4 Position error: 0.05V/100 reference units
Selection
5 Reference pulse frequency converted to rpm : 1V/1000rpm
Application
6 Motor speed X 4: 1V/250rpm
Switches
7 Motor speed X 8: 1V/125rpm
8-F Reserved parameters (Do Not Change).
Analog Monitor 2: Speed Reference Monitor default=0 sec 6.5
1
0-F Same as above
2-3 - Not Used

Quick Reference Guide V1.2.4 9/13/2000. Page 6 ©2000 Yaskawa Electric America, Inc.
 2121 Norman Dr. South

Parameters Waukegan, IL 60085

1-800-YASKAWA
Fax: (847) 887-7185

Selection-Type Parameters (Switches)

Parameter Nibble Setting Description
Mode Switch Selection (Switch off Integral Gain) default=0 sec 6.2.5
0 Uses internal torque reference as the condition (Level setting: Pn10C).
1 Uses speed reference as the condition (Level setting: Pn10D).
0
2 Uses acceleration as the condition (Level setting: Pn10E)
Pn10B
3 Uses error pulse as the condition (Level setting: Pn10F).
Gain
4 Do not use Mode Switch
Application
Switches Speed Loop Control Method default=0
1 0 PI control
1 IP control
2 0 Not Used
3 0-2 Reserved parameters (Do Not Change).
Online Autotuning Method default=0
0 Autotunes only at the beginning of operation.
0
1 Always autotunes
2 Does not perform autotuning
Speed Feedback Compensation Selection (Speed Observer) default=1
Pn110 Online
1 0 Enabled. Set level in Pn111
Autotuning
1 Disabled
Switches
Friction Compensation Selection default=0 sec 6.3.4
0 Friction compensation: DISABLED
2
1 Friction compensation: SMALL
2 Friction compensation: LARGE
3 0-3 Reserved parameters (Do Not Change).
Reference Pulse Form default=0 sec 6.2.6, 6.3.4
0 Sign + pulse, positive logic.
1 CW + CCW, positive logic.
2 A-B phase (x1) positive logic.
4 0 7
0
3
4
A-B phase (x2) positive logic.
A-B phase (x4) positive logic.
F Nibble 0
Nibble 2 Nibble 1
5 Sign + pulse, negative logic Nibble 3

0B
Parameter Pn5
6 CW + CCW, negative logic
7 A-B phase (x1) negative logic.
Pn200
8 A-B phase (x2) negative logic.
Position
9 A-B phase (x4) negative logic.
Control
Error Counter Clear Signal Form default=0
References
Selection 0 Clears error counter when the signal goes high.
Switches 1 1 Clears error counter at the rising edge of the signal.
2 Clears error counter when the signal goes low.
3 Clears error counter at the falling edge of the signal.
Clear Operation default=0
0 Clears error counter at the baseblock
2
1 Does not clear error counter (clear error counter only with CLR signal)
2 Clears error counter when an alarm occurs.
Filter Selection default=0
3 0 Reference input filter for line driver signals. (500kHz)
1 Reference input filter for open collector signals. (200kHz)
Position Reference Filter Selection default=0
Pn207 0 0 Acceleration/deceleration filter. Time constant set in Pn204
Position 1 Average movement filter. Time constant set in Pn208
Control Position Control Option default=0
Function 1 0 Disabled
Switches 1 Uses V-REF as a speed feed-forward input. Scale with Pn300
2-3 - Not Used

Pn408 Notch Filter Selection default=0

Torque 0 0 Disabled
Control 1 Use a notch filter on the torque reference. Frequency set in Pn409
Switches 1-3 - Not Used

NOTES
1. Cycle power for selection-type parameters (switches) to take effect.
2. Use /C-SEL input (Pn50C.3) to switch between the two control methods when Pn000.1=4-9. Use /ZCLAMP (Pn50D.0) when Pn000.1=A and
/INHIBIT (Pn50D.1) when Pn000.1=B. These inputs are automatically assigned to SI1 in place of the default, /P-CON (Pn50A.2), as long as Pn50A.0=0 (part of
SGDB default input mapping).

Quick Reference Guide V1.2.4 9/13/2000. Page 7 ©2000 Yaskawa Electric America, Inc.
 2121 Norman Dr. South

Functions Waukegan, IL 60085

1-800-YASKAWA
Fax: (847) 887-7185

Using the Digital Operator

MODE

STATUS
View status
MODE FUNCTIONS MODE PARAMETERS MODE MONITORS
Arrows: Select Fn Arrows: Select Pn Arrows: Select Un
Display

START HERE Hold DATA for Hold DATA for Hold DATA for
1 sec 1 sec 1 sec
Control power
must be cycled Selected Fn Selected Pn Selected Un
for some Fn and Accessed. Accessed. Accessed.
Pn to take effect. See Functions View monitor output
Arrows: Change Value
Table below SET: Set value to drive

Functions
Fn Description / Notes On the Digital Operator
Fn000 Alarm Traceback Data DISPLAY: Last 10 alarm states. Sec 7.2.1 (1) ARROWS: View Alarm Traceback Data
Rigidity Setting for Online Autotuning: Range: 1-10, (10 most stiff). Sets
Fn001 Pn100, Pn101, Pn102, Pn401.
(1)ARROWS: Change Rigidity Setting, (2)SET: Set selected rigidity

JOG Mode Operation: Run servo without external command. Over-travel inputs (1) SET: execute JOG mode, (2) hold ARROWS to jog motor (3) SET:
Fn002 ignored. Jog Speed: Pn304. Sec 7.2.2 deactivate JOG mode
(1) SET: execute Z-SEARCH, (2) hold ARROWS to jog motor to c-pulse
Fn003 Zero-Point Search Mode: Jog to C-pulse and hold position (3) SET: deactivate Z-SEARCH mode
Fn004 - -

Fn005 Parameter Setting Initialization: Reset parameters to factory default (1) SET: Initialize Parameters (2) Cycle control power
Fn006 Alarm Traceback Data CLEAR: Clear alarm history viewed in Fn000 (1) SET: Clear Alarm Traceback Data
Save Inertia Ratio Data Obtained from Autotuning:
Fn007 Write autotuning inertia ratio value to Pn103
(1) SET: Save Inertia Ratio to Pn103

Absolute Encoder Multi-turn and Alarm Reset:

Fn008 Reset an absolute encoder alarm and set multi-turn counter to zero
(1) SET: Reset absolute encoder alarm multi-turn counter

Automatic Offset Adjustment of Analog Speed/Torque References: (1) SET: Set present V-REF and T-REF voltage as 0V.
Fn009 Automatically set zero-speed and zero-torque level (to remove drift). Sec 7.2.3 (Must have Servo Off. Max offset 1V)

Manual Offset Adjustment of Analog SPEED Reference: (1) DATA: Access V-REF speed offset value (2) ARROWS: Change
Fn00A Adjust zero-speed input voltage level value, (3) Hold DATA: set value (4) Cycle control power
Manual Offset Adjustment of Analog TORQUE Reference: (1) DATA: Access T-REF torque offset value (2) ARROWS: Change
Fn00B Adjust zero-torque input voltage level value, (3) Hold DATA: set value (4) Cycle control power
(1) SET: Select monitor 1 or 2, (2) DATA: Access zero-output level, (3)
Manual Zero Adjustment of Analog Monitor Output:
Fn00C Adjust level of analog output (under battery cover) ARROWS: Change value (4) Hold DATA: Set value, (5) Cycle control
power
(1) SET: Select monitor 1 or 2, (2) DATA: Access zero-output level, (3)
Manual Gain Adjustment of Analog Monitor Output:
Fn00D Adjust scaling of analog output (under battery cover) ARROWS: Change value (4) Hold DATA: Set value, (5) Cycle control
power
Automatic Offset Adjustment of Motor Current Detection Signal: Re-
Fn00E level/calibrate the current transformer automatically (1) SET: Calibrate current transformer level.

(1) SET: Select current xfmr 1 or 2, (2) DATA: Access zero-output level,
Manual Offset Adjustment of Motor Current Detection Signal: Adjust level of
Fn00F current transformer (3) ARROWS: Change value (4) Hold DATA: Set value, (5) Cycle control
power
Write Protection Setting: (1) ARROWS: Change Write Protect Setting, (2) SET: Set selected
Fn010 0=Write Enable. 1=Write Protect All Drive Parameters setting
Fn011 Motor Model Display: Display motor connected to amp. Sec 7.2.6 (1) SET: Cycle through motor model data.
Fn012 Software Version Display: Display firmware level (1) SET: Cycle through firmware display
Set Absolute Encoder Multi-turn Limit: Write multi-turn limit setting (Pn205) to
Fn013 encoder. Max: 65,535. (Failure to do this may cause alarm A.22) (1) SET: Send Pn205 to absolute encoder (2) Cycle control power

Fn014 Reinitialize Option Board: Set to run without option board (i.e. MP940) (1) SET: Clear option board error (2) Cycle control power

Quick Reference Guide V1.2.4 9/13/2000. Page 8 ©2000 Yaskawa Electric America, Inc.
 2121 Norman Dr. South

Monitors / Alarms Waukegan, IL 60085

1-800-YASKAWA
Fax: (847) 887-7185

Monitors SDGH Alarm Codes

Un Description/Comment

AL01
AL02
AL03
Un000 Motor Speed (rpm): Measured motor speed Alarm Description

Un001 Input Speed Reference (rpm): Commanded motor speed A.-- NORMAL OPERATION (ALM output ON) 0 0 0
A.02 Parameter Breakdown* 0 0 0
Internal Torque Reference (% of rated): Present torque applied A.03 Main Circuit Encoder Error 0 0 0
Un002
to motor A.04 Parameter Setting Error* 0 0 0
A.05 Servomotor and Amplifier Combination Error 0 0 0
Number of Pulses from the Origin (pulses):
Un003 A.10 Overcurrent or Heat Sink Overheated * 1 0 0
Used for commutation; not generally useful to user
A.30 Regeneration Error Detected 1 1 0
Electrical Angle from the Origin (degrees): A.32 Regenerative Overload 1 1 0
Un004
Used for commutation; not generally useful to user A.40 Overvoltage 0 0 1
A.41 Undervoltage 0 0 1
Input Signal Monitor: On/Off status of inputs.
Un005 From R to L: SI0 to SI6, SEN(CN1-4). A.51 Overspeed 1 0 1
ON: Bottom Segment is Lit. OFF: Top Segment is Lit. A.71 Overload: High Load 1 1 1
A.72 Overload: Low Load 1 1 1
Output Signal Monitor: On/Off status of outputs. A.73 Dynamic Brake Overload 1 1 1
Un006 From R to L: ALM, SO1 to SO3, ALO1 to ALO3. A.74 Overload of Surge Current Limit Resistor 1 1 1
ON: Bottom Segment is Lit. OFF: Top Segment is Lit.
A.7A Heat Sink Overheated** 1 1 1
Input Reference Pulse Speed (rpm): A.81 Absolute Encoder Backup Error* 0 0 0
Un007
Speed of input pulses A.82 Encoder Checksum Error 0 0 0
A.83 Absolute Encoder Battery Error* 0 0 0
Error Counter Value (ref. unit): Error between commanded A.84 Absolute Encoder Data Error* 0 0 0
Un008
position and actual motor position
A.85 Absolute Encoder Overspeed 0 0 0
Accumulated Load Rate (% of rated torque): A.86 Encoder Overheated 0 0 0
Un009
RMS torque over last 10 seconds A.b 1 Reference Speed Input Read Error 0 0 0
A.b 2 Reference Torque Input Read Error 0 0 0
Regenerative Load Rate (% of max. regen power): A.b F System Alarm* 0 0 0
Un00A
Average power dissipated by regen resistor
A.C1 Servo Overrun Detected 1 0 1
Power Consumed by DB Resistor (% of max): Absolute Encoder Clear Error and MultiTurn Limit
Un00B A.C8 1 0 1
Average power consumed by dynamic braking resistor Setting Error*
A.C9 Encoder Communications Error* 1 0 1
Input Reference Pulse Counter (No. Pulses in HEX): A.CA Encoder Parameter Error* 1 0 1
Un00C Number of command pulses received by the amplifier. A.Cb Encoder Echoback Error 1 0 1
(Position control only)
A.CC Multiturn Limit Disagreement 1 0 1
Feedback Pulse Counter (No. Pulses in HEX): A.d 0 Position Error Pulse Overflow 1 1 0
Un00D Number of feedback pulses received by the amplifier. A.F1 Power Line Open Phase 0 1 0
(Position control only). CPF00 Digital Operator Transmission Error - - -
CPF01 Digital Operator Transmission Error - - -
A.91 Overload Warning 1 0 0
A.92 Regenerative Overload Warning 0 1 0
A.E? Option Board Error - - -

NOTES:
Please send Questions, 1. An amplifier alarm may be reset (1) using /ALM-RST input, (2)
through software, (3) by pressing the UP and DOWN arrows

Suggestions, and simultaneously on built-in digital operator (4) by cycling control power.
2. Reference: Sec. 9.2
2. 0 = Output transistor is OFF. 1= Output transistor is ON
Corrections to: * Not reset by Alarm Reset (/ALM-RST). Eliminate the cause of the
[email protected] alarm and cycle control power to reset.
**A.7A: Appears only on 30W to 100W amplifiers

Quick Reference Guide V1.2.4 9/13/2000. ©2000 Yaskawa Electric America, Inc.
Page 9
 2121 Norman Dr. South

Power & Encoder Wiring Waukegan, IL 60085

1-800-YASKAWA
Fax: (847) 887-7185

SGMAH Power & Encoder Wiring

Encoder Connection Motor Power (no brake) Motor Power (W/Brake)

6
2

2
3

4
See Manual sec 3.5,
Catalog p. 12, 14

Pin Description (Color) Amp Conn. Pin Connection Pin Connection

1 +5V DC (Red) CN2-1 1 U Phase (Red) 1 U Phase (Red)
2 0V DC (Black) CN2-2 2 V Phase (White) 2 V Phase (White)
3 Battery (+) (Orange)* CN2-4 3 W Phase (Blue) 3 W Phase (Blue)
4 Battery (-) (White / Orange)* CN2-3 4 Frame Ground (Green/Yellow) 4 Frame Ground (Green/Yellow)
5 Data (+) (Blue) CN2-5 5 Brake (Red)
* For Absolute Encoder option only.
6 Data (-) (White / Blue) CN2-6 6 Brake (Black)

SGMPH Power & Encoder Wiring

Encoder Connection Motor Power

2
1 11

10
1 6
Please send
12

3 13
17
16
9
2 5 Questions,
8

Suggestions,
4 14 15

7 3 4
5
6
See Manual sec 3.5,
Catalog p. 30, 32

Pin Description/Color Amp Conn. Pin Connection

and
1
2
Battery (-) (White / Orange)*
Battery (+) (Orange)*
CN2-3
CN2-4
1
2
U Phase (Red)
V Phase (White)
Corrections
3
4
Data (+) (Blue)
Data (-) (Blue/White)
CN2-5
CN2-6
3
4
W Phase (Blue)
Holding Brake** (Black)
to:
5-7, 10-17 Not Used - 5 Holding Brake** (Black)
[email protected]
8 +5V DC (Red) CN2-1 6 Frame Ground (Green/Yel)
9 0V DC (Black) CN2-2 * For Absolute Encoder option only.
** For Holding Brake option only
Case Frame Ground (shield wire)

SGMGH, SGMSH, & SGMUH Power & Encoder Wiring

SGMGH (5.5kW-15kW)
Encoder Connection Motor Power (No Brake) Motor Power (W / Brake)
Separate Brake Connector

A
M B
F A
D A
L N C

H P C A
K D E G B

S R
J E C B

D C B
H F
G

Amp
Pin Description Pin Description Pin Description Pin Description
Conn.
A,B Not Used - A U Phase (Red) A U Phase (Red) A Brake Terminal (Orange)
C Data (+) CN2-5 B V Phase (White) B V Phase (White) B Brake Terminal (Blue)
D Data (-) CN2-6 C W Phase (Black) C W Phase (Black) C Not Used
E,F Not Used - D Frame Ground (Green/Yellow) D Frame Ground (Green/Yellow)
G 0V DC CN2-2 E Brake (Orange)
* For Absolute Encoder option only.
H +5V DC CN2-1 F Brake (Blue)
J Frame Ground G Not Used
See Manual sec 3.5,
K-R Not Used - Catalog p. 54-56
S Battery (+)* CN2-4
T Battery (-)* CN2-3

Quick Reference Guide V1.2.4 9/13/2000. Page 10 ©2000 Yaskawa Electric America, Inc.
 2121 Norman Dr. South

Notes Waukegan, IL 60085

1-800-YASKAWA
Fax: (847) 887-7185

Quick Reference Guide V1.2.4 9/13/2000. ©2000 Yaskawa Electric America, Inc.
Quick Reference Guide V1.2.4 9/13/2000. ©2000 Yaskawa Electric America, Inc.