Sieps80000093c 4 0

AC Servo Drives
 -V Series
USER’S MANUAL
For Use with Large-Capacity Models
Design and Maintenance
Rotational Motor
MECHATROLINK-III Communications Reference
SGDV-H, -J SERVOPACK
SGDV-COA Converter
SGMVV Servomotor
Outline 1
Panel Display and
Operation of Digital Operator 2
Wiring and Connection 3
Operation 4
Adjustments 5
Utility Functions (Fn) 6
Monitor Displays (Un) 7
Fully-closed Loop Control 8
Troubleshooting 9
Appendix 10
MANUAL NO. SIEP S800000 93C

Copyright © 2013 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.
About this Manual
This manual describes information required for designing, testing, adjusting, and maintaining large-capacity
models of servo systems in the Σ-V series.
Keep this manual in a location where it can be accessed for reference whenever required. Manuals outlined on
the following page must also be used as required by the application.
Differences between Large-capacity Σ-V SERVOPACKs and Standard Σ-V

SERVOPACKs
The differences between the large-capacity Σ-V SERVOPACKs and the standard Σ-V SERVOPACKs are
described below. Equipment damage may occur if these items are used or set incorrectly.
• CN1 Connector
The number of pins on the CN1 connector is different on a large-capacity Σ-V SERVOPACK (50 pins) and
a standard Σ-V SERVOPACK (26 pins).
If you are using both types of SERVOPACK, use the correct connector model numbers when ordering and
the correct signal assignments.
• Factory Settings of Parameters
The factory settings of the following parameters are different: Pn50A.3, Pn50B.0, and Pn511.0.
Make sure that you consider any differences in the factory settings if you copy the parameters from a stan-
dard Σ-V SERVOPACK to a large-capacity Σ-V SERVOPACK.
For details, refer to 3.4.1 Input Signal Allocations.
• Monitor Displays
The monitor display digits are different for P-OT, N-OT, and /DEC.
Make sure you are reading the displays correctly when checking signal operation.
For details, refer to 7.3 Monitoring Input Signals.
Description of Technical Terms

The following table shows the meanings of terms used in this manual.
Term Meaning
Cursor Input position indicated by Digital Operator
Servomotor Σ-V large-capacity SGMVV servomotor
SERVOPACK Σ-V large-capacity SGDV- H, - J servo amplifier
Converter Σ-V large-capacity SGDV-COA converter
Servo Drive A set that includes a servomotor, a SERVOPACK, and a converter
A servo control system that includes the combination of a servo drive
Servo System
with a host controller and peripheral devices
Servo ON Power to motor ON
Servo OFF Power to motor OFF
Power supply to motor is turned OFF by shutting off the base current
Base Block (BB)
to the power transistor in the SERVOPACK.
A state in which the motor is stopped and is in position loop with a
Servo Lock
position reference of 0.
Cables which connect to the main circuit terminals, including main
Main Circuit Cable circuit power supply cables, control power supply cables, servomotor
main circuit cables, and others.
iii
IMPORTANT Explanations
The following icon is displayed for explanations requiring special attention.
• Indicates important information that should be memorized, as well as precautions, such as

alarm displays, that do not involve potential damage to equipment.
Notation Used in this Manual

• Notation for Reverse Signals
The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the
signal name.
Notation Example
BK = /BK
• Notation for Parameters

The notation depends on whether the parameter requires a value setting (parameter for numeric settings) or
requires the selection of a function (parameter for selecting functions).
• Parameters for Numeric Settings

Control methods for which the parameter applies.
Speed : Speed control Position : Position control Torque : Torque control
Emergency Stop Torque Speed Position Torque
Pn406 Classification
Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 800 After change Setup
Parameter
number Indicates the Indicates the Indicates when a
change to the Indicates the
minimum setting unit parameter setting parameter
Indicates the setting for the parameter. before shipment. parameter will be
effective. classification.
range for the parameter.

• Parameters for Selecting Functions
Parameter Meaning When Enabled Classification

n.0 Uses the absolute encoder as an
[Factory setting] absolute encoder.
Pn002 After restart Setup
incremental encoder.
Parameter The notation “n.” indicates a parameter This section explains the
number for selecting functions. Each corresponds to selections for the function.
the setting value of that digit. The notation shown
here means that the third digit is 1. Rotation
iv
Notation Example
Digital Operator Display (Display Example for Pn002) MECHA

Digit Notation Setting Notation
㨚㧜㧜㧜㧜 Notation Meaning Notation Meaning
Indicates the value for the Pn002.0 = x Indicates that the value for the
1st digit Pn002.0 1st digit of parameter Pn002. or n.x 1st digit of parameter Pn002 is x.
2nd digit Pn002.1 2nd digit of parameter Pn002. or n.x 2nd digit of parameter Pn002 is x.
3rd digit Pn002.2
3rd digit of parameter Pn002. or n.x 3rd digit of parameter Pn002 is x.
4th digit Pn002.3 4th digit of parameter Pn002. 4th digit of parameter Pn002 is x.
or n.x
v
Manuals Related to the Σ-V Large-Capacity Models
Refer to the following manuals as required.
Selecting Trial
Maintenance
Models and Ratings and System Panels and Trial Operation
Name and
Peripheral Specifications Design Wiring Operation and Servo
Inspection
Devices Adjustment
Large-Capacity Σ-V Series
Catalog
(No.: KAEP S800000 86)
Σ-V Series
User’s Manual
For Use with Large-Capacity
Models
Setup Rotational Motor
(No.: SIEP S800000 89)
Σ-V Series
User’s Manual
Models
Rotational Motor
MECHATROLINK-III
Communications
Reference
(This Manual)
Σ-V Series
User’s Manual
MECHATROLINK-III
Standard Servo Profile
Commands
(No.: SIEP S800000 63)
Σ-V Series
User’s Manual
Operation of Digital Operator
(No.: SIEP S800000 55)
AC Servomotor
Safety Precautions
(No.: TOBP C230200 00)
AC SERVOPACK and
Converter Σ-V Series
Safety Precautions
Models
(No.: TOBP C710829 07)
Σ Series
Safety Precautions
Digital Operator
(No.: TOBP C730800 00)
vi
Trademarks
MECHATROLINK is a trademark of the MECHATROLINK Members Association.
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

WARNING life or serious injury.
Indicates precautions that, if not heeded, could result in relatively serious

CAUTION or minor injury, damage to the product, or faulty operation.
In some situations, the precautions indicated could have serious
consequences if not heeded.
Indicates prohibited actions that must not be performed. For example,

PROHIBITED this symbol would be used to indicate that fire is prohibited as follows:
Indicates compulsory actions that must be performed. For example, this

MANDATORY symbol would be used to indicate that grounding is compulsory as
follows:
vii
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 and the converters.
Failure to observe this warning may result in electric shock.
• Do not remove the front cover of the power supply terminals while the power is ON.
Failure to observe this warning may result in electric shock.
• Immediately after the power is turned OFF or after a voltage resistance test, do not touch terminals
while the CHARGE lamp is ON. For details on the charging time of the main circuit’s capacitor, refer
to 3.1.5 Discharging Time of the Main Circuit’s Capacitor.
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 output range of the rotational serial data for the absolute position detecting system used for Σ-V large-
capacity servo drives is different from that of earlier systems for 12-bit and 15-bit encoders. As a result, the infi-
nite-length positioning system of the Σ servo drives must be changed for use with Σ-V large-capacity servo
drives. Be sure to make the system modifications.
• 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 SERVOPACK 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 front of the SERVO-
PACK and the converter while the power is ON.
Failure to observe this warning may result in electric shock or damage to the product.
• Do not damage, press, exert excessive force on, or place heavy objects on the cables.
Failure to observe this warning may result in electric shock, stopping operation of the product, or fire.
• Do not modify the product.
Failure to observe this warning may result in injury, fire, or damage to the product.
• Provide an appropriate braking device on the machine side to ensure safety. The holding brake on
a servomotor with a brake is not a braking device for ensuring safety.
• Do not come close to the machine immediately after resetting a momentary power loss. The
machine may restart unexpectedly. Take appropriate measures to ensure safety against an unex-
pected restart.
• Do not wire the regenerative resistor unit incorrectly. Never short-circuit the B1 and B2 terminals.
Failure to observe this warning may result in fire or damage to the product.
• Connect the ground terminal according to local electrical codes (100 Ω or less for a SERVOPACK
and a converter with a 200 V power supply. 10 Ω or less for a SERVOPACK and a converter with
400 V power supply).
Improper grounding may result in electric shock or fire.
viii
WARNING
• Be sure to connect the servomotor’s built-in thermostat to the host controller or to the main circuit
magnetic contactor’s operation circuit.
Failure to observe this warning may result in injury, fire, or damage to the product.
• Usage Example 1:
In this example, the output signal from the thermostat is received by the host controller if the thermostat is
activated and the host controller turns OFF the servo.
Main circuit
magnetic
contactor
Main circuit SERVOPACK Thermostat
power supply M
and
converter
ENC
Servo OFF
Host controller
• Usage Example 2:
In this example, the main circuit magnetic contactor’s operation circuit is activated or the output signal
from the thermostat is received by the host controller if the thermostat is activated and the main circuit
magnetic contactor is turned OFF.
Main circuit
magnetic
contactor
Main circuit Thermostat
SERVOPACK M
power supply
and
converter
ENC
Main circuit
magnetic contactor
Host controller or main circuit
magnetic contactor’s operation circuit
• Installation, disassembly, or repair must be performed only by authorized personnel.

Failure to observe this warning may result in electric shock or injury.
• The person who designs a system using the safety function (Hard Wire Baseblock function) must
have full knowledge of the related safety standards and full understanding of the instructions in this
manual.
Failure to observe this warning may result in injury or damage to the product.
ix
Storage and Transportation
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 con-
ditions
• 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, motor shaft, or terminal box 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.
• 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.
Installation
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.
• 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 converter 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.
x
Wiring
CAUTION
• Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
• 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 terminals.
Failure to observe this caution may result in fire.
• Do not bundle or run the main circuit cables together with the I/O signal cables or the 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 I/O signal cables and
encoder cables.
• Use the bus bars that are included with the converter, and connect the P and N terminals on the
SERVOPACK and converter securely.
• The maximum cable length is 3 m for I/O signal cables, 50 m for connection cables for servomotor
main circuit or encoder cables, and 10 m for control power supply cables to 400-V converters (+24
V, 0 V).
• Do not touch the power terminals while discharging the main circuit’s capacitor, because high volt-
age may still remain in the SERVOPACK and the converter. For details on the charging time of the
main circuit’s capacitor, refer to 3.1.5 Discharging Time of the Main Circuit’s Capacitor.
Before starting to do wiring or inspections, confirm that the power has been completely discharged (charge
indicator: OFF) by using a tester to measure the voltage between the P and N terminals for DC power.
• Be sure to observe the following precautions when wiring the main circuit’s terminals and connec-
tors on a SERVOPACK or converter.
• Do not turn ON the power to a SERVOPACK or converter until all wiring, including the wiring to the
main circuit terminals, has been completed.
• Remove detachable main circuit terminals from the SERVOPACK and the converter 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-circuits) adjacent wires.
• Install a battery at either the host controller or the battery unit of the encoder, but not both.
It is dangerous to install batteries at both ends simultaneously, because that sets up a loop circuit between the
batteries.
• Always use the specified power supply voltage.
An incorrect voltage may result in fire or malfunction.
• Make sure that the polarity is correct.
Incorrect polarity may cause ruptures or damage.
• Take appropriate measures to ensure that the input power supply is supplied within the specified
voltage fluctuation range. Be particularly careful in places where the power supply is unstable.
An incorrect power supply may result in damage to the product.
• Install external breakers or other safety devices against short-circuiting in external wiring.
Failure to observe this caution may result in fire.
• Take appropriate and sufficient countermeasures for each form of potential interference when
installing systems in the following locations.
• 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 servomotor, or cause an explo-
sion.
• Wiring or inspection must be performed by a technical expert.
• Use a 24-VDC power supply for the control power of 400-V converter with double insulation or rein-
forced insulation.
xi
Operation
CAUTION
• Always use the servomotor, the SERVOPACK, and the converter in one of the specified combina-
tions.
Failure to observe this caution may result in fire or malfunction.
• Conduct trial operations on the servomotor alone, with the motor shaft disconnected from the
machine to avoid accidents.
Failure to observe this caution may result in injury.
• During trial operation, confirm that the holding brake works correctly. Furthermore, secure system
safety against problems such as signal line disconnection.
Failure to observe this caution may result in injury or damage to the product.
• 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.
• Frequently turning power ON and OFF causes elements inside the SERVOPACK and the converter to
deteriorate. Do not use the servo drive with an application that requires frequently turning power ON and
OFF.
• After the actual operation starts, the allowable interval for turning power ON and OFF is one hour or
longer.
• When using JOG operations (Fn002) origin search operations (Fn003), or EasyFFT operations
(Fn206), the dynamic brake function does not work for reverse overtravel or forward overtravel.
Take necessary precautions.
• 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 tuning-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 and the converter 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 holding brake of the servomotor for braking.
• An alarm or warning may occur if communications are performed with the host controller while the
SigmaWin+ or Digital Operator is operating.
If an alarm or warning occurs, it may stop the current process and stop the system.
Maintenance and Inspection
CAUTION
• Do not disassemble the SERVOPACK and the converter.
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.
• Be sure to eliminate static electricity before operating buttons and switches inside the plastic cover.
xii
Disposal
CAUTION
• When disposing of the products, treat them as ordinary industrial waste.
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.
• 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.
xiii
Warranty
(1) Details of Warranty

Warranty Period
The warranty period for a product that was purchased (hereinafter called “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 warranty period above. This warranty does not cover defects caused by the delivered product reach-
ing the end of its service 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.
1. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product cata-
logs or manuals, or in any separately agreed-upon specifications
2. Causes not attributable to the delivered product itself
3. Modifications or repairs not performed by Yaskawa
4. Abuse of the delivered product in a manner in which it was not originally intended
5. Causes that were not foreseeable with the scientific and technological understanding at the time of ship-
ment from Yaskawa
6. Events for which Yaskawa is not responsible, such as natural or human-made disasters
(2) Limitations of Liability
1. 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.
2. 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 programmable Yaskawa
products.
3. The information described in product catalogs or manuals is provided for the purpose of the customer pur-
chasing 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.
4. Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights
or other proprietary rights of third parties as a result of using the information described in catalogs or man-
uals.
xiv
(3) Suitability for Use
1. 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.
2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment
used by the customer.
3. 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 specifications, 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 condi-
tions or environments not described in product catalogs or manuals
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle sys-
tems, medical equipment, amusement machines, and installations subject to separate industry or gov-
ernment 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
4. 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.
5. The circuit examples and other application examples described in product catalogs and manuals are for ref-
erence. Check the functionality and safety of the actual devices and equipment to be used before using the
product.
6. Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to
prevent accidental harm to third parties.
(4) 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 editions 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.
xv
Harmonized Standards
North American Safety Standards (UL)

UL Standards
Name (Model) Mark Remarks
(UL File No.)
SERVOPACK (SGDV-H,
-J), UL508C (E147823) Application pending.
Converter (SGDV-COA)
Servomotor (SGMVV) UL1004 (E165827) Certified.
European Directives
Name (Model) European Directives Harmonized Standards Remarks

Machinery Directive EN ISO13849-1: 2008,
2006/42/EC EN 954-1
SERVOPACK (SGDV-H, EN 55011 group 1 class A,
EMC Directive
-J), EN 61000-6-2,
2004/108/EC
Converter (SGDV-COA) EN 61800-3
Low Voltage Directive EN 50178,
Application pending.
2006/95/EC EN 61800-5-1
EN 55011 group 1 class A,
EMC Directive
EN 61000-6-2,
2004/108/EC
Servomotor (SGMVV) EN 61800-3
Low Voltage Directive EN 60034-1,
2006/95/EC EN 60034-5/A1
xvi
Safety Standards
Name (Model) Safety Standards Standards Remarks

EN ISO13849-1: 2008,
Safety of Machinery EN 954-1,
IEC 60204-1
SERVOPACK (SGDV- H,
- J), IEC 61508 series, Application pending.
Converter (SGDV-COA) Functional Safety IEC 62061,
IEC 61800-5-2
EMC IEC 61326-3-1
Safe Performance
Items Standards Performance Level
IEC 61508 SIL2
Safety Integrity Level
IEC 62061 SILCL2
Probability of Dangerous Failure per Hour

IEC 61508, PFH ⇐ 1.7×10-9 [1/h]
IEC 62061 (0.17% of SIL2)
Category EN 954-1 Category 3
Performance Level EN ISO 13849-1 PL d (Category 3)
Mean Time to Dangerous Failure of Each
EN ISO 13849-1 MTTFd: High
Channel
Average Diagnostic Coverage EN ISO 13849-1 DCave: Low
Stop Category IEC 60204-1 Stop category 0
Safety Function IEC 61800-5-2 STO
Proof test Interval IEC 61508 10 years
xvii
Contents
About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii
Warranty. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv
Harmonized Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvi
Chapter 1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1

1.1 Σ-V Large-Capacity SERVOPACKs and Converters . . . . . . . . . . . . . . . . . . . 1-2
1.2 SERVOPACK Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.3 Converter Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.4 Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1.4.1 Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1.4.2 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1.4.3 MECHATROLINK-III Function Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
1.5 SERVOPACK and Converter Internal Block Diagrams . . . . . . . . . . . . . . . . 1-10
1.5.1 Three-phase 200 V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
1.5.2 Three-phase 400 V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
1.6 Examples of Servo System Configurations . . . . . . . . . . . . . . . . . . . . . . . . . 1-12
1.7 SERVOPACK Model Designation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
1.8 Converter Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14
1.9 Combinations of Servomotors, SERVOPACKs, and Converters . . . . . . . . . 1-15
1.10 Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-16
Chapter 2 Panel Display and Operation of Digital Operator . . . . . . . . . . . .2-1

2.1 Panel Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.1 Status Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.2 Alarm and Warning Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.3 Hard Wire Base Block Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.4 Overtravel Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2 Operation of Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.3 Utility Functions (Fn ). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.4 Parameters (Pn ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.4.1 Parameter Classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.4.2 Notation for Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.4.3 Setting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2.5 Monitor Displays (Un ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
Chapter 3 Wiring and Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1

3.1 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.1.1 Main Circuit Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.1.2 Main Circuit Wire . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.1.3 Typical Main Circuit Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
3.1.4 General Precautions for Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18
3.1.5 Discharging Time of the Main Circuit’s Capacitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
3.2 Connecting the Converter to the SERVOPACK . . . . . . . . . . . . . . . . . . . . . . 3-21
3.2.1 Connecting the Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
3.2.2 Interconnecting Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
3.3 I/O Signal Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.3.1 I/O Signal (CN1) Names and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.3.2 Safety Function Signal (CN8) Names and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
xviii
3.3.3 Example of I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25
3.4 I/O Signal Allocations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26
3.4.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26
3.4.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27
3.5 Examples of Connection to Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . 3-29
3.5.1 Sequence Input Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-29
3.5.2 Sequence Output Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-31
3.6 Wiring MECHATROLINK-III Communications . . . . . . . . . . . . . . . . . . . . . . . 3-33
3.7 Encoder Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34
3.7.1 Encoder Signal (CN2) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34
3.7.2 Encoder Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34
3.8 Selecting and Connecting a Regenerative Resistor Unit . . . . . . . . . . . . . . . 3-36
3.8.1 Selecting a Regenerative Resistor Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36
3.8.2 Connecting a Regenerative Resistor Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-37
3.8.3 Setting Regenerative Resistor Capacity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38
3.8.4 Installation Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-39
3.9 Selecting and Connecting a Dynamic Brake Unit . . . . . . . . . . . . . . . . . . . . 3-40
3.9.1 Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-40
3.9.2 Selecting the Cable for the Dynamic Brake Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-40
3.9.3 Setting the Dynamic Brake Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-41
3.9.4 Setting the Dynamic Brake Answer Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-42
3.9.5 Installation Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-43
3.9.6 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-43
3.10 Noise Control and Measures for Harmonic Suppression. . . . . . . . . . . . . . 3-46
3.10.1 Wiring for Noise Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-46
3.10.2 Precautions on Connecting Noise Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-48
3.10.3 Connecting a Reactor for Harmonic Suppression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-50
Chapter 4 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1

4.1 MECHATROLINK-III Communications Settings . . . . . . . . . . . . . . . . . . . . . . 4-3
4.1.1 Setting Switches S1, S2, and S3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.2 MECHATROLINK-III Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.3 Basic Functions Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.3.1 Servomotor Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.3.2 Overtravel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.3.3 Software Limit Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4.3.4 Holding Brakes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence . . . . . . . . . . . . . . 4-16
4.3.6 Instantaneous Power Interruption Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
4.3.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for
Main Circuit). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
4.3.8 Setting Motor Overload Detection Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
4.4 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24
4.4.1 Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24
4.4.2 Trial Operation via MECHATROLINK-III. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25
4.4.3 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26
4.4.4 Encoder Output Pulses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29
4.4.5 Setting Encoder Output Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30
4.5 Test Without Motor Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31
4.5.1 Motor Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31
4.5.2 Motor Position and Speed Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-32
4.5.3 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-33
4.5.4 Digital Operator Displays during Testing without Motor . . . . . . . . . . . . . . . . . . . . . . . . . . 4-34
4.6 Limiting Torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35
4.6.1 Internal Torque Limit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35
4.6.2 External Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-36
4.6.3 Checking Output Torque Limiting during Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-37
xix
4.7 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-38
4.7.1 Connecting the Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-39
4.7.2 Absolute Data Request (SENS ON Command) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-41
4.7.3 Battery Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-42
4.7.4 Absolute Encoder Setup and Reinitialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-44
4.7.5 Absolute Data Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-46
4.7.6 Multiturn Limit Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-50
4.7.7 Multiturn Limit Disagreement Alarm (A.CC0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-51
4.7.8 Absolute Encoder Origin Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-52
4.8 Other Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-53
4.8.1 Servo Alarm Output Signal (ALM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-53
4.8.2 Warning Output Signal (/WARN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-53
4.8.3 Rotation Detection Output Signal (/TGON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-54
4.8.4 Servo Ready Output Signal (/S-RDY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-54
4.8.5 Speed Coincidence Output Signal (/V-CMP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-55
4.8.6 Positioning Completed Output Signal (/COIN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-56
4.8.7 Positioning Near Output Signal (/NEAR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-57
4.8.8 Speed Limit Detection Signal (/VLT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-58
4.9 Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-60
4.9.1 Hard Wire Base Block (HWBB) Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-60
4.9.2 External Device Monitor (EDM1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-66
4.9.3 Application Example of Safety Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-68
4.9.4 Confirming Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-69
4.9.5 Connecting a Safety Function Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-69
4.9.6 Precautions for Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-70
Chapter 5 Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1

5.1 Type of Adjustments and Basic Adjustment Procedure . . . . . . . . . . . . . . . . . 5-3
5.1.1 Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.1.2 Basic Adjustment Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.1.3 Monitoring Operation during Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.1.4 Safety Precautions on Adjustment of Servo Gains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.2 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.2.1 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.2.2 Tuning-less Levels Setting (Fn200) Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
5.2.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
5.3 Advanced Autotuning (Fn201) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5.3.1 Advanced Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5.3.2 Advanced Autotuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21
5.4 Advanced Autotuning by Reference (Fn202) . . . . . . . . . . . . . . . . . . . . . . . . 5-28
5.4.1 Advanced Autotuning by Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
5.4.2 Advanced Autotuning by Reference Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-30
5.5 One-parameter Tuning (Fn203) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35
5.5.1 One-parameter Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35
5.5.2 One-parameter Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-36
5.5.3 One-parameter Tuning Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
5.6 Anti-Resonance Control Adjustment Function (Fn204) . . . . . . . . . . . . . . . . 5-45
5.6.1 Anti-Resonance Control Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-45
5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure. . . . . . . . . . . . . . . . 5-46
5.7 Vibration Suppression Function (Fn205) . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-52
5.7.1 Vibration Suppression Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-52
5.7.2 Vibration Suppression Function Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-53
xx
5.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-57
5.8.1 Switching Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-57
5.8.2 Manual Adjustment of Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-61
5.8.3 Current Control Mode Selection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63
5.8.4 Current Gain Level Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63
5.8.5 Speed Detection Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63
5.8.6 Backlash Compensation Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-64
5.8.7 Position Integral . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-70
5.9 Compatible Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71
5.9.1 Feedforward Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71
5.9.2 Mode Switch (P/PI Switching) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-72
5.9.3 Torque Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-74
Chapter 6 Utility Functions (Fn ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1

6.1 List of Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.2 Alarm History Display (Fn000) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.3 JOG Operation (Fn002) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.4 Origin Search (Fn003) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.5 Program JOG Operation (Fn004) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
6.6 Initializing Parameter Settings (Fn005) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
6.7 Clearing Alarm History (Fn006) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
6.8 Offset Adjustment of Analog Monitor Output (Fn00C) . . . . . . . . . . . . . . . . . 6-14
6.9 Gain Adjustment of Analog Monitor Output (Fn00D) . . . . . . . . . . . . . . . . . . 6-16
6.10 Automatic Offset-Signal Adjustment of the Motor Current Detection
Signal (Fn00E). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
6.11 Manual Offset-Signal Adjustment of the Motor Current Detection
Signal (Fn00F). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19
6.12 Write Prohibited Setting (Fn010) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21
6.13 Servomotor Model Display (Fn011) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-23
6.14 Software Version Display (Fn012) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
6.15 Resetting Configuration Errors in Option Modules (Fn014) . . . . . . . . . . . . 6-25
6.16 Vibration Detection Level Initialization (Fn01B) . . . . . . . . . . . . . . . . . . . . . 6-26
6.17 Display of SERVOPACK and Servomotor ID (Fn01E) . . . . . . . . . . . . . . . . 6-28
6.18 Display of Servomotor ID in Feedback Option Module (Fn01F) . . . . . . . . 6-30
6.19 Origin Setting (Fn020) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31
6.20 Software Reset (Fn030). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-32
6.21 EasyFFT (Fn206). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-33
6.22 Online Vibration Monitor (Fn207). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-37
Chapter 7 Monitor Displays (Un ) . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1

7.1 List of Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.2 Viewing Monitor Displays. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.3 Monitoring Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7.3.1 Interpreting Input Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7.3.2 Input Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7.4 Monitoring Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
7.4.1 Interpreting Output Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
7.4.2 Output Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
7.5 Monitoring Safety Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
7.5.1 Interpreting Safety Input Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
7.5.2 Safety Input Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
xxi
Chapter 8 Fully-closed Loop Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1
8.1 System Configuration and Connection Example for SERVOPACK
with Fully-closed Loop Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.1.1 System Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.1.2 Internal Block Diagram of Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.1.3 Serial Converter Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
8.1.4 Example of Connections to External Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
8.1.5 Encoder Output Pulse Signals from SERVOPACK with an External Encoder by
Renishaw plc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
8.1.6 Precautions When Using an External Incremental Encoder by Magnescale . . . . . . . . . . . 8-8
8.2 SERVOPACK and Converter Startup Procedure . . . . . . . . . . . . . . . . . . . . . 8-12
8.3 Parameter Settings for Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . 8-14
8.3.1 Motor Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15
8.3.2 Sine Wave Pitch (Frequency) for an External Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17
8.3.3 Setting Encoder Output Pulses (PAO, PBO, and PCO) . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17
8.3.4 External Absolute Encoder Data Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . 8-18
8.3.5 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-21
8.3.6 Alarm Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-22
8.3.7 Analog Monitor Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-23
8.3.8 Speed Feedback Method during Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . . 8-23
Chapter 9 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-1

9.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.1.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.1.2 Troubleshooting of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
9.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-24
9.2.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-24
9.2.2 Troubleshooting of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-26
9.3 Monitoring Communication Data on Occurrence of an Alarm or Warning . . 9-31
9.4 Troubleshooting Malfunction Based on Operation and Conditions of
the Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-32
Chapter 10 Appendix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-1

10.1 List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10.1.1 Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10.1.2 Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3
10.1.3 MECHATROLINK-III Common Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-37
10.2 List of Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-47
10.3 Parameter Recording Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-48
Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index-1
Revision History
xxii
1
Outline
1.1 Σ-V Large-Capacity SERVOPACKs and Converters . . . . . . . . . . . . . . . . . 1-2

1.2 SERVOPACK Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.3 Converter Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.4 Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1.4.1 Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1.4.2 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1.4.3 MECHATROLINK-III Function Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
1.5 SERVOPACK and Converter Internal Block Diagrams . . . . . . . . . . . . . . 1-10

1.5.1 Three-phase 200 V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
1.5.2 Three-phase 400 V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
1.6 Examples of Servo System Configurations . . . . . . . . . . . . . . . . . . . . . . . 1-12
Outline
1.7 SERVOPACK Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
1.8 Converter Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14
1
1.9 Combinations of Servomotors, SERVOPACKs, and Converters . . . . . . . 1-15
1.10 Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-16
1-1
1 Outline
1.1 Σ-V Large-Capacity SERVOPACKs and Converters

The Σ-V large-capacity SERVOPACKs and converters are designed for applications that require frequent
high-speed, high-precision positioning. The SERVOPACKs and converters make the most of machine
performance in the shortest time possible, therefore contributing to improving productivity.
1.2 SERVOPACK Part Names

This section describes the part names of SERVOPACKs.
Use a SERVOPACK together with a converter. For details, refer to 1.9 Combinations of Servomotors, SER-
VOPACKs, and Converters.
Note: For the purpose of this description, the SERVOPACK is shown with the front cover removed. Always keep the front
cover attached when using the SERVOPACK.

With plastic cover open

M-III
No. Name Description Reference

4.1.1 Setting Switches S1,
DIP switch (S3) Used to set MECHATROLINK communications.
S2, and S3
4.1.1 Setting Switches S1,
Rotary switches (S1 and S2) Used to set MECHATROLINK station address.
S2, and S3
Power LED indicator
Indicates that the control power is being supplied. –
(POWER)
CN5 Analog monitor Used to monitor motor speed, torque reference, 5.1.3 Monitoring Operation
connector and other values through a special cable (option). during Adjustment
Indicates the servo status with a seven-segment
Panel display 2.1.1 Status Display
LED display.
Indicates the SERVOPACK model and ratings.
Nameplate –
Located on the side of the SERVOPACK.
Input voltage – –
1-2
1.2 SERVOPACK Part Names
(cont’d)
1.7 SERVOPACK Model
SERVOPACK model Indicates the model number of the SERVOPACK.
Designation
Serial number – –
Used for ON/OFF control of the magnetic contac-
Dynamic brake unit tor in the dynamic brake unit. Connect this con-
–
connector (CN115) nector to terminals DBON and DB24 on the
dynamic brake unit.
Control power input Used to input 24 VDC (±15%). CN103 and
connectors CN104 are equivalent inputs. It is normally not –
(CN103 and CN104) necessary to connect CN104.
SERVOPACK-converter I/O
Connect this connector to CN901 on the converter. –
connector (CN901)
Lights (orange) when the main circuit power sup-
ply is ON and stays lit as long as the internal
capacitor remains charged. Therefore, do not touch
Charge indicator –
the SERVOPACK even after the power supply is
turned OFF if the indicator is lit. It may result in
electric shock.
Main circuit DC voltage input Connect these terminals to P and N on the con-
–
terminals (P and N) verter.
Dynamic brake unit Use these terminals to connect the dynamic brake
connection terminals unit. Do not connect servomotors to these termi- –
(DU, DV, and DW) nals.
Be sure to connect to protect against electrical
Ground terminal 3.1 Main Circuit Wiring
shock.
Pull it to open the plastic cover for use of the
Plunger MECHATROLINK communications switch and –
other components.
Σ-V Series User's Manual
CN3 Connector for digital Connects a digital operator (option, JUSP-OP05A-
Operation of Digital Opera-
operator 1-E) or a personal computer (RS422).
tor (No.: SIEP S800000 55).
Lights (green) when the SERVOPACK success-
LED indicator (CN) –
Outline
fully receives a CONNECT command.
Lights (green) during communications between
Communications LED
the SERVOPACK and the MECHATROLINK –
indicators (L1 and L2)
system.
CN7 Connector for personal

A USB connector for use with a personal com- 1
puter. Use the connection cable (No: JZSP- –
computer
CVS06-02-E).
CN6A and CN6B 3.6 Wiring MECHA-
Connects MECHATROLINK-III-supported
MECHATROLINK-III TROLINK-III Communica-
devices.
communications connectors tions
CN1 I/O signal connector Used for sequence I/O signals. 3.3 I/O Signal Connections
Connects a safety function device.
3.3.2 Safety Function Signal
CN8 Connector for safety Note: When not using the safety function, use the (CN8) Names and Functions
function devices SERVOPACK with the safety function’s jumper 4.9 Safety Function
connector (provided as an accessory) inserted.
CN2 Encoder connector Connects the encoder in the servomotor. 3.7 Encoder Connection
+, - terminals Do not connect anything to these terminals. –
Servomotor terminals Connects the main circuit cable (power line) for
3.1 Main Circuit Wiring
(U, V, W) servomotor.
1-3
1 Outline
1.3 Converter Part Names

This section describes the parts of a converter.
Use a converter together with a SERVOPACK. For details, refer to 1.9 Combinations of Servomotors, SER-
VOPACKs, and Converters.
Converter Converter
SGDV-COA2BAA SGDV-COA3GAA
SGDV-COA3ZDA SGDV-COA5EDA


Indicates the converter model and ratings. Located
Nameplate –
on the side of the converter.
Control power input
Used to connect the control power input. 3.1 Main Circuit Wiring
connector (CN101)
These connectors output 24 VDC to the SERVO-
Control power output PACK. For a 400-V system, the 24-VDC (±15%)
connectors input is output unaltered from CN103. CN103 and –
(CN103 and CN104) CN104 are equivalent outputs. It is normally not
necessary to connect CN104.
SERVOPACK-converter I/O
Connect this connector to CN901 on the converter. –
connector (CN901)
Lights (orange) when the main circuit power sup-
ply is ON and stays lit as long as the internal
capacitor remains charged. Therefore, do not touch
Charge indicator –
the SERVOPACK even after the power supply is
turned OFF if the indicator is lit. It may result in
electric shock.
DC reactor terminals for 3.10.3 Connecting a Reac-
harmonic suppression Connects a DC reactor for harmonic suppression. tor for Harmonic Suppres-
( 1 and 2) sion
Main circuit power supply
Used for main circuit power supply input. 3.1 Main Circuit Wiring
terminals (L1, L2, and L3)
Be sure to connect to protect against electrical
Ground terminals 3.1 Main Circuit Wiring
shock.
Input voltage – –
Converter model Indicates the model number of the converter. –
1-4
1.3 Converter Part Names
(cont’d)
Serial number – –
Converter LED indicator Lights (green) when the converter is ready to be
–
(C-RDY) used for operations.
Converter LED indicator Lights (red) when the converter’s heat sink is
–
(OVERHEAT) overheated.
Lights (red) when the voltage between the main
Converter LED indicator
circuit’s DC voltage output terminals P and N is –
(CHRG-ERR)
abnormal.
Converter LED indicator Lights (red) when an error occurs while the con-
–
(FANSTOP) verter fan is running.
Converter LED indicator Lights (red) when an error occurs when the inrush
–
(MC-FAULT) current limit relay is used.
Main circuit DC voltage Connect these terminals to P and N on the SER-
–
output terminals (P and N) VOPACK.
Regenerative resistor 3.8 Selecting and Connect-
connecting terminals Connects external regenerative resistors. ing a Regenerative Resistor
(B1 and B2) Unit
Outline
1
1-5
1 Outline
1.4.1 Ratings
1.4 Ratings and Specifications

This section describes the ratings and specifications of SERVOPACKs and converters.
1.4.1 Ratings
Ratings of SERVOPACKs and converters are as shown below.
Three-phase 200 VAC

SERVOPACK Model SGDV- 121H 161H 201H
Converter Model SGDV-COA 2BAA 3GAA 3GAA
Continuous Output Current [Arms] 116 160 200
Instantaneous Max. Output Current [Arms] 240 340 460
Regenerative Resistor Unit* External
Main Circuit Power Supply Three-phase 200 to 230 VAC, +10% to -15%, 50/60 Hz
Control Power Supply Single-phase 200 to 230 VAC, +10% to -15%, 50/60 Hz
Overvoltage Category III
∗ Refer to 3.8 Selecting and Connecting a Regenerative Resistor Unit for details.
Three-phase 400 VAC
SERVOPACK Model SGDV- 750J 101J 131J
Converter Model SGDV-COA 3ZDA 5EDA 5EDA
Continuous Output Current [Arms] 75 98 130
Instantaneous Max. Output Current [Arms] 170 230 340
* External
Regenerative Resistor Unit
Main Circuit Power Supply Three-phase 380 to 480 VAC, +10% to -15%, 50/60 Hz
Control Power Supply 24 VDC, ±15%
Overvoltage Category III
∗ Refer to 3.8 Selecting and Connecting a Regenerative Resistor Unit for details.
1-6
1.4.2 Basic Specifications

Basic specifications of SERVOPACKs and converters are shown below.
Drive Method Sine-wave current drive with PWM control of IGBT

Feedback Encoder: 20-bit (incremental, absolute)
Surrounding Air Temper-
0°C to +55°C
ature
Storage Temperature -20°C to +85°C
Ambient Humidity 90% RH or less
With no freezing or condensation
Storage Humidity 90% RH or less
Vibration Resistance 4.9 m/s2
Operating Shock Resistance 19.6 m/s2
Conditions
Protection Class IP10 An environment that satisfies the following conditions.
• Free of corrosive or flammable gases
• Free of exposure to water, oil, or chemicals
Pollution Degree 2 • Free of dust, salts, or iron dust
Altitude 1000 m or less

Free of static electricity, strong electromagnetic fields, magnetic fields or
Others
exposure to radioactivity
UL508C
Harmonized Standards
EN 50178, EN 55011 group 1 class A, EN 61000-6-2, EN 1800-3,
(Application pending)
EN 61800-5-1, EN 954-1, IEC 61508-1 to 4
Standard: Base-mounted
Mounting
Optional: Duct-ventilated
1:5000 (The lower limit of the speed control range must be lower than the
Speed Control Range
point at which the rated torque does not cause the servomotor to stop.)
Load
0% to 100% load: ±0.01% max. (at rated speed)
Regulation
Speed
Regu- Voltage
Rated voltage ±10%: 0% (at rated speed)
Regulation
lation*1
Outline
Perfor-
mance Temperature
25 ± 25°C: ±0.1% max. (at rated speed)
Regulation
Torque Control
Tolerance ±1%
(Repeatability)
1
Soft Start Time
0 to 10 s (Can be set individually for acceleration and deceleration.)
Setting
1-7
1 Outline
1.4.2 Basic Specifications
(cont’d)
Phase A, B, C: line driver
Encoder Output Pulse
Encoder output pulse: any setting ratio (Refer to 4.4.5.)
Number of
7 ch
Channels
• Homing deceleration switch (/DEC)
Input • External latch (/EXT 1 to 3)
Sequence Signals • Forward run prohibited (P-OT), reverse run prohibited
Input which can (N-OT)
be allocated Functions • Forward external torque limit (/P-CL), reverse external
torque limit (/N-CL)
• DB answer (/DBANS)
Signal allocations can be performed, and positive and
negative logic can be changed.
I/O
Fixed Output Servo alarm (ALM) output
Signals
Number of
3 ch
Channels
• Positioning completion (/COIN)
• Speed coincidence detection (/V-CMP)
• Rotation detection (/TGON)
Sequence Output • Servo ready (/S-RDY)
Output Signals
which can • Torque limit detection (/CLT)
be allocated Functions • Speed limit detection (/VLT)
• Brake (/BK)
• Warning (/WARN)
• Near (/NEAR)
Signal allocations can be performed, and positive and
negative logic can be changed.
Digital operator (Model: JUSP-OP05A-1-E), personal computer (can be con-
Interface
nected with SigmaWin+)
RS422A 1:N
Commu- Communica- N = Up to 15 stations possible at RS422A
nications tions
Communi- (CN3)
Axis
cations
Address Set by parameter
Function
Setting
USB Interface Personal computer (can be connected with SigmaWin+)
Commu- Communica-
nications tions Complies with standard USB1.1. (12 Mbps)
(CN7) Standard
Panel display (seven-segment), CHARGE, POWER, L1, L2, and CN indica-
LED Display
tors, one 7-segment LED
Rotary Switch
MECHATROLINK-III Position: 16 positions × 2 (Refer to 4.1.1)
(S1, S2)
Communications Setting Switches
DIP Switch (S3) Number of pins: Four pins (Refer to 4.1.1)
Number of points: 2
Output voltage: ± 10VDC (linearity effective range ± 8 V)
Resolution: 16 bits
Analog Monitor (CN5)
Accuracy: ± 20 mV (Typ)
Max. output current: ± 10 mA
Settling time (± 1%): 1.2 ms (Typ)
Included
Dynamic Brake (DB)*2
An external dynamic brake unit is required.*3
Included
Regenerative Processing
An external regenerative resistor unit is required.*4
Dynamic brake stop, deceleration to a stop, or free run to a stop at P-OT or
Overtravel Prevention (OT)
N-OT
1-8
(cont’d)
Overcurrent, overvoltage, insufficient voltage, overload, regeneration error,
Protective Function
and so on.
Utility Function Gain adjustment, alarm history, JOG operation, origin search, and so on.
Input /HWBB1, /HWBB2: Baseblock signal for power module
Output EDM1: Monitoring status of internal safety circuit (fixed output)
Safety Function
Standards*5
(Application EN 954 Category 3, IEC 61508 SIL2
pending)
Optional Module Fully-closed module, safety module
∗1. Speed regulation by load regulation is defined as follows:
Speed regulation =
No-load motor speed - Total load motor speed
× 100% Rotation
Rated motor speed
∗2. Set Pn001 to n. 2 if you do not use the dynamic brake.
∗3. Refer to 3.9 Selecting and Connecting a Dynamic Brake Unit for details on dynamic brake units.
∗4. Refer to 3.8 Selecting and Connecting a Regenerative Resistor Unit for details on regenerative resistor unit.
∗5. Implement risk assessment and confirm that the safety requirements of the machine have been met.
1.4.3 MECHATROLINK-III Function Specifications

The following table shows the specifications of MECHATROLINK-III.
Function Specifications
Communication Pro-
MECHATROLINK-III
tocol
03H to EFH (Max. number of stations: 62)
Station Address
Use the rotary switches S1 and S2 to set the station address.
MECHATROLINK-III
Baud Rate 100 Mbps
Communication
125 μs, 250 μs, 500 μs, 750 μs, and 1.0 ms to 4.0 ms (incre-
Transmission Cycle
ments of 0.5 ms)
Number of Transmis- 16, 32, or 48 bytes per station
sion Bytes Use the DIP switch S3 to select the number of words.
Outline
Position, speed, or torque control with MECHATROLINK-
Control Method
III communication
MECHATROLINK commands (sequence, motion, data set-
Reference Method Reference Input
ting/reference, monitoring, or adjustment)
Profile
MECHATROLINK-III standard servo profile 1
MECHATROLINK-II-compatible profile
1-9
1 Outline
1.5.1 Three-phase 200 V
1.5 SERVOPACK and Converter Internal Block Diagrams

Regenerative
Fan Fan Fan 3 Fan
M-III
resistor unit (for 55-kW
1 2 models only) 4
B1 B2 + - Dynamic
Fan 1 Fan 2 brake
unit
P24 V P24 V P24 V P24 V DV
SPD 24 V 24 V CN115
DU DW
Servomotor
L1 P U
P
Main circuit L2 㧗㧗 V
CHARGE CHARGE
power supply 㧙㧙
M
L3 W
N N
- 1 Temperature
Temperature
sensor sensor
- 2 Voltage Current
Voltage sensor sensor
Voltage MC sensor Voltage sensor
sensor drive gate drive
Gate drive
ENC
L1C Varistor
Control power supply
CN901 P24 V
CN103 24 V
Converter I/O
L2C +24 V 㧗15 V
24C CN103 㧗 Control 㧙
power CN2
SERVOPACK 㧙 supply
+24 V control power supply +5 V
24C CN104 0V
+24 V6
CN104
CN901
+15 V
㧗 Control CN5
power +24 V2
㧙 ASIC Analog
supply (PWM control, etc.) voltage
+5 V Analog monitor output
converter
Panel display
CN1
MECHATROLINK
communications
Feedback option
Encoder pulse output

Safety option
CPU
(M-III)
(Position and speed

calculation, etc.)
I/O I/O signals
CN3 CN7 CN8
CN6A CN6B CN21 CN22 CN31 Digital PC Safety function

operator signals
1-10
1.5 SERVOPACK and Converter Internal Block Diagrams

Regenerative
M-III
Fan Fan Fan 3 Fan
resistor unit (for 55-kW
2 models
1 only) 4
B1 B2 + - Dynamic
Fan brake
unit
P24 V P24 V P24 V P24 V DV
SPD 24 V CN115
DU DW
Servomotor
L1 P U
P 㧗
Main circuit L2 㧙 V
CHARGE CHARGE
power supply 㧗
M
L3 㧙 W
N N
- 1 Temperature
Temperature
sensor sensor
- 2 Voltage Current
Voltage sensor sensor
Voltage sensor Voltage sensor
MC drive
sensor gate drive
Gate drive
ENC
+24 V
CN901 P24 V 24 V
(The 24-VDC power
supply is not included.) 0V
+24 V
CN103
Converter I/O
Control ±15 V
24C CN103
power CN2
SERVOPACK supply
+24 V control power supply +5 V
24C CN104 0V
+24 V×6
CN104
+15 V CN901
Control
power +24 V×2 CN5
supply
+5 V ASIC Analog
(PWM control, etc.) voltage Analog monitor output
converter
Panel display
CN1
MECHATROLINK
communications
Feedback option
Encoder pulse output

Safety option
CPU
(M-III)
(Position and speed

calculation, etc.)
I/O I/O signals
CN3 CN7 CN8
CN6A CN6B CN21 CN22 CN31 Digital PC Safety function

operator signals
Outline
1
1-11
1 Outline
1.6 Examples of Servo System Configurations

A system configuration for a three-phase main circuit power supply voltage of 400 VAC is shown in the fol-
lowing figure.
M-III Power supply Connection cable

for digital operator
Digital
operator
Three-phase, 400 VAC
RST
Molded-case Personal
circuit breaker Connection cable computer
(MCCB) for personal computer
Protects the power supply Converter SERVOPACK
line by shutting the
circuit OFF when
overcurrent is
detected.
Connect to the
Noise filter MECHATROLINK-III
Used to eliminate
external noise from
the power line. Host controller
I/O signal cable
Magnetic
contactor
Turns the servo
ON and OFF. When not using the
Install a surge
absorber. safety function, use
100/200 VAC the SERVOPACK
with the safety function
jumper connector
inserted.
DC power When using the safety

supply function, insert a
(24 V)*1 connection cable
specifically for the
Brake power safety function.
Battery case
supply*2 (when an absolute
Used for a *3
servomotor encoder is used.) Safety function
with a 90 V brake. devices
DB24
Magnetic DU DV DW
DBON
contactor *3 Thermostat cable
Turns the brake power
supply ON and OFF. Encoder cable
Install a surge absorber.
Dynamic
brake unit*5
Regenerative resistor*4
Molded-case circuit breaker Motor main circuit cable

(MCCB)
Protects the motor fan by shutting
the circuit OFF when overcurrent
is detected.
Motor fan cable
SGMVV Servomotor
∗1. Use a 24-VDC power supply with double insulation or reinforced insulation. (The power supply is not included)
∗2. The DC power supply for the 24-VDC brake is not included.
• For 200-V input voltage: LPSE-2H01-E
• For 100-V input voltage: LPDE-1H01-E
Use one of the following power supplies for 90-VDC brake. For details, contact your Yaskawa representative or the
sales department. For details, refer to Large-Capacity Σ-V series Catalog (Manual no.: KAEP S800000 86).
∗3. For details on grounding, refer to 3.10 Noise Control and Measures for Harmonic Suppression.
∗4. Before connecting an external regenerative resistor unit, refer to 3.8 Selecting and Connecting a Regenerative Resis-
tor Unit.
∗5. For details on the dynamic brake unit, refer to 3.9 Selecting and Connecting a Dynamic Brake Unit.
1-12
1.7 SERVOPACK Model Designation
1.7 SERVOPACK Model Designation

This section shows SERVOPACK model designation.
1st + 2nd + 4th 5th + 6th 7th 8th + 9th + 11th + 12th 13th Rotation
3rd digits digit digits digit 10th digits digits digit
SGDV – 750 J 01 A 000 00 0

Series 7th digit: Design
SGDV Σ-V Series Revision Order
1st + 2nd + 3rd digits: Current 4th digit: Main Circuit

Power Supply
Max. Allowable Voltage
Voltage Code Motor Capacity 13th digit: Parameter Specification
(kW) Code Voltage Code Specification
121 22 DC power
input from 0 Standard
200 V 161 30 H separate
200-VAC
201 37 converter
750 30 DC power
input from 11th + 12th digits: Software
400 V 101 37 J separate Specification
131 55 400-VAC
converter Code Specification
00 Standard
5th + 6th digits: Interface Specifications

Code Interface
Analog voltage and pulse train reference,
01 rotational servomotor
11 MECHATROLINK-II communications ref-
erence, rotational servomotor
MECHATROLINK-III communications
Outline
21 reference, rotational servomotor (under
development)
E1 Command option for rotational servomotor
8th + 9th + 10th digits: Hardware Specifications

1
Code Specifications
000 Base-mounted (standard)
001 Duct-ventilated
002 Varnished
003 Duct-ventilated and Varnished
Note: When digits 8 to 13 are all zeros (0) in the model designation, the zeros are not shown.
1-13
1 Outline
1.8 Converter Model Designation

This section shows converter model designation.
1st + 2nd + 4th + 5th + 7th 8th + 9th + 10th + 11th +

3rd digits 6th digits digit 12th + 13th digits
SGDV – COA 3ZD A 000000

Series 7th digit: Design
SGDV Σ-V Series Revision Order
1st + 2nd + 3rd digits: Product 4th + 5th + 6th digits: Power Supply Capacity
group and Voltage Specifications
Code Specifications Power Supply
Code Voltage
Capacity
Resistive regenerative
COA 2BA 22 kW
converter
200 V
3GA 37 kW
3ZD 30 kW
400 V
5ED 55 kW
8th + 9th + 10th + 11th + 12th +13th digits:

Hardware Specifications
Code Specifications
000000 Base-mounted (standard)
001000 Dust-ventilated
002000 Varnished
003000 Dust-ventilated and Varnished
Note: When digits 8 to 13 are all zeros (0) in the model designation, the zeros are not shown.
1-14
1.9 Combinations of Servomotors, SERVOPACKs, and Converters
1.9 Combinations of Servomotors, SERVOPACKs, and

Converters
The following table lists the combinations of servomotors, SERVOPACKs, and converters.
Servomotor SERVOPACK Converter

Main Circuit Power
Supply Voltage Model: SGDV-
Motor speed Model: SGMVV- Capacity Model: SGDV-
COA
2BA B 22 kW 121H 2BAA
1500 min-1 3ZA B 30 kW 161H
3GAA
Three-phase 3GA B 37 kW 201H
200 VAC 2BA D 22 kW 121H 2BAA
800 min-1 3ZA D 30 kW 161H
3GAA
3GA D 37 kW 201H
2BD B 22 kW
750J 3ZDA
3ZD B 30 kW
1500 min-1 3GD B 37 kW 101J
4ED B 45 kW 5EDA
Three-phase 131J
5ED B 55 kW
400 VAC
2BD D 22 kW
750J 3ZDA
3ZD D 30 kW
800 min-1
3GD D 37 kW 101J
5EDA
4ED D 45 kW 131J
Outline
1
1-15
1 Outline
1.10 Inspection and Maintenance

This section describes the inspection and maintenance of SERVOPACKs and converters.
(1) SERVOPACK or Converter Inspection

For inspection and maintenance of a SERVOPACK or converter, follow the inspection procedures in the fol-
lowing table at least once every year. Other routine inspections are not required.
Item Frequency Procedure Comments

Check for dust, dirt, and oil
Exterior Clean with compressed air.
on the surfaces.
At least once a year Check for loose terminal
Loose Screws block and connector Tighten any loose screws.
screws.
(2) Parts Replacement Schedule for a SERVOPACK or Converter

The following electric or electronic parts are subject to mechanical wear or deterioration over time. To avoid
failure, replace these parts at the frequency indicated.
Refer to the standard replacement period in the following table and contact your Yaskawa representative.
After an examination of the part in question, we will determine whether the parts should be replaced or not.
The parameters of any SERVOPACKs overhauled by Yaskawa are reset to the factory
settings before shipping. Be sure to confirm that the parameters are properly set before
starting operation.
Standard Replacement
Part Operating Conditions
Period
Cooling Fan 4 to 5 years
Smoothing Capacitor 7 to 8 years • Surrounding Air Temperature: Annual average of
Other Aluminum Electrolytic 30°C
5 years
Capacitor • Load Factor: 80% max.
Relays – • Operation Rate: 20 hours/day max.
Fuses 10 years
1-16
2
Panel Display and Operation of
Digital Operator
2.1 Panel Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.1 Status Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Panel Display and Operation of Digital Operator

2.1.2 Alarm and Warning Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.3 Hard Wire Base Block Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.4 Overtravel Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2 Operation of Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2.3 Utility Functions (Fn ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.4 Parameters (Pn ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.4.1 Parameter Classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.4.2 Notation for Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.4.3 Setting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2.5 Monitor Displays (Un ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
2-1
2 Panel Display and Operation of Digital Operator
2.1.1 Status Display
2.1 Panel Display

The servo drive status can be checked on the panel display of the SERVOPACK.
Also, if an alarm or warning occurs, its alarm or warning number is displayed.
2.1.1 Status Display

The display shows the following status.
Display Meaning
Rotation Detection (/TGON)

Lights if motor speed exceeds the value set in Pn502. (Factory setting: 20 min-1)
Baseblock
Lights for baseblock (Servomotor power OFF).
Reference Input
Lights when a reference is being input.
Control Power Supply ON

Lights when the control power is being supplied.
2.1.2 Alarm and Warning Display

If an alarm or warning occurs, the display will change in the following order.
Example: Alarm A.E60

Status Unlit Unlit Unlit Unlit Unlit MECHA
Display
2.1.3 Hard Wire Base Block Display

If a hard wire base block (HWBB) occurs, the display will change in the following order.
Status Unlit Unlit Unlit Unlit MECHA
Display
2.1.4 Overtravel Display

If overtravelling occurs, the display will change in the following order.
1 Overtravel at forward rotation (P-OT) 3 Overtravel at forward/reverse rotation MECHA

Current Current
status status
2 Overtravel at reverse rotation (N-OT)

Current
status
2-2
2.2 Operation of Digital Operator
2.2 Operation of Digital Operator

Operation examples of utility functions (Fn ), parameters (Pn ) and monitor displays (Un )
when using a digital operator are described in this chapter.
Operations can be also performed with SigmaWin+.
For more information on the usage of the digital operator, refer to Σ-V Series USER’S MANUAL Operation of
Digital Operator (No.: SIEP S800000 55).

2
2-3
2.3 Utility Functions (Fn )

The utility functions are related to the setup and adjustment of the SERVOPACK.
The digital operator shows numbers beginning with Fn.

The following table outlines the procedures necessary for an origin search (Fn003).
Step Display after Operation Keys Operation
B B −FUNCTION− Press the Key to view the main menu for the util-
F n0 0 2 :JOG ity function.
1 F n0 0 3 :Z−Search
F n0 0 4 :Program JOG Use the or Key to move through the list and
F n0 0 5 :Prm Init select Fn003.
B B −Z−Search−
2
U n 0 00= 0 0 0 0 00 Press the Key. The display changes to the Fn003
U n 0 02= 0 0 0 0 00
U n 0 03= 0 0 0 0 0000774
execution display.
U n 0 0D= 0 0 0 0 0000000
Press the Key.

R UN −Z−Search−
U n000= 0 0 0 000 The status display changes from "BB" to "RUN", and
3 U n002= 0 0 0 000 the servomotor power turns ON.
U n003= 0 0 0 00000774 Note: If the servomotor is already at the zero position,
U n00D= 0 0 0 00000000
"-Complete-" is displayed.
Pressing the Key will rotate the servomotor in the
forward direction. Pressing the Key will rotate the
servomotor in the reverse direction. The rotation direc-
tion of the servomotor changes according to the setting
of Pn000.0 as shown in the following table.
R UN −Complete− Parameter key key
U n000= 0 0 0000
4 U n002= 0 0 0000 n. 0 CCW CW
U n003= 0 0 000000000 Pn000
U n00D= 0 0 000001D58 n. 1 CW CCW
Note: Direction when viewed from the load of the ser-
vomotor.
Press the or Key until the servomotor stops.
If the origin search completed normally, "-Complete-"
is displayed on the right top on the screen.
When the origin search is completed, press the
U n 0 00= 0 0 0 0 00 Key.
5 U n 0 02= 0 0 0 0 00 The status display changes from "RUN" to "BB", and
U n 0 03= 0 0 0 0 0000000 the servomotor turns OFF. The display "-Complete-"
U n 0 0D= 0 0 0 0 0001D58
changes to "-Z-Search-."
B B −FUNCTION−
F n0 0 2 :JOG Press the Key.
6 F n0 0 3 :Z−Search The display returns to the main menu of the utility
F n0 0 4 :Program JOG function.
F n0 0 5 :Prm Init
7 To enable the change in the setting, turn the power to the SERVOPACK and converter OFF and ON again.
2-4
2.4 Parameters (Pn )

This section describes the classifications, methods of notation, and settings for parameters given in this man-
ual.
2.4.1 Parameter Classification

Two types of parameters are used in Σ-V large-capacity SERVOPACKs. One type of parameters is required
for setting up the basic conditions for operation and the other type is required for tuning parameters that are
required to adjust servomotor characteristics.
Classification Meaning Display Method Setting Method

Parameters required for Always displayed (Factory Set each parameter individu-
Setup Parameters
setup. setting: Pn00B.0 = 0) ally.
Parameters for tuning con-
There is no need to set each
Tuning Parameters trol gain and other parame- Set Pn00B.0 to 1.
parameter individually.
ters.
There are two types of notation used for parameters, one for parameter that requires a value setting (parameter
for numeric settings) and one for parameter that requires the selection of a function (parameter for selecting
functions).
The notation and settings for both types of parameters are described next.

2.4.2 Notation for Parameters
(1) Parameters for Numeric Settings
The control methods for which the parameters applies.

Speed : Speed control Position : Position control Torque : Torque control
Emergency Stop Torque Speed Position Torque
Pn406 Setting Range Setting Unit Factory Setting When Enabled Classification
0 to 800 1% 800 After change Setup
Parameter
number Indicates the Indicates the Indicates when a
change to the Indicates the
minimum setting unit parameter setting parameter
Indicates the setting for the parameter. before shipment. parameter will be
effective. classification.
range for the parameter.
2

(2) Parameters for Selecting Functions
[Factory setting] absolute encoder.
incremental encoder.
Parameter The notation “n.” indicates a parameter This section explains the
number for selecting functions. Each corresponds to selections for the function.
the setting value of that digit. The notation
shown here means that the third digit is 1. Rotation
2-5
2.4.3 Setting Parameters
• Notation Example
MECHA
Digital Operator Display (Display Example for Pn002)
Digit Notation Setting Notation
㨚㧜㧜㧜㧜 Notation Meaning Notation Meaning
1st digit Pn002.0 1st digit of parameter Pn002. or n.x 1st digit of parameter Pn002 is x.
2nd digit Pn002.1 2nd digit of parameter Pn002. or n.x 2nd digit of parameter Pn002 is x.
3rd digit Pn002.2
3rd digit of parameter Pn002. or n.x 3rd digit of parameter Pn002 is x.
4th digit Pn002.3 4th digit of parameter Pn002. or n.x 4th digit of parameter Pn002 is x.
2.4.3 Setting Parameters

(1) How to Make Numeric Settings Using Parameters
The following example shows how to change the setting of parameter Pn304 (JOG speed) to 1000 min-1.
㧮㧮‫ޓޓޓޓޓޓ‬㧙㧼㧾㧹㧛㧹㧻㧺㧙
㨁㨚㧜㧜㧜㧩‫ޓ‬㧜㧜㧜㧜㧜
1 Press the Key to select the main menu of parame-
㨁㨚㧜㧜㧞㧩‫ޓ‬㧜㧜㧜㧜㧜
㨁㨚㧜㧜㧤㧩‫ޓ‬㧜㧜㧜㧜㧜
ters and monitor displays.
㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜
2 㨁㨚㧜㧜㧞㧩‫ޓ‬㧜㧜㧜㧜㧜 Press the or Key to move the cursor to "Un."
㧼㨚㧜㧜㧜㧩㨚㧜㧜㧜㧜
3 㨁㨚㧜㧜㧞㧩‫ޓ‬㧜㧜㧜㧜㧜 Press the or Key to change "Un" to "Pn."
4 Press the Key to move the cursor to the column on
㨁㨚㧜㧜㧤㧩‫ޓ‬㧜㧜㧜㧜㧜㨜㨡㨘㨟㨑
the right of "Pn."
㧮㧮‫ޓޓޓޓޓޓ‬㧙㧼㧾㧹㧛㧹㧻㧺㧙 Press the arrow keys to display "Pn304".

㧼㨚㧟㧜㧠㧩㧜㧜㧡㧜㧜 To move the cursor to different columns: ,
5 㨁㨚㧜㧜㧞㧩‫ޓ‬㧜㧜㧜㧜㧜
Key
㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜 To change the settings: , Key
㧼㨚㧟㧜㧠㧩㧜㧜㧡㧜㧜
6 Press the Key to move the cursor to the one’s
place of Pn304.
㧼㨚㧟㧜㧠㧩㧜㧜㧡㧜㧜
7 Press the Key twice to move the cursor to the hun-
dred’s place of Pn304.
㧼㨚㧟㧜㧠㧩㧜㧝㧜㧜㧜
8 Press the Key five times to change the setting to
"1000."
2-6
(cont’d)
㧼㨚㧟㧜㧠㧩㧜㧝㧜㧜㧜
9 㨁㨚㧜㧜㧞㧩‫ޓ‬㧜㧜㧜㧜㧜 Press the Key to write the settings.
(2) How to Select Functions Using Parameters

The following example shows how to set the function section for insufficient voltage of the application func-
tion select switch 8 (Pn008) to 1 "detects warning and limits torque by host controller."

1 Press the Key to select the main menu of param-
eters and monitor displays.
2 Press the or Key to move the cursor to
"Un."

3 㨁㨚㧜㧜㧞㧩‫ޓ‬㧜㧜㧜㧜㧜 Press the or Key to change "Un" to "Pn."
4 Press the Key three times to move the cursor to
the column on the right of "Pn."
㧼㨚㧜㧜㧤㧩㨚㧠㧜㧜㧜
5 㨁㨚㧜㧜㧞㧩‫ޓ‬㧜㧜㧜㧜㧜 Press the Key to display "Pn008."
6 㨁㨚㧜㧜㧞㧩‫ޓ‬㧜㧜㧜㧜㧜 Press the Key to move the cursor to "Pn008.0." 2
7 Press the Key once to move the cursor to
"Pn008.1."
㧚
㧼㨚㧜㧜㧤㧩㨚㧠㧜㧝㧜
8 Press the Key to change the setting of "Pn008.1"
to "1."
㧼㨚㧜㧜㧤㧩㨚㧚
㧠㧜㧝㧜
9 㨁㨚㧜㧜㧞㧩‫ޓ‬㧜㧜㧜㧜㧜 Press the Key to write the settings.
2-7
2.5 Monitor Displays (Un )

The monitor displays can be used for monitoring the reference values, I/O signal status, and SERVOPACK
internal status.
For details, refer to 7.2 Viewing Monitor Displays.
The digital operator shows numbers beginning with Un.
The following four settings are the factory settings.
㨁㨚㧜㧜㧜㧩‫ޓ‬㧜㧜㧜㧜㧜 Shows the setting of Un000 (motor rotating speed) as 0 min-1.
㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜 MECHA
2-8
3
Wiring and Connection
3.1 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.1.1 Main Circuit Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.1.2 Main Circuit Wire . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.1.3 Typical Main Circuit Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
3.1.4 General Precautions for Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18
3.1.5 Discharging Time of the Main Circuit’s Capacitor . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
3.2 Connecting the Converter to the SERVOPACK . . . . . . . . . . . . . . . . . . . 3-21
3.2.1 Connecting the Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
3.2.2 Interconnecting Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
3.3 I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.3.1 I/O Signal (CN1) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.3.2 Safety Function Signal (CN8) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . 3-24

3.3.3 Example of I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25
3.4 I/O Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26
3.4.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26
3.4.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27
3.5 Examples of Connection to Host Controller . . . . . . . . . . . . . . . . . . . . . . 3-29
3.5.1 Sequence Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-29
3.5.2 Sequence Output Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-31
3.6 Wiring MECHATROLINK-III Communications . . . . . . . . . . . . . . . . . . . . 3-33
3
3.7 Encoder Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34
3.7.1 Encoder Signal (CN2) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34
3.7.2 Encoder Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34
3.8 Selecting and Connecting a Regenerative Resistor Unit . . . . . . . . . . . . 3-36
3.8.1 Selecting a Regenerative Resistor Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36
3.8.2 Connecting a Regenerative Resistor Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-37
3.8.3 Setting Regenerative Resistor Capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38
3.8.4 Installation Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-39
3.9 Selecting and Connecting a Dynamic Brake Unit . . . . . . . . . . . . . . . . . . 3-40
3.9.1 Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-40
3.9.2 Selecting the Cable for the Dynamic Brake Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-40
3.9.3 Setting the Dynamic Brake Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-41
3.9.4 Setting the Dynamic Brake Answer Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-42
3.9.5 Installation Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-43
3.9.6 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-43
3-1
3 Wiring and Connection
3.10 Noise Control and Measures for Harmonic Suppression . . . . . . . . . . 3-46

3.10.1 Wiring for Noise Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-46
3.10.2 Precautions on Connecting Noise Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-48
3.10.3 Connecting a Reactor for Harmonic Suppression . . . . . . . . . . . . . . . . . . . . . . . . . . 3-50
3-2

The names and specifications of the main circuit terminals are given below.
Also this section describes the general precautions for wiring and precautions under special environments.
3.1.1 Main Circuit Terminals

The names and specifications of the main circuit terminals are given below.
SERVOPACK
M-III
CN115
CN103, CN104
P, N
DU, DV, DW U, V, W
Terminals Name Specifications

Main circuit DC voltage input termi-
P, N Connect these terminals to the P and N terminals on the converter.
nals
U, V, W Servomotor terminals Connect these terminals to the Servomotor terminals.

CN103, CN103 is the 24 VDC (±15%) input. CN104 takes the same input,
Control power input connectors
CN104 but it is normally not necessary to connect it.
DU, DV,
Dynamic brake unit terminals Connect these terminals to the dynamic brake unit.
DW
Connect this connector to the DBON and DB24 terminals on the
CN115 Dynamic brake unit connector
dynamic brake unit.
+, - NC Do not connect these terminals.
Connect this terminal to the power supply ground terminal and the
Ground terminal 3
Servomotor ground terminal, and then ground it.
3-3
3.1.1 Main Circuit Terminals
Converter
Converter Converter
SGDV-COA2BAA SGDV-COA3GAA
SGDV-COA3ZDA SGDV-COA5EDA
CN101 CN101
CN103, CN103,
CN104 CN104
1, ‫ޓ‬2
P, N P, N
1, ‫ޓ‬2
B1, B2
L1, L2, L3 B1, B2
L1, L2, L3
Terminals Name Specifications

SGDV-COA AA: Three-phase, 200 to 230 VAC, +10% to -
15%, 50/60 Hz
L1, L2, L3 Main circuit power input terminals
SGDV-COA DA: Three-phase, 380 to 480 VAC, +10% to -
15%, 50/60 Hz
SGDV-COA AA: Single-phase, 200 to 230 VAC, +10% to -
15%, 50/60 Hz
SGDV-COA DA: 24 VDC, ±15%
Mating connector model: 231-202/026-000 (Manufactured by
CN101 Control power input connector Wago Company of Japan, Ltd)
Pin 2: 24 V
Pin 1: 0 V
Main circuit DC voltage output ter- Connect these terminals to the P and N terminals on the SERVO-
P, N
minals PACK.
Connect this terminal to the power supply ground terminal and
Ground terminal
then ground it.
Regenerative resistor connection
B1, B2 Connect these terminals to the regenerative resistor unit.
terminals
1, 2 DC reactor connection terminals Remove the short bar before you connect a DC reactor.
CN103 and CN104 output 24 VDC to the SERVOPACK.
CN103, For a 400-V system, the 24-VDC (±15%) input is output unaltered
Control power output connectors
CN104 from CN103. CN104 provides the same output, but it is normally
not necessary to connect it.
3-4
3.1.2 Main Circuit Wire

This section describes the main circuit wires for SERVOPACKs and converters.
• The specified wire sizes are for use when the three lead cables are bundled and when
the rated electric current is applied with a surrounding air temperature of 40°C.
• Use a wire with a minimum withstand voltage of 600 V for the main circuit.
• If cables are bundled in PVC or metal ducts, take into account the reduction of the
allowable current.
• Use a heat-resistant wire under high surrounding air or panel temperatures, where
polyvinyl chloride insulated wires will rapidly deteriorate.
(1) Wire Types

Use the following type of wire for main circuit.
Cable Type Allowable Conductor Temperature

Symbol Name (°C)
IV 600 V polyvinyl chloride insulated wire 60
HIV 600 V grade heat-resistant polyvinyl chloride insulated wire 75
The following table shows the wire sizes and allowable currents for three wires.
Use wires with specifications equal to or less than those shown in the table.
Nominal Cross Configuration Conductive Allowable Current at Surrounding Air

Section Diameter AWG Size (Number of Wires/ Resistance (Ω/ Temperature (A)
(mm2) mm) km) 30°C 40°C 50°C
0.5 (20) 19/0.18 39.5 6.6 5.6 4.5
0.75 (19) 30/0.18 26 8.8 7 5.5
0.9 (18) 37/0.18 24.4 9 7.7 6
1.25 (16) 50/0.18 15.6 12 11 8.5
2 (14) 7/0.6 9.53 23 20 16

3.5 (12) 7/0.8 5.41 33 29 24
5.5 (10) 7/1.0 3.47 43 38 31
8 (8) 7/1.2 2.41 55 49 40
14 (6) 7/1.6 1.35 79 70 57
22 (4) 7/2.0 0.85 91 81 66
38 (1) 7/2.6 0.49 124 110 93
60 (2/0) 19/2.0 0.30 170 150 127
100 (4/0) 19/2.6 0.18 240 212 179 3
Note: These are reference values for 600-V-grade, heat-resistant, PVC-insulated wire.
3-5
(2) Wire Sizes

The following table shows the symbols for the power input terminals, screw sizes for terminals, tightening
torque, wire sizes, and crimp terminals used for the SERVOPACKs and converters.
For Three-phase, 200V

Crimp Terminal
Combination of SERVO- Tightening HIV Wire Size in Model
Terminal Screw Size
Torque
PACK and Converter*1 Symbols for Terminals
(N m) mm2 (AWG) (Made by J.S.T.
Mfg Co., Ltd.)*2
Bus bar attached
P, N M8 15.0 –
to the converter
SERVO- U, V, W M8 3.0 60 (2/0) R60-8
PACK
DU, DV, DW M6 3.0 5.5 (10) R5.5-6
M8 9.0 to 1.0 60 (2/0) R60-8
SGDV-121H Bus bar attached
P, N M8 3.0 –
to the converter
SGDV-
COA2BAA L1, L2, L3 M8 3.0 38 (1) R38-8
1, 2 M8 3.0 38 (1) R38-8
Converter
CN101 –
– 1.25 (16) –
(L1C, L2C) (Connector)
B1, B2 M8 3.0 8 (8) R8-8
M8 9.0 to 11.0 38 (1) R38-8
Bus bar attached
P, N M8 15.0 –
to the converter
SERVO- U, V, W M8 3.0 100 (4/0) CB100-S8
PACK
DU, DV, DW M6 3.0 5.5 (10) R5.5-6
M8 9.0 to 11.0 100 (4/0) 100-8
SGDV-161H
Bus bar attached
P, N M10 12 to 20 –
SGDV- to the converter
COA3GAA L1, L2, L3 M10 12 to 20 60 (2/0) R60-10
1, 2 M10 12 to 20 60 (2/0) R60-10
Converter
CN101 –
– 1.25 (16) –
B1, B2 M10 12 to 20 14 (6) R14-10
M8 9.0 to 11.0 60 (2/0) R60-8
Bus bar attached
P, N M10 12 to 20 –
to the converter
SERVO- U, V, W M10 30.0 100 (4/0) R100-10
PACK
DU, DV, DW M6 3.0 5.5 (10) R5.5-6
M8 9.0 to 11.0 100 (4/0) 100-8
P, N M10 12 to 20 –
to the converter
SGDV-
COA3GAA L1, L2, L3 M10 12 to 20 100 (4/0) R100-10
1, 2 M10 12 to 20 100 (4/0) R100-10
Converter
CN101 –
– 1.25 (16) –
B1, B2 M10 12 to 20 14 (6) R14-10
M8 9.0 to 11.0 100 (4/0) 100-8
∗1. Use SERVOPACKs and converters in the specified combinations.

∗2. Use the crimp terminals that are recommended by Yaskawa or an equivalent.
3-6

Crimp Terminal
Combination of SERVO- Tightening HIV Wire Size Model
Terminal Screw Size
Torque
PACK and Converter*1 Symbols for Terminals
(N m) in mm2 (AWG) (Made by J.S.T.
Mfg Co., Ltd.)*2
Bus bar attached
P, N M8 15.0 –
to the converter
SERVO- U, V, W M8 3.0 22 (4) R22-8
PACK
DU, DV, DW M6 3.0 3.5 (12) 3.5-6
M8 9.0 to 11.0 22 (4) R22-8
SGDV-750J Bus bar attached
P, N M8 3.0 –
to the converter
SGDV-
COA3ZDA L1, L2, L3 M8 3.0 22 (4) R22-8
1, 2 M8 3.0 22 (4) R22-8
Converter
CN101 –
– 1.25 (16) –
(24 V, 0 V) (Connector)
B1, B2 M8 3.0 8 (8) R8-8
M8 9.0 to 11.0 22 (4) R22-8
Bus bar attached
P, N M8 15.0 –
to the converter
SERVO- U, V, W M8 3.0 38 (1) R38-8
PACK
DU, DV, DW M6 3.0 3.5 (12) 3.5-6
M8 9.0 to 11.0 38 (1) R38-8
P, N M10 12 to 20 –
to the converter
SGDV-
COA5EDA L1, L2, L3 M10 12 to 20 38 (1) R38-10
1, 2 M10 12 to 20 38 (1) R38-10
Converter
CN101 –
– 1.25 (16) –

B1, B2 M10 12 to 20 8 (8) R8-10
M8 9.0 to 11.0 38 (1) R38-8
Bus bar attached
P, N M10 12 to 20 –
to the converter
SERVO- U, V, W M10 30.0 60 (2/0) R60-10
PACK
DU, DV, DW M6 3.0 3.5 (12) 3.5-6
M8 9.0 to 11.0 60 (2/0) R60-8 3
P, CN M10 12 to 20 –
to the converter
SGDV-
COA5EDA L1, L2, L3 M10 12 to 20 60 (2/0) R60-10
1, 2 M10 12 to 20 60 (2/0) R60-10
Converter
CN101 –
– 1.25 (16) –
B1, B2 M10 12 to 20 14 (6) R14-10
M8 9.0 to 11.0 60 (2/0) R60-8

∗2. Use the crimp terminals that are recommended by Yaskawa or an equivalent.
3-7
Tools for Crimp Terminals

Tools (by J.S.T. Mfg Co., Ltd.)
Model
Body Head Dies
3.5-6
YHT-2210 – –
R5.5-6
R8-8 YHT-8S – –
R8-10 YPT-150-1 – TD-221, TD-211
R14-10 TD-222, TD-211
R22-8 TD-223, TD-212
R38-8 Body only: YPT-150-1 TD-224, TD-212
R38-10
R60-8 or
TD-225, TD-213
R60-10
Body: YF-1; Head: YET-150-1
100-8
R100-10 TD-228, TD-214
CB100-S8
3-8
(3) Wire Size (UL Standard)

To comply with the UL standard, use the recommended wires.
The following table shows the wire sizes (AWG) at a rating of 75 °C.
Combination of SERVOPACK and Tightening

Screw Size for
Terminal Symbols Torque Wire Size AWG
Converter* Terminals
(N m)
Bus bar attached
P, N M8 15.0
to the converter
U, V, W M8 3.0 1/0
SERVOPACK
DU, DV, DW M6 3.0 10
M8 9.0 to 11.0 1/0
P, N M8 3.0
to the converter
SGDV-
COA2BAA L1, L2, L3 M8 3.0 1/0
1, 2 M8 3.0 1/0
Converter
CN101 –
– 14
B1, B2 M8 3.0 6
M8 9.0 to 11.0 1/0
Bus bar attached
P, N M8 15.0
to the converter
U, V, W M8 3.0 3/0
SERVOPACK
DU, DV, DW M6 3.0 10
M8 9.0 to 11.0 3/0
P, N M10 12 to 20
to the converter
SGDV-

COA3GAA L1, L2, L3 M10 12 to 20 3/0
1, 2 M10 12 to 20 3/0
Converter
CN101 –
– 14
B1, B2 M10 12 to 20 4
M8 9.0 to 11.0 3/0
Bus bar attached
P, N M10 12 to 20
to the converter
U, V, W M10 30.0 250 3
SERVOPACK
DU, DV, DW M6 3.0 10
M8 9.0 to 11.0 250
P, N M10 12 to 20
to the converter
SGDV-
COA3GAA L1, L2, L3 M10 12 to 20 4/0
1, 2 M10 12 to 20 4/0
Converter
CN101 –
– 14
B1, B2 M10 12 to 20 4
M8 9.0 to 11.0 4/0
∗ Use SERVOPACKs and converters in the specified combinations.
3-9
Combination of SERVOPACK and Tightening

Screw Size for
Terminal Symbols Torque Wire Size AWG
Converter* Terminals
(N m)
Bus bar attached
P, N M8 15.0
to the converter
U, V, W M8 3.0 3
SERVOPACK
DU, DV, DW M6 3.0 10
M8 9.0 to 11.0 3
P, N M8 3.0
to the converter
SGDV-
COA3ZDA L1, L2, L3 M8 3.0 3
1, 2 M8 3.0 3
Converter
CN101 –
– 14
B1, B2 M8 3.0 8
M8 9.0 to 11.0 3
Bus bar attached
P, N M8 15.0
to the converter
U, V, W M8 3.0 1
SERVOPACK
DU, DV, DW M6 3.0 10
M8 9.0 to 11.0 1
P, N M10 12 to 20
to the converter
SGDV-
COA5EDA L1, L2, L3 M10 12 to 20 2
1, 2 M10 12 to 20 2
Converter
CN101 –
– 14
B1, B2 M10 12 to 20 8
M8 9.0 to 11.0 2
Bus bar attached
P, N M10 12 to 20
to the converter
U, V, W M10 30.0 2/0
SERVOPACK
DU, DV, DW M6 3.0 10
M8 9.0 to 11.0 2/0
P, N M10 12 to 20
to the converter
SGDV-
COA5EDA L1, L2, L3 M10 12 to 20 2/0
1, 2 M10 12 to 20 2/0
Converter
CN101 –
– 14
B1, B2 M10 12 to 20 4
M8 9.0 to 11.0 2/0
∗ Use SERVOPACKs and converters in the specified combinations.
3-10
Crimp Terminal, Sleeve, Terminal Kit

• For Three-phase, 200V
Crimp Terminal
Combination of Sleeve Model
Terminal Model (Made by
SERVOPACK and (Made by Tokyo Terminal Kit Model*3
Symbols J.S.T. Mfg Co.,
Converter Dip Co., Ltd.)*2
Ltd.)*1
U, V, W R60-8 TP-060 (black)
SERVOPACK DU, DV, DW R5.5-6 TP-006 (black) JZSP-CVT9-121H-E
SGDV-121H R60-8 –
L1, L2, L3 R60-8 TP-060 (black)
SGDV-
COA2BAA 1, 2 R60-8 TP-060 (white)
Converter JZSP-CVT9-2BA-E
B1, B2 R14-8 TP-022 (white)
R60-8 –
U, V, W CB80-S8 TP-100 (black)
SGDV-161H 80-8 –
L1, L2, L3 80-10 TP-100 (black)
SGDV-
COA3GAA 1, 2 80-10 TP-100 (white)
Converter JZSP-CVT9-3GA1-E
B1, B2 R22-10 TP-038 (white)
80-8 –
U, V, W CB150-S10 TP-150 (black)
SGDV-201H 150-8 –
L1, L2, L3 R100-10 TP-125 (black)
SGDV-
COA3GAA 1, 2 R100-10 TP-125 (white)
Converter JZSP-CVT9-3GA2-E
B1, B2 R22-10 TP-038 (white)

100-8 –

∗2. Use sleeves for the crimped section of the terminals.
∗3. A terminal kit includes the crimp terminals and sleeves required for one SERVOPACK or converter.
3-11
• For Three-phase, 400V

Crimp Terminal
Sleeve Model
Combination of SERVO- Terminal Sym- Model (Made by
(Made by Tokyo Terminal Kit Model*3
PACK and Converter bols J.S.T. Mfg Co.,
Dip Co., Ltd.)*2
Ltd.)*1
U, V, W R38-8 TP-038 (black)
SERVOPACK DU, DV, DW R5.5-6 TP-006 (black) JZSP-CVT9-750J-E
SGDV-750J R38-8 –
L1, L2, L3 R38-8 TP-038 (black)
SGDV-
COA3ZDA 1, 2 R38-8 TP-038 (white)
Converter JZSP-CVT9-3ZD-E
B1, B2 R8-8 TP-014 (white)
R38-8 –
U, V, W R60-8 TP-060 (black)
SGDV-101J R60-8 –
L1, L2, L3 R38-10 TP-038 (black)
SGDV-
COA5EDA 1, 2 R38-10 TP-038 (white)
Converter JZSP-CVT9-5ED1-E
B1, B2 R8-10 TP-014 (white)
R38-8 –
U, V, W 70-10 TP-080 (black)
SGDV-131J 70-8 –
L1, L2, L3 70-10 TP-080 (black)
SGDV-
COA5EDA 1, 2 70-10 TP-080 (white)
Converter JZSP-CVT9-5ED2-E
B1, B2 R22-10 TP-038 (white)
70-8 –

∗2. Use sleeves for the crimped section of the terminals.
∗3. A terminal kit includes the crimp terminals and sleeves required for one SERVOPACK or converter.
3-12
Tools for Crimp Terminals

Tools by J.S.T. Mfg Co., Ltd.
Model
Body Head Dies
R5.5-6 YHT-2210 – –
YHT-8S – –
R8-8
YPT-150-1 – TD-221, TD-211
R14-8 TD-222, TD-211
R22-10 TD-223, TD-212
R38-8
TD-224, TD-212
R38-10
R60-8 TD-225, TD-213
Body only: YPT-150-1
70-8
TD-226, TD-213
70-10 or
80-8
80-10 Body: YF-1; Head: YET-150-1 TD-227, TD-214
CB80-S8
100-8
TD-228, TD-214
R100-10
150-8
TD-229, TD-215
CB150-S10
3-13
3.1.3 Typical Main Circuit Wiring Examples

Note the following points when designing the power ON sequence.
• Design the power ON sequence so that main power is turned OFF when a servo alarm signal (ALM) is output.
• The ALM signal is output for a maximum of five seconds when the control power is turned ON. Take this into consid-
eration when designing the power ON sequence. Design the sequence so the ALM signal is activated and the alarm
detection relay (1Ry) is turned OFF to stop the main circuit’s power supply to the SERVOPACK and converter.
Control power supply 5.0 s max.
ALM signal
• Select the power supply specifications for the parts in accordance with the input power supply.
• When turning ON the control power supply and the main circuit power supply, turn
them ON at the same time or turn the main circuit power supply after the control
power supply. When turning OFF the power supplies, first turn the power for the main
circuit OFF and then turn OFF the control power supply.
The typical main circuit wiring examples are shown below.
WARNING
• Do not touch the power supply terminals after turning OFF the power. High voltage may still remain in the
SERVOPACK and the converter, resulting in electric shock. When the voltage is discharged, the charge
indicator will turn OFF. Make sure the charge indicator is OFF before starting wiring or inspections.
3-14
(1) Single-axis Application

Three-phase 200 V
2QF
U
Three-phase, V
200 VAC
W
R S T
Converter SERVOPACK Dynamic

1QF brake unit
DU C B A
B1 DV
Fan
DW
3SA Regenerative
resistor unit CN115 DB24
DBON
B2
1FLT Thermostat
P P
1 a
N N U
2KM
L1 V M
L2 W b
1b
L3
CN103 CN103
CN101
1KM CN2 ENC
L1C
L2C
CN901 CN901
1Ry
+24 V
CN1 1Ry
Servo power Servo power 31 ALM+
supply ON supply OFF 1KM 1
2 0V
32 ALM- 1D
1KM 1SA
2KM
1KM 1Ry
2SA
a b

1QF: Molded-case circuit breaker 1PL: Indicator lamp
2QF: Molded-case circuit breaker 1SA: Surge absorber
1FIL: Noise filter 2SA: Surge absorber
1KM: Magnetic contactor (for control power supply) 3SA: Surge absorber
2KM: Magnetic contactor (for main power supply) 1D: Flywheel diode
1Ry: Relay
3-15
Three-phase 400 V
2QF
U
Three-phase, V
400 VAC
W
R S T
Converter SERVOPACK Dynamic
1QF brake unit
DU C B A
B1 DV
Fan
DW
3SA Regenerative
resistor unit CN115 DB24
DBON
B2
1FLT Thermostat
P P
1
N N U a
2KM
L1 V M
L2 W b
1b
L3
CN103 CN103
CN101
DC power + 1KM CN2 ENC
24 V
100/200 VAC supply
(24 V) - 0V
CN901 CN901
1Ry
+24 V
CN1 1Ry
Servo power Servo power 31 ALM+
supply ON supply OFF 1KM 1
2 0V
32 ALM- 1D
1KM 1SA
2KM
1KM 1Ry
2SA
a b
1QF: Molded-case circuit breaker 1PL: Indicator lamp

2QF: Molded-case circuit breaker 1SA: Surge absorber
1FIL: Noise filter 2SA: Surge absorber
1KM: Magnetic contactor (for control power supply) 3SA: Surge absorber
2KM: Magnetic contactor (for main power supply) 1D: Flywheel diode
1Ry: Relay
3-16
(2) Multi-axis Application

Connect the alarm output (ALM) terminals for three SERVOPACKs in series to enable alarm detection relay
1RY to operate. When the alarm occurs, the ALM output signal transistor is turned OFF.
The following diagram shows a wiring example for three-phase, 400-VAC SERVOPACK with converter.
Three-phase,
400 VAC
R S T
1QF
3SA Relay
terminal 2QF U
V
1FLT W
2KM
C B A
Converter SERVOPACK
Fan
Relay Thermostat
terminal 1
L1 P P U a
L2 N N V M
L3 W
1KM 1b
DC power +
100/200 VAC CN103
supply (24 V) - CN103
+24 V
CN1 1Ry
CN901 31 ALM+
Relay CN901
terminal CN101
24 V 32 ALM- 1D
0V
Relay
terminal 3QF U
V
W
C B A
(For servo alarm Converter SERVOPACK
Fan
display) Relay Thermostat
1Ry 1PL terminal 1
L1 P P U
Servo power Servo power L2 M
supply ON supply OFF 1KM N N V
L3 W
1b

1KM 1SA CN103 CN103
2KM
1KM 1Ry
CN1
CN901 31 ALM+
Relay
2SA CN901
a b terminal CN101
24 V 32 ALM-
0V
4QF U
V
W
C B A
Converter SERVOPACK
Fan
Thermostat 3
1
L1 P P U
L2 N N V M
L3 W b
1b
2KM: Magnetic contactor
CN103 CN103
1QF: Molded-case circuit breaker (for main power supply)
CN1
2QF: Molded-case circuit breaker 1Ry: Relay CN901 31 ALM+
3QF: Molded-case circuit breaker 1PL: Indicator lamp CN901
CN101
4QF: Molded-case circuit breaker 1SA: Surge absorber 24 V 32 ALM- 0V
1FIL: Noise filter 2SA: Surge absorber 0V

1KM: Magnetic contactor 3SA: Surge absorber
(for control power supply) 1D: Flywheel diode
Precautions
Multiple SERVOPACKs and converters can share a single molded-case circuit breaker (1QF) or noise filter.
Always select a molded-case circuit breaker or noise filter that has enough capacity for the total power supply
capacity (load conditions) of the SERVOPACKs and converters.
3-17
3.1.4 General Precautions for Wiring
3.1.4 General Precautions for Wiring

• Use a molded-case circuit breaker (1QF) or fuse to protect the main circuit.
The SERVOPACKs and converters connect directly to a commercial power supply;
They are not isolated through a transformer or other device.
Always use a molded-case circuit breaker (1QF) or fuse to protect the servo system
from accidents involving different power system voltages or other accidents.
• Install a ground fault detector.
The SERVOPACKs and converters do not have a built-in protective circuit for ground-
ing.
To configure a safer system, install a ground fault detector against overloads and
short-circuiting, or install a ground fault detector combined with a molded-case circuit
breaker.
• Do not turn the power ON and OFF more than necessary.
• Do not use a SERVOPACK or converter for applications that require the power to
turn ON and OFF frequently. Such applications will cause elements in the SERVO-
PACK or converter to deteriorate.
• As a guideline, at least one hour should be allowed between the power being
turned ON and OFF once actual operation has been started.
To ensure safe, stable application of the servo system, observe the following precautions when wiring.
• Use the specified connection cables. Use the connection cables specified in the Large-Capacity Σ-V Series
Product Catalog (No.: KAEP S800000 86). Design and arrange the system so that each cable will be as
short as possible.
• Use shielded twisted-pair cables or screened unshielded twisted-pair cables for I/O signal cables and
encoder cables.
• Use the busbars that are included with the converter and connect the P and N terminals on the SERVOPACK
and converter securely.
• The maximum cable length is 3 m for I/O signal cables, 50 m for connection cables for servomotor main cir-
cuit or encoder cables, and 10 m for control power supply cables to 400-V converters (+24 V, 0 V).
• Observe the following precautions when wiring the ground.
• Use a cable as thick as possible (at least 2.0 mm2).
• Grounding to a resistance of 100 Ω or less for 200-V SERVOPACKs, 10 Ω or less for 400-V SERVO-
PACKs or converters is recommended.
• Be sure to ground at only one point.
• Ground the servomotor directly if the servomotor is insulated from the machine.
• The signal cable conductors are as thin as 0.2 mm2 or 0.3 mm2. Do not impose excessive bending force or
tension.
3-18
(1) Power Supply Capacities and Power Losses

The following table shows the power supply capacities and power losses of the SERVOPACKs and convert-
ers.
The values in the following table are for one combination of a SERVOPACK and converter. If there is more
than one combination of a SERVOPACK and converter, find the total for the combinations that are used.
Combination of
SERVOPACK and
Maximum Main Control
Main Converter Power Supply Regenerative Total
Applicable Output Circuit Circuit
Circuit Capacity per Resistor Power
Servomotor SERVO- Current Power Power
Power Converter Combination Power Loss Loss
Capacity PACK [Arms] Loss Loss
Supply [kVA] [W] [W]
[kW] [W] [W]
Model: Model:
SGDV- SGDV-COA
22 121H 2BAA 38 116 1200 (480)*1 120 1320
Three-
phase 30 161H 3GAA 52 160 1540 (960)*2 120 1660
200 V
37 201H 3GAA 64 200 1540 (960)*3 120 1660
30 750J 3ZDA 52 76 1020 (720)*4 96 1116
Three-
phase 37 101J 5EDA 64 98 1240 (960)*5 96 1336
400 V
55 131J 5EDA 95 130 1590 (1440)*6 96 1686
∗1. This is the value for the JUSP-RA08-E regenerative resistor unit.
(2) How to Select Molded-case Circuit Breaker and Fuse Capacities

The following table shows the current capacities and inrush current of the SERVOPACKs and converters.
Use these values as a basis for selecting the molded-case circuit breaker and fuse. If there is more than one
combination of a SERVOPACK and converter, find the total for the combinations that are used.

Combination of
Maximum SERVOPACK and Current Capacity Inrush Current Rated voltage
Power
Main Applicable Converter
Supply
Circuit Servomo-
SERVOPACK Converter Capacity per
Power tor Capac- Main Control Main Control Circuit
Combination Fuse
Supply ity Model: Circuit Circuit Circuit Circuit Breaker
[kVA] [V]
[kW] Model: SGDV- SGDV- [Arms] [Arms] [A0-p] [A0-p] [V]
COA
22 121H 2BAA 38 127 1.2*1 163 16
Three-
phase 30 161H 3GAA 52 174 1.2*1 163 16 250 240
200 V 3
37 201H 3GAA 64 214 1.2*1 163 16
30 750J 3ZDA 52 87 4*2 170 –
Three-
phase 37 101J 5EDA 64 107 4*2 170 – 600 480
400 V
55 131J 5EDA 95 159 4*2 170 –
∗1. Input voltage of 200 VAC

∗2. Input voltage of 24 VDC
Note 1. The rated input current of the SERVOPACK is the nominal value at the rated load.
Select the appropriate capacity in accordance with the specified derating.
Cutoff characteristics (25°C): 300% five seconds min.
2. To comply with the low voltage directive, connect a fuse to the input side. Select the fuse or molded-case circuit
breaker for the input side from among models that are compliant with UL standards.
The table above also provides the nominal values of current capacity and inrush current. Select a fuse and a
molded-case circuit breaker which meet the cutoff characteristics shown below.
• Main circuit, control circuit: No breaking at three-times the current values of the table for 5 s.
• Inrush current: No breaking at the same current values of the table for 20 ms.
3-19
3.1.5 Discharging Time of the Main Circuit’s Capacitor
3.1.5 Discharging Time of the Main Circuit’s Capacitor

The following table shows the discharging time of the main circuit’s capacitor.
Combinations
Discharging Time
Input Voltage SERVOPACK Model: Converter Model: [min.]
SGDV- SGDV-COA
121H 2BAA 20
Three-phase
161H 3GAA 25
200 VAC
201H 3GAA 30
750J 3ZDA 5
Three-phase
101J 5EDA 10
400 VAC
131J 5EDA 10
3-20
3.2 Connecting the Converter to the SERVOPACK
3.2 Connecting the Converter to the SERVOPACK

3.2.1 Connecting the Connectors
Connect CN901 and CN103 on the SERVOPACK and converter as shown in the following figure.
Converter SERVOPACK
M-III
CN103: Control power supply input connector
24-VDC control power supply cable
I/O signal connection cable
CN901: I/O signal connector between the SERVOPACK and converter
Cable Name Cable Model Cable Length Description

This cable connects the CN901 connectors on
IO signal connection cable JZSP-CVI02-A4-E 0.4 m
the SERVOPACK and converter.
24-VDC control power This cable connects the CN103(CN104) con-
JZSP-CVG00-A4-E 0.4 m
supply cable nectors on the SERVOPACK and converter.
3.2.2 Interconnecting Terminals

Use the busbars that are provided with the converter to connect the P and N terminals between the SERVO-
PACK and the converter.
The busbars are different for different converter models.
(1) SGDV-COA2BAA, -COA3ZDA Converters

Attach the busbars as shown in the following figure.
Note: The shapes of the ends of the busbars are different for the SERVOPACK and converter connections and for the P ter-
minal and N terminal connections.
3-21
3.2.2 Interconnecting Terminals
M-III
Converter’s P terminal SERVOPACK’s P terminal
Converter’s N terminal SERVOPACK’s N terminal
(2) SGDV-COA3GAA, -COA5EDA Converters

The busbars can be connected in any direction.
M-III
3-22
3.3 I/O Signal Connections

This section describes the names and functions of I/O signals (CN1). Also connection examples by control
method are shown.
The number of pins on the CN1 connector is different on a large-capacity Σ-V SERVO-
PACK (50 pins) and a standard Σ-V SERVOPACK (26 pins). If you are using both types
of SERVOPACK, use the correct connector model numbers when ordering and the cor-
rect signal assignments.
3.3.1 I/O Signal (CN1) Names and Functions

The following table shows the names and functions of I/O signals (CN1).
(1) Input Signals
Refer-
Signal Pin No. Name Function ence
Section
P-OT Forward run
(/SI2) 42 prohibited, With overtravel prevention: Stops servomotor when movable
4.3.1
N-OT 43 Reverse run part travels beyond the allowable range of motion.
(/SI3) prohibited
/DEC Homing deceleration
41 Connects the deceleration limit switch for homing. −
(/SI1) switch signal
/EXT 1
(/SI4)
44 External latch signal 1
/EXT 2 Connects the external signals that latch the current feedback
45 External latch signal 2 −
(/SI5) pulse counter.
46 External latch signal 3
/EXT 3
(/SI6)
General-purpose input Used for general-purpose input.
/SI0 40 −
signal Monitored in the I/O monitor field of MECHATROLINK.

Control power supply input for sequence signals.
+24VIN 47 Allowable voltage fluctuation range: 11 to 25 V 3.5.1
for sequence signal
Note: The 24 VDC power supply is not included.
Connecting pin for the absolute encoder backup battery.
BAT (+) 21 Battery (+) input signal 3.7.2
Do not connect when the encoder cable with the battery case
BAT (-) 22 Battery (−) input signal 4.7.1
is used.
Forward external
torque limit
/P-CL
Can be Reverse external The allocation of an input signal to a pin can be changed in
/N-CL −
allocated torque limit accordance with the function required.
/DBANS
Dynamic brake answer
3
signal
Note 1. The allocation of the input signals (/SI0 to /SI6) can be changed. For details, refer to 3.4.1 Input Signal Alloca-
tions.
2. If the Forward run prohibited/ Reverse run prohibited function is used, the SERVOPACK or converter is stopped
by software controls, not by electrical or mechanical means. If the application does not satisfy the safety require-
ments, add an external circuit for safety reasons as required.
(2) Output Signals
Refer-
Section
ALM+ 31 Servo alarm output
Turns OFF when an error is detected. −
ALM- 32 signal
3-23
3.3.2 Safety Function Signal (CN8) Names and Functions
(cont’d)
Refer-
Section
/BK+ Controls the brake. The brake is released when the signal
25
(/SO1+) turns ON.
Brake interlock signal 4.3.2
/BK- Allocation can be changed to general-purpose output signals
26 (/SO1+, /SO1-).
(/SO1-)
/SO2+ 27
/SO2- 28 General-purpose Used for general-purpose output.
−
/SO3+ 29 output signal Note: Set the parameter to allocate a function.
/SO3- 30
Positioning comple-
/COIN tion
/V-CMP Speed coincidence
/TGON detection
/S-RDY Can be Rotation detection The allocation of an output signal to a pin can be changed in
Servo ready −
/CLT allocated accordance with the function required.
/VLT Torque limit
/WARN Speed limit detection
/NEAR Warning
Near
PAO 33
Phase-A signal
/PAO 34 Encoder output pulse signals for two-phase pulse train with
PBO 35 90° phase differential 4.4.4
Phase-B signal
/PBO 36 4.7.5
PCO 19
Phase-C signal Origin pulse output signal
/PCO 20
Connects to the 0 V pin on the control circuit of the host con-
SG 1 Signal ground −
troller.
Connected to frame ground if the shielded wire of the I/O sig-
FG Shell Frame ground −
nal cable is connected to the connector shell.
2 to 18
23
– 24 – Do not use these pins. −
37 to 39
48 to 50
Note: The allocation of the output signals (/SO1 to /SO3) can be changed. For details, refer to 3.4.2 Output Signal Alloca-
tions.
3.3.2 Safety Function Signal (CN8) Names and Functions

The following table shows the terminal layout of safety function signals (CN8).
Signal Name Pin No. Function

/HWBB1+ 4
Hard wire baseblock input 1
/HWBB1- 3 For hard wire baseblock input.
Baseblock (motor current off) when
/HWBB2+ 6 OFF.
Hard wire baseblock input 2
/HWBB2- 5
EDM1+ 8 ON when the /HWBB1 and the
Monitored circuit status output 1 /HWBB2 signals are input and the
EDM1- 7 SERVOPACK enters a baseblock state.
– 1* –
– 2* –
∗ Do not use pins 1 and 2 because they are connected to the internal circuits.
3-24
3.3.3 Example of I/O Signal Connections

The following diagram shows a typical connection example.
Photocoupler output
Max. operating voltage: 30 VDC MECHA
Max. output current: 50 mA DC
SERVOPACK
CN1
Control power for
sequence signals +24VIN 3.3 kΩ 31 ALM+
∗3. +24 V 47 Servo alarm output
/DEC 32 ALM- (OFF for an alarm)
Homing deceleration switch 41
(Decelerated when ON) 25 SO1+ / BK+
Brake
Forward run prohibited P-OT 42 26 SO1- / BK- (Brake released when open)
(Prohibited when OFF) 27 /SO2+
Reverse run prohibited N-OT 43 28 /SO2-

(Prohibited when OFF) 29 /SO3+
External latch signal 1 /EXT1 44 30 /SO3-

(Latched when ON) 33 PAO ∗5
Encoder output
/EXT2 45 34 /PAO pulse phase A
External latch signal 2
(Latched when ON) Applicable line receiver:
35 PBO ∗5
Encoder output SN75ALS175 or MC3486
External latch signal 3 /EXT3 46 36 /PBO manufactured by Texas
pulse phase B
(Latched when ON) Instruments or the equivalent
19 PCO ∗5
General-purpose /SI0 40 Encoder output
∗ BAT+ 20 /PCO pulse phase C
Backup battery 2. 21
(2.8 to 4.5 V) 1 SG
BAT- 22
∗1.
Switch CN8
/HWBB1+ 4
24 V
Fuse
/HWBB1- 3
8 EDM1+
Safety function device*4 /HWBB2+ 6
7
EDM1-
/HWBB2- 5
0V
SERVOPACK

Connector
shell
FG Connect shield to
connector shell.
∗1. represents twisted-pair wires.

∗2. Connect when using an absolute encoder. When the encoder cable with the battery case is connected, do not connect
a backup battery.
∗3. The 24-VDC power supply is not included. Use a 24-VDC power supply with double insulation or reinforced insula-
tion.
∗4. When using the safety function, a safety function device must be connected and the wiring that is necessary to acti- 3
vate the safety function must be done to turn ON the servomotor power. When not using the safety function, use the
SERVOPACK with the Plug (provided as an accessory) inserted into the CN8.
∗5. Always use line receivers to receive the output signals.
Note: The functions allocated to the input signals /DEC, P-OT, N-OT, /EXT1, /EXT2, and /EXT3 and the output signals
/SO1, /SO2, and /SO3 can be changed by using the parameters. Refer to 3.4.1 Input Signal Allocations and 3.4.2
Output Signal Allocations.
The number of pins on the CN1 connector is different on a large-capacity Σ-V SERVO-
PACK (50 pins) and a standard Σ-V SERVOPACK (26 pins). If you are using both types
of SERVOPACK, use the correct connector model numbers when ordering and the cor-
rect signal assignments.
3-25
3.4.1 Input Signal Allocations
3.4 I/O Signal Allocations

This section describes the I/O signal allocations.
3.4.1 Input Signal Allocations
• Inverting the polarity of the forward run prohibited and reverse run prohibited signals
from the factory setting will prevent the overtravel function from working in case of sig-
nal line disconnections or other failures.
If this setting is absolutely necessary, check the operation and confirm that there are
no safety problems.
• When two or more signals are allocated to the same input circuit, input signal level is
valid for all allocated signals, resulting in an unexpected machine operation.
Input signals are allocated as shown in the following table.
Refer to the Interpreting the Input Signal Allocation Tables and change the allocations accordingly.
<Interpreting the Input Signal Allocation Tables>
The parameter set values to be used are shown.

Signals are allocated to CN1 pins according to the
selected set values.
Level at which input signal Values in cells in bold lines are the factory settings.
allocations are valid.
Connection Not
Required
CN1 Pin Numbers (SERVOPACK
Input Signal Names Validity Input judges the connec-
and Parameters Level Signal tion)
Always Always
40 41 42 43 44 45 46
ON OFF
Forward Run Prohibited H P-OT 0 1 2 3 4 5 6
7 8
Pn50A.3 L /P-OT 9 A B C D E F
If always ON (7) or always OFF (8) is set, signals

will be processed in the SERVOPACK, which will
eliminate the need for wiring changes.
Connection Not
Required
Always Always
40 41 42 43 44 45 46
ON OFF
Forward Run Prohibited H P-OT 0 1 2 3 4 5 6
7 8
Pn50A.3 L /P-OT 9 A B C D E F
Reverse Run Prohibit- H N-OT 0 1 2 3 4 5 6
ed 7 8
Pn50B.0 L /N-OT 0 A B C D E F
3-26
3.4 I/O Signal Allocations
(cont’d)
Connection Not
Required
Always Always
40 41 42 43 44 45 46
ON OFF
Forward External L /P-CL 0 1 2 3 4 5 6
Torque Limit 7 8
Pn50B.2 H P-CL 9 A B C D E F
Reserve External L /N-CL 0 1 2 3 4 5 6
Torque Limit 7 8
Pn50B.3 H N-CL 9 A B C D E F
Homing Deceleration L /DEC 0 1 2 3 4 5 6
LS 7 8
Pn511.0 H DEC 9 A B C D E F
External Latch Signal 1 L EXT1 * * * * 4 5 6

7 8
Pn511.1 H /EXT1 * * * * D E F
7 8
Pn511.2 H /EXT2 * * * * D E F
7 8
Pn511.3 H /EXT3 * * * * D E F
L /DBANS 0 1 2 3 4 5 6
DB Answer
7 8
Pn515.2
H DBANS 9 A B C D E F
∗ These pins cannot be used.

Note: The factory settings of the parameters in a large-capacity Σ-V SERVOPACK are not all the same as those for a stan-
dard Σ-V SERVOPACK. Make sure that you consider any differences in the factory settings if you copy the param-
eters from a standard Σ-V SERVOPACK to a large-capacity Σ-V SERVOPACK.

3.4.2 Output Signal Allocations
• The signals not detected are considered as "Invalid." For example, Positioning Com-
pletion (/COIN) signal in speed control is "Invalid."
• Inverting the polarity of the brake signal (/BK), i.e. positive logic, will prevent the hold-
ing brake from working in case of its signal line disconnection.
If this setting is absolutely necessary, check the operation and confirm that there are
no safety problems.
• When two or more signals are allocated to the same output circuit, a signal is output 3
with OR logic circuit.
Output signals are allocated as shown in the following table.
Refer to the Interpreting the Output Signal Allocation Tables and change the allocations accordingly.
<Interpreting the Output Signal Allocation Tables>
3-27
3.4.2 Output Signal Allocations
The parameter set values to be used are shown.

MECHA Signals are allocated to CN1 pins according to the
selected set values.
Values in cells in bold lines are the factory settings.
Output Signal Names CN1 Pin Numbers Invalid

Output Signal
and Parameters 25 (26) 27 (28) 29 (30) 㧔not use㧕
Brake /BK 1 2 3 0
Pn50F.2
Output Signal Names CN1 Pin Numbers Invalid

Output Signal
and Parameters 25/ (26) 27/ (28) 29/ (30) (not use)
Positioning Completion
/COIN 1 2 3 0
Pn50E.0
Speed Coincidence
Detection /V-CMP 1 2 3 0
Pn50E.1
Rotation Detection
/TGON 1 2 3 0
Pn50E.2
Servo Ready
/S-RDY 1 2 3 0
Pn50E.3
Torque Limit Detection
/CLT 1 2 3 0
Pn50F.0
Speed Limit Detection
/VLT 1 2 3 0
Pn50F.1
Brake
/BK 1 2 3 0
Pn50F.2
Warning
/WARN 1 2 3 0
Pn50F.3
Near
/NEAR 1 2 3 0
Pn510.0
Pn512.0=1 Polarity inversion of CN1-25(26) 0
Pn512.1=1 Polarity inversion of CN1-27(28) (Not invert at
Pn512.2=1 Polarity inversion of CN1-29(30) factory setting)
3-28
3.5 Examples of Connection to Host Controller

This section shows examples of SERVOPACK I/O signal connection to the host controller.
3.5.1 Sequence Input Circuit

(1) Photocoupler Input Circuit
CN1 connector terminals 40 to 47 are explained below.
The sequence input circuit interface is connected through a relay or open-collector transistor circuit. When
connecting through a relay, use a low-current relay. If a low-current relay is not used, a faulty contact may
result.
Relay Circuit Example Open-collector Circuit Example
SERVOPACK SERVOPACK
24 VDC +24 VIN 3.3 kΩ 24 VDC +24 VIN 3.3 kΩ

/DEC, etc. /DEC, etc.
Note: The 24 VDC external power supply capacity must be 50 mA minimum.
The SERVOPACK’s input circuit uses bidirectional photocoupler. Select either the sink circuit or the source
circuit according to the specifications required for each machine.
Note: • The connection example in 3.3.3 shows sink circuits.

• The ON/OFF polarity differs between when a sink circuit is connected and when a source circuit is connected.
Sink Circuit Source Circuit
24 V 24 V
− SERVOPACK input

+ + − SERVOPACK input
3
Input Signal Polarities Input Signal Polarities
Voltage Voltage
Signal Level Contact Signal Level Contact
Level Level
Low (L) High (H)
ON 0V Close ON 24 V Close
level level
High (H) Low (L)
OFF 24 V Open OFF 0V Open
level level
3-29
3.5.1 Sequence Input Circuit
(2) Safety Input Circuit

As for wiring input signals for safety function, input signals make common 0 V. It is necessary to make an
input signal redundant.
Input Signal Connection Example
SERVOPACK
CN8
24-V power supply
Switch
/HWBB1+ 4 3.3 kΩ
Fuse /HWBB1- 3
3.3 kΩ
/HWBB2+ 6 3.3 kΩ
3.3 kΩ
/HWBB2- 5
3-30
3.5.2 Sequence Output Circuit

Three types of SERVOPACK output circuit are available.
Incorrect wiring or incorrect voltage application to the output circuit may cause short-cir-
cuit.
If a short-circuit occurs as a result of any of these causes, the holding brake will not
work. This could damage the machine or cause an accident resulting in death or injury.
(1) Photocoupler Output Circuit

Photocoupler output circuits are used for servo alarm (ALM), servo ready (/S-RDY), and other sequence out-
put signal circuits. Connect a photocoupler output circuit through a relay or line receiver circuit.
Relay Circuit Example Line Receiver Circuit Example

SERVOPACK 5 to 24 VDC
SERVOPACK 5 to 12 VDC
Relay
0V
Note: The maximum allowable voltage and the allowable range of current capacity for photocoupler output circuits are as
follows.
• Voltage: 30 VDC
• Current: 5 to 50 mA DC
(2) Line Driver Output Circuit
CN1 connector terminals, 33-34 (phase-A signal), 35-36 (phase-B signal), and 19-20 (phase-C signal) are
explained below.

These terminals output the following signals via the line-driver output circuits.
• Output signals for which encoder serial data is converted as two phases pulses (PAO, /PAO, PBO, /PBO)
• Origin pulse signals (PCO, /PCO)
Connect the line-driver output circuit through a line receiver circuit at the host controller.
Line Receiver Circuit Example

SERVOPACK Host Controller
Applicable line receiver: 3
SN75ALS175 or the
equivalent
220 to
470 Ω
3-31
3.5.2 Sequence Output Circuit
(3) Safety Output Circuit

The external device monitor (EDM1) for safety output signals is explained below.
A configuration example for the EDM1 output signal is shown in the following diagram.
SERVOPACK Host controller
CN8 24 V Power Supply

8 EDM1+
7 EDM1-
0V
Specifications
Output
Type Signal Name Pin No. Meaning
Status
Both the /HWBB1 and /HWBB2 signals are working nor-
ON
CN8-8 mally.
Output EDM1
CN8-7 The /HWBB1 signal, the /HWBB2 signal, or both are not
OFF
working normally.
Electrical characteristics of EDM1 signal are as follows.
Items Characteristic Remarks

Maximum Allowable Voltage 30 VDC −
Maximum Current 50 mADC −
Maximum Voltage Drop at ON 1.0 V Voltage between EDM1+ to EDM1- at current is 50 mA.
Time from the change in /HWBB1 or /HWBB2 until the
Maximum Delay Time 20 ms
change in EDM1.
3-32
3.6 Wiring MECHATROLINK-III Communications
3.6 Wiring MECHATROLINK-III Communications

The following diagram shows an example of connections between a host controller and a SERVOPACK.
Connect the MECHATROLINK-III communications cables to the CN6A and CN6B on the SERVOPACK as
shown below.
MP2300 SVC-01
M-III
YASKAWA RDY RUN RUN ERR
ALM ERR LK1 LK2
TX BAT
STOP
SUP M/S
INT OFF ON
CNFG
Option
Option
MON
TEST ‫ޓ‬ SW1
OFF‫ޓ‬ON
M-I/II
BATTERY
CPU‫ޓ‬
I/O
L1
DC24V
or
DC 0V
L2 Ln
Note: The length of the cable between stations (L1, L2 ... Ln) must be 75 m maximum.

For removing the MECHATROLINK-III communications cable connectors from the SERVOPACK, refer to the following
procedure.
Slide the lock injector of the connector to the SERVOPACK side to unlock and remove the MECHATROLINK-III com-
munications cable connectors.

1. Slide the lock injector to
the SERVOPACK side.
SERVOPACK

Lock injector 2. Remove the connector while the lock
injector is slid to the SERVOPACK
side.
M-III
Note: The MECHATROLINK-III communications cable connector may be damaged if it is removed without being
unlocking.
3-33
3.7.1 Encoder Signal (CN2) Names and Functions
3.7 Encoder Connection

This section describes the encoder signal (CN2) names, functions, and connection examples.
3.7.1 Encoder Signal (CN2) Names and Functions

The following table shows the names and functions of encoder signals (CN2).
Signal Name Pin No. Function

PG 5 V 1 Encoder power supply +5 V
PG 0 V 2 Encoder power supply 0 V
BAT (+)* 3 Battery (+)
BAT (-)* 4 Battery (-)
PS 5 Serial data (+)
/PS 6 Serial data (-)
Shield Shell –
∗ These do not need to be connected for an incremental encoder.
3.7.2 Encoder Connection Examples

The following diagrams show connection examples of the encoder, the SERVOPACK, and the host controller.
(1) Incremental Encoder

∗2
CN1
Phase A 33 PAO MEC
34 /PAO Phase A
HA
R
Incremental encoder
∗2 Phase B 35 PBO
∗1 CN2 36 /PBO R Phase B
PS 5 Phase C 19 PCO
/PS 6 20 /PCO R Phase C
Output line-driver SN75ALS174
ENC manufactured by Texas
Instruments or the equivalent
PG5V 1
PG0V 2
CN1
0V 1 SG 0V
FG Connector shell
Shielded wire Connector
shell
Applicable line receiver: SN75ALS175 or MC3486

manufactured by Texas
Instruments, or the equivalent
R (terminating resistance): 220 to 470 Ω
∗1. The pin arrangement for wiring connectors varies in accordance with the servomotor that is used.
∗2. : represents shielded twisted-pair wires.
3-34
3.7 Encoder Connection
(2) Absolute Encoder

CN1 ∗2 MECHA
Phase A 33 PAO
34 /PAO R Phase A
Absolute encoder Phase B 35 PBO
36 /PBO R Phase B
∗1 ∗2 Phase C 19 PCO
CN2
PS 5 20 /PCO R Phase C
/PS 6
Output line-driver SN75ALS174
ENC
Instruments or the equivalent
1 SG
0V
CN1
BAT(+) 3 21 BAT(+)
BAT(-) 4 22 BAT (-)
+
- Battery
∗3
PG5 V 1
PG0 V 2
Connector
FG shell
Connector
shell Applicable line receiver: SN75ALS175 or MC3486
Instruments, or the equivalent
R (terminating resistance): 220 to 470 Ω
∗1. The pin arrangement for wiring connectors varies in accordance with the servomotor that is used.
∗3. When using an absolute encoder, provide power by installing an encoder cable with a JUSP-BA01-E Battery Case or
install a battery on the host controller.
3-35
3.8.1 Selecting a Regenerative Resistor Unit
3.8 Selecting and Connecting a Regenerative Resistor Unit

The SERVOPACKs and converters do not contain a regenerative resistor. Select and connect a regenerative
resistor unit and set the regenerative resistor capacity in Pn600 as described in this section.
For detailed specifications of the regenerative resistor units, refer to Large-Capacity Σ-V Series Catalog (No.:
KAEP S800000 86).
WARNING
• Be sure to connect the regenerative resistor unit correctly. Do not short-circuit between B1 and B2.
Doing so may result in fire or damage to the regenerative resistor unit, SERVOPACK, or converter or other devices.
3.8.1 Selecting a Regenerative Resistor Unit

(1) Using a Regenerative Resistor Unit Specified by Yaskawa
The regenerative resistor units specified by Yaskawa are listed in the following table. You must acquire the
regenerative resistor units separately.
If you use a regenerative resistor unit specified by Yaskawa, use it only in one of the combinations that are
given in the following table.
SERVO-
Main Circuit Converter Model of Applicable Resis-
PACK
Power Supply Model Regenerative tance Specifications
Model
Voltage SGDV-COA Resistor Unit (Ω)
SGDV-
Four 0.6-Ω (600-W) resistors con-
121H 2BAA JUSP-RA08-E 2.4
nected in series
Three-phase Two sets of four 0.9-Ω (600-W)

161H JUSP-RA09-E 1.8 resistors connected in series are
200 V
3GAA connected in parallel.
Eight 0.2-Ω (600-W) resistors con-
201H JUSP-RA11-E 1.6
nected in series
Three sets of two 10-Ω (600-W)
750J 3ZDA JUSP-RA13-E 6.7 resistors connected in series are
connected in parallel.
Four sets of two 10-Ω (600-W)
Three-phase
101J JUSP-RA14-E 5 resistors connected in series are
400 V connected in parallel.
5EDA
Four sets of three 5-Ω (600-W)
131J JUSP-RA16-E 3.8 resistors connected in series are
connected in parallel.
(2) Using a Non-Specified Regenerative Resistor Unit

If you use non-specified regenerative resistor units, contact your Yaskawa representative or the sales depart-
ment for more details.
If you use a non-specified regenerative resistor unit, we recommend that you use a
regenerative resistor unit with a thermal switch for safety.
3-36
3.8.2 Connecting a Regenerative Resistor Unit

Connect the B1 terminals and connect the B2 terminals between the converter and regenerative resistor unit.
Connect them as shown in the following figures.
(1) Converter Model: SGDV-COA2BAA, -COA3ZDA
M-III Regenerative Resistor Unit

JUSP-RA-E
Converter SERVOPACK
B1 B2
B1 B2
(2) Converter Model: SGDV-COA3GAA, -COA5EDA
Regenerative Resistor Unit

M-III JUSP-RA-E
Converter SERVOPACK

B1B2
B1B2
3-37
3.8.3 Setting Regenerative Resistor Capacity
3.8.3 Setting Regenerative Resistor Capacity

(1) Using a Regenerative Resistor Unit Specified by Yaskawa
Using a Specified Combination
If you use a regenerative resistor unit specified by Yaskawa in one of the specified combinations, use the fac-
tory setting for Pn600.
Using a Non-Specified Combination

If you use a non-specified combination, refer to (2) Using a Non-Specified Regenerative Resistor Unit.
(2) Using a Non-Specified Regenerative Resistor Unit

If you use a non-specified regenerative resistor unit or if you use a regenerative resistor unit specified by
Yaskawa but do not use it in the specified combination, set the capacity of the resistor in Pn600 (Regenerative
Resistor Capacity).
WARNING
• If you set Pn600 to 0 when a non-specified regenerative resistor unit is connected or when a regenerative
resistor unit specified by Yaskawa is connected in a non-specified combination, regenerative overload
alarms (A.320) may not be detected. If the regenerative overload alarm (A.320) is not detected correctly,
the regenerative resistor may be damaged and an injury or fire may result. Always set Pn600 to a suitable
value.
Regenerative Resistor Capacity Speed 　 Position Torque

Classification
Pn600 Setting Range Unit Factory Setting When Enabled
0 to SERVOPACK
10 W 0 Immediately Setup
capacity
Be sure to set the regenerative resistor capacity (Pn600) to a value that is in accordance with the allowable
capacity of the actual regenerative resistor unit being used.
Note: If Pn600 is not set to the optimum value, alarm A.320 will occur.
The setting will vary with the cooling method of external regenerative resistor:
• For natural convection cooling: Set the value to a maximum 20% of the actually installed regenerative
resistor capacity (W).
• For forced convection cooling: Set the value to a maximum 50% of the actually installed regenerative
resistor capacity (W).
Example: Set 20 W (100 W × 20%) for the 100-W regenerative resistor unit with natural convection
cooling method:
Pn600 = 2 (unit: 10 W)
When the regenerative resistor unit for power are used at the rated load ratio, the resis-
tor temperature increases to between 200°C and 300°C. The resistors must be used at
or below the rated values. Check with the manufacturer for the resistor’s load character-
istics.
3-38
3.8.4 Installation Standards

Observe the following installation standards when you use a regenerative resistor unit specified by Yaskawa.
Provide at least 70 mm on each side of the unit and at least 200 mm at both the top and bottom of the unit to
enable fan and natural convection cooling.
Up
Mounting
direction
200 min.
200 min.
70 min. 70 min.
Units: mm
If you use a non-specified regenerative resistor unit, follow the specifications of the regenerative resistor unit
when you install it.
3-39
3.9.1 Selection
3.9 Selecting and Connecting a Dynamic Brake Unit

To use the dynamic brake (DB), externally connect a dynamic brake unit or dynamic brake resistor to the
SERVOPACK to process the dynamic braking energy.
Set Pn001 to n. 2 if you do not use the dynamic brake. In this case, it is not necessary to connect a
dynamic brake unit.
3.9.1 Selection
Use the following tables to select a dynamic brake unit or dynamic brake resistor.
(1) Using a Yaskawa Dynamic Brake Unit

Main Circuit SERVOPACK Resistance
Dynamic Brake Specifications Dynamic Brake Contactor and
Power Supply Model:
Unit Model Surge Absorption Unit
Voltage SGDV- (Star Wiring )
Three-phase
121H, 161H, 201H JUSP-DB02-E 180 W, 0.3 Ω × 3
200 V
Built into dynamic brake unit.
Three-phase 750J, 101J JUSP-DB04-E 180 W, 0.8 Ω × 3
400 V 131J JUSP-DB06-E 300 W, 0.8 Ω × 3
(2) Using a Dynamic Brake Resistor from Another Company

To order a dynamic brake unit, contact the manufacturer directly.
Main Circuit Required

Power Supply Model Manufacturer
Voltage Resistance
Three-phase
0.3 Ω or greater
200 V
GR series Japan Resistor Mfg. Co., Ltd.
Three-phase
0.8 Ω or greater
400 V
Use the following dynamic brake contactors and surge absorption units.
Name Model Manufacturer

SC-4-1/G
Contactor
Coil: 24 VDC
Main circuit surge Head-on type SZ-ZM1 Fuji Electric Co., Ltd.
absorption unit* Side-on type SZ-ZM2
Coil surge absorption unit SZ-Z4
∗ Use either a head-on or side-on main circuit surge absorption unit.
3.9.2 Selecting the Cable for the Dynamic Brake Unit

Use one of the following cables to connect the dynamic brake unit or dynamic brake contactor to CN115 on
the SERVOPACK.
Cable Cable End Processing on

Cable Model Remarks Manufacturer
length Contact Coil End of Cable
JZSP-CVD00-1A5-E 1.5 m Crimp terminals are attached Red: Pin 1 (DB24) Yaskawa Controls Co.,
JZSP-CVD00-03-E 3m (M3.5). Black: Pin 3 (DBON) Ltd.
3-40
3.9.3 Setting the Dynamic Brake Unit

Use the parameters shown in the tables here to make the settings for the following: the servomotor stopping
method when the servo is turned OFF, the output signals used to control the dynamic brake contactor, and the
capacity of the dynamic brake resistor in relation to whether or not a dynamic brake has been connected.
The servomotor stopping method when the servo is turned OFF is set with parameter Pn001.0.
When
Parameter Meaning Classification
Enabled
n. 0
[Factory Stops servomotor by applying DB (dynamic brake).
setting]
n. 1 Stops servomotor by applying DB and then releases DB.
Stops servomotor without applying DB by coasting to a
n. 2
stop.
When using a dynamic brake resistor from a company other than Yaskawa, set Pn00D.1 (second digit) to 0 or
1 in accordance with the following table depending if an NO or NC contact is used.
When
Enabled
n. 0 Enables the control of an NO contactor
[Factory (The dynamic brake is activated when current is sup-
setting] plied to the contactor coil.)
Pn00D After restart Setup
Enables the control of an NC contactor
n. 1 (The dynamic brake is activated when current is not
supplied to the contactor coil.)
The dynamic brake resistor capacity is set with Pn601.

Dynamic Brake Resistor Capacity Speed Position Torque
Classification
Pn601 Setting Range Unit Factory setting When Enabled
0 to SERVOPACK capacity 10 W 0 Immediately Setup

• Set Pn001 to n. 0.
• Not necessary to set Pn00D
• Set Pn601 to 0. 3
(2) Using a Dynamic Brake Resistors from Another Company
• Set Pn00D to either n. 0D or n. 1 depending on your system.
• Set Pn601 to 20% of the resistor capacity of your dynamic brake.
If the setting of Pn601 is not correct, A.730 or A.731 (dynamic brake overloads) will not
be detected correctly and there is a risk of equipment damage or fire.
(3) Not Using a Dynamic Brake

• Not necessary to set Pn00D
• Set Pn601 to 0.
3-41
3.9.4 Setting the Dynamic Brake Answer Function
3.9.4 Setting the Dynamic Brake Answer Function

With the dynamic brake answer function, you can use auxiliary contacts of the contactor that is used in the
dynamic brake circuit and the dynamic brake answer signal (/DBANS) to detect welding or failure to opera-
tion.
To use the dynamic brake answer function, select a contactor that has auxiliary contacts.
Note: The dynamic brake answer function cannot be used with a Yaskawa dynamic brake unit because there are no auxil-
iary contacts on the contactor.
The dynamic brake answer signal is assigned with Pn515.2.
When
Enabled
Detects dynamic brake (DB) contactor errors when the
n. 0 input signal of CN1-40 is ON (closed) while the DB is
applied.
Detects DB contactor errors when the input signal of
n. 1
CN1-41 is ON (closed) while the DB is applied.
n. 2
n. 3
n. 4
n. 5
n. 6
n. 7
Pn515 n. 8 Disables DB contactor error detection of DB answer After restart Setup
[Factory signal 1.
setting]
n. 9
CN1-40 is OFF (open) while the DB is applied.
n. A
n. B
n. C
n. D
n. E
n. F
Example
If you use a dynamic brake contactor with NO contacts, input the dynamic brake answer signal (a signal from
NO auxiliary contacts) to CN1-45 and set Pn515 to n. E .
3-42
3.9.5 Installation Standards

Observe the following installation standards when you use a Yaskawa dynamic brake unit. Provide at least 70
mm on each side of the unit and at least 200 mm at both the top and bottom of the unit to enable fan and natu-
ral convection cooling.
Up
Mounting
direction
200 min.
200 min.
70 min. 70 min.
Units: mm
If you use a dynamic brake resistor from a company other than Yaskawa, follow the specifications of the
dynamic brake resistor when you install it.
3.9.6 Connections
A dynamic brake contactor is built into a Yaskawa dynamic brake unit.
The connections are shown in the following figure.
Note: The dynamic brake answer function (Pn515.2) cannot be used because there are no auxiliary contacts on the contac-

tor.
SERVOPACK Dynamic brake unit
DU DU
DV DV
DW DW 3
CN115
24 VDB
DB24
DB24
DBON
DBON
0 VDB
3-43
3.9.6 Connections
(2) Using a Dynamic Brake Resistor from Another Company

Using NO Contacts for the Dynamic Brake Contactor
For I/O
SERVOPACK power supply
CN1 24 V 0V
47
Dynamic brake contactor
45* (Auxiliary contacts)
Dynamic brake resistor
DU
DV
DW
CN115
24 VDB
DB24
DBON
0 VDB
Main circuit surge
absorption unit
Coil surge
absorption unit
∗ The above figure is for using a dynamic brake contactor with NO contacts. The dynamic brake answer signal (a signal
from NO auxiliary contacts) is input to CN1-45. To indicate an error if the input signal to CN1-45 turns OFF (open)
while the dynamic brake is activated, the Pn515 parameter in the SERVOPACK must be set to n. E . If the
dynamic brake answer signal is not used, Pn515 is set to n. 8 (default setting).
Note 1. If you assign more than one signal to the same input circuit, OR logic will be used and any of the input signals
will cause the circuit to operate. This may result in unexpected operation.
2. The maximum current for DB24 and DBON is 300 mA.
3-44
Using NC Contacts for the Dynamic Brake Contactor

For I/O
SERVOPACK power supply
CN1 24 V 0V
47
45* (Auxiliary contacts)
DU
DV
DW
CN115
24 VDB
DB24
DBON
0 VDB
Main circuit surge
absorption unit
Coil surge
absorption unit
∗ The above figure is for using a dynamic brake contactor with NC contacts. The dynamic brake answer signal (a signal
from NC auxiliary contacts) is input to CN1-45. To indicate an error if the input signal to CN1-45 turns OFF (open)
while the dynamic brake is activated, the Pn515 parameter in the SERVOPACK must be set to n. E . If the
dynamic brake answer signal is not used, Pn515 is set to n. 8 (default setting).
Note 1. If you assign more than one signal to the same input circuit, OR logic will be used and any of the input signals
will cause the circuit to operate. This may result in unexpected operation.
2. The maximum current for DB24 and DBON is 300 mA.
If the coil current of NC dynamic brake contactors is 300 mA or higher, obtain an NO relay

that can switch the contactor coil current and voltage and a power supply for the contactor
coil.
SERVOPACK For I/O

power supply
CN1 24V 0V
47
45 (Auxiliary contacts)
DU
3
DV
DW
Power supply
for contactor coil
NO relay
CN115
24VDB
DB24
Power supply
DBON
for contactor
coil Main circuit surge
absorption unit
0VDB
Coil surge
absorption unit
3-45
3.10.1 Wiring for Noise Control
3.10 Noise Control and Measures for Harmonic Suppression

This section describes the wiring for noise control and the DC reactor for harmonic suppression.
3.10.1 Wiring for Noise Control

• Because the SERVOPACKs and converters are designed as an industrial device, it
provides no mechanism to prevent noise interference.
• The SERVOPACKs and converters use high-speed switching elements in the main
circuit. Therefore peripheral devices may receive switching noise. If the equipment is
to be used near private houses or if radio interference is a problem, take countermea-
sures against noise.
• If installation conditions by the EMC directive must be met, refer to 2.4 EMC Installa-
tion Conditions in Σ-V User’s Manual for Use with Large-Capacity Models Setup Rota-
tional Motor (No.: SIEP S800000 89).
The SERVOPACKs and converters use microprocessors. Therefore it may receive switching noise from
peripheral devices.
To prevent the noise from a SERVOPACK, converter, or the peripheral devices from causing a malfunction of
any one of these devices, take the following precautions against noise as required.
• Position the input reference device and noise filter as close to a SERVOPACK or converter as possible.
• Always install a surge absorber in the relay, solenoid and electromagnetic contactor coils.
• Do not bundle or run the main circuit cables together with the I/O signal cables or the encoder cables in the
same duct. Keep the main circuit cables separated from the I/O signal cables and the encoder cables with a
gap of at least 30 cm.
• Do not share the power supply with an electric welder or electrical discharge machine. If the SERVOPACK
is placed near equipment that generates high-frequency noise, install a noise filter on the input side of the
main circuit power supply cables and control power supply cables, even if the same power supply is not
used. As for the wiring of noise filter, refer to (1) Noise Filter shown below.
• Take the grounding measures correctly. As for the grounding, refer to (2) Correct Grounding.
3-46
(1) Noise Filter

The SERVOPACKs and converters have built-in microprocessors (CPUs), so protect them from external noise
as much as possible by installing noise filters in the appropriate places.
The following is an example of wiring for noise control.
Noise filter∗3 SERVOPACK and Converter

Servomotor
L1 U
V M
400 VAC L2 (FG)
L3 W
2.0 mm 2
min. CN101
CN2 ENC
24-VDC + 24 V
100/200 VAC power supply - 0V CN1
2.0 mm2
min.
Operating relay sequence
Signal generation circuit

(not included)
∗3 ∗2
DC
Noise power
filter supply
2.0 mm2 min.
(Gronud plate)
∗1
Ground: Ground to an independent ground
∗1. For ground wires connected to the ground plate, use a thick wire with a thickness of at least 2.0 mm2 (preferably,
plain stitch cooper wire).
∗2. should be twisted-pair wires.

∗3. When using a noise filter, follow the precautions in 3.10.2 Precautions on Connecting Noise Filter.

(2) Correct Grounding
Take the following grounding measures to prevent the malfunction due to noise.
Grounding the Motor

Always connect servomotor frame terminal FG to the SERVOPACK ground terminal . Also be sure to
ground the ground terminal .
If the servomotor is grounded via the machine, a switching noise current will flow from the main circuit of the
SERVOPACK and converter through the stray capacitance of the servomotor. To prevent the adverse effects of
3
switching noise, always connect the ground terminal in the motor terminal box on the servomotor to the
ground terminal on the SERVOPACK.
Noise on the I/O Signal Cable

If the I/O signal cable receives noise, ground the 0 V line (SG) of the I/O signal cable. If the servomotor main
circuit cable is accommodated in a metal conduit, ground the conduit and its junction box. For all grounding,
ground at one point only.
3-47
3.10.2 Precautions on Connecting Noise Filter
3.10.2 Precautions on Connecting Noise Filter

Always observe the following installation and wiring instructions.
Some noise filters have large leakage currents. The grounding measures taken also
affects the extent of the leakage current. If necessary, select an appropriate leakage cur-
rent detector or leakage current breaker taking into account the grounding measures that
are used and leakage current from the noise filter. Contact the manufacturer of the noise
filter for details.
Do not put the input and output lines in the same duct or bundle them together.
Incorrect Correct
Noise Noise
Filter Filter
Ground plate Ground plate
Noise Noise
Filter Filter
Separate these circuits
Separate the noise filter ground wire from the output lines.
Do not accommodate the noise filter ground wire, output lines and other signal lines in the same
duct or bundle them together.
Incorrect Correct
Noise Noise
Filter Filter
The ground wire

can be close to
input lines.
3-48
Connect the noise filter ground wire directly to the ground plate.
Do not connect the noise filter ground wire to other ground wires.
Incorrect Correct
Noise Noise
Filter Filter
Converter SERVOPACK Converter SERVOPACK

P P P P
N N N N
Shielded
ground wire
If a noise filter is located inside a control panel, first connect the noise filter ground wire and the
ground wires from other devices inside the control panel to the ground plate for the control panel,
then ground the plates.
Control Panel
Converter SERVOPACK
Noise P P
Filter N N
Converter SERVOPACK

P P
N N
Ground
Ground plate
3-49
3.10.3 Connecting a Reactor for Harmonic Suppression
3.10.3 Connecting a Reactor for Harmonic Suppression

The converters have reactor connection terminals for power supply harmonic suppression that can be used as
required.
Connect a reactor as shown in the following figure.
DC Reactor AC Reactor
Converter AC reactor Converter
DC reactor
U X
1 L1
400-VAC V Y
power L2
2 supply W Z
L3
Note 1. Connection terminals for DC reactor 1 and 2 are short-circuited at shipment. Remove the lead wire for
short-circuit, and connect a DC reactor.
2. Reactors are not included. (Sold separately.)
3. To use the SERVOPACK with a DC reactor, use the terminals on the converters.
3-50
4
Operation
4.1 MECHATROLINK-III Communications Settings . . . . . . . . . . . . . . . . . . . . 4-3

4.1.1 Setting Switches S1, S2, and S3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.2 MECHATROLINK-III Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4.3 Basic Functions Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.3.1 Servomotor Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.3.2 Overtravel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.3.3 Software Limit Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4.3.4 Holding Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence . . . . . . . . . . 4-16
4.3.6 Instantaneous Power Interruption Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
4.3.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage
for Main Circuit) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
4.3.8 Setting Motor Overload Detection Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
4.4 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24

4.4.1 Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24
4.4.2 Trial Operation via MECHATROLINK-III . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25
4.4.3 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26
4.4.4 Encoder Output Pulses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29
Operation
4.4.5 Setting Encoder Output Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30
4.5 Test Without Motor Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31

4.5.1 Motor Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31
4.5.2 Motor Position and Speed Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-32
4
4.5.3 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-33
4.5.4 Digital Operator Displays during Testing without Motor . . . . . . . . . . . . . . . . . . . . . . . 4-34
4.6 Limiting Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35

4.6.1 Internal Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35
4.6.2 External Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-36
4.6.3 Checking Output Torque Limiting during Operation . . . . . . . . . . . . . . . . . . . . . . . . . 4-37
4-1
4 Operation
4.7 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-38

4.7.1 Connecting the Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-39
4.7.2 Absolute Data Request (SENS ON Command) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-41
4.7.3 Battery Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-42
4.7.4 Absolute Encoder Setup and Reinitialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-44
4.7.5 Absolute Data Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-46
4.7.6 Multiturn Limit Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-50
4.7.7 Multiturn Limit Disagreement Alarm (A.CC0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-51
4.7.8 Absolute Encoder Origin Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-52
4.8 Other Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-53

4.8.1 Servo Alarm Output Signal (ALM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-53
4.8.2 Warning Output Signal (/WARN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-53
4.8.3 Rotation Detection Output Signal (/TGON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-54
4.8.4 Servo Ready Output Signal (/S-RDY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-54
4.8.5 Speed Coincidence Output Signal (/V-CMP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-55
4.8.6 Positioning Completed Output Signal (/COIN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-56
4.8.7 Positioning Near Output Signal (/NEAR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-57
4.8.8 Speed Limit Detection Signal (/VLT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-58
4.9 Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-60

4.9.1 Hard Wire Base Block (HWBB) Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-60
4.9.2 External Device Monitor (EDM1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-66
4.9.3 Application Example of Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-68
4.9.4 Confirming Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-69
4.9.5 Connecting a Safety Function Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-69
4.9.6 Precautions for Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-70
4-2
4.1 MECHATROLINK-III Communications Settings
4.1 MECHATROLINK-III Communications Settings

This section describes the switch settings necessary for MECHATROLINK-III communications.
4.1.1 Setting Switches S1, S2, and S3

The DIP switch S3 is used to make the settings for MECHATROLINK-III communications.
The station address is set using the rotary switches S1 and S2.
M-III
POWER LED
S1 S2 S3
F 0 1 F 0 1
E 2 E 2
ON
D 3 D 3
C 4 C 4 OFF
B 5 B 5
A 6 A 6 1 2 3 4
9 8 7 9 8 7
ᴾ
Seven-segment
LED display
(1) Settings of the Rotary Switches S1 and S2

Set the station address using the rotary switches S1 and S2.
Station Address S1 S2
00H to 02H: Disabled
0 0 to 2
(Do not use these addresses.)
03H (Factory setting) 0 3
04H 0 4
EFH E F
F0H to FFH: Disabled
F 0 to F
(Do not use these addresses.)
Operation
4-3
4 Operation
4.1.1 Setting Switches S1, S2, and S3
(2) Settings of the DIP Switch S3

The following table shows the settings of the DIP switch (S3).
Factory
S3 Function Setting
setting
1 2 Number of transmission bytes
OFF OFF 16 byte
Sets the number of ON OFF 32 byte 1: OFF
Pins 1 and 2
transmission bytes. 2: ON
OFF ON 48 byte
Reserved.
ON ON
(Do not use this setting.)
Pin 3 Reserved. (Do not change.) OFF
Pin 4 Reserved. (Do not change.) OFF
• When using the MECHATROLINK-III standard servo profile, set the number of transmis-
sion bytes to either 32 or 48.
• When using the MECHATROLINK-II-compatible profile, set the number of transmission
bytes to either 16 or 32.
• Turn the power OFF and then ON again to enable the new settings.
4.2 MECHATROLINK-III Commands

For information on the MECHATROLINK-III commands, refer to Σ-V Series User’s Manual MECHA-
TROLINK-III Standard Servo Profile Commands (SIEP S800000 63).
4-4
4.3 Basic Functions Settings

4.3.1 Servomotor Rotation Direction
The servomotor rotation direction can be reversed with parameter Pn000.0 without changing the polarity of
the speed/position reference. This causes the rotation direction of the servomotor to change, but the polarity of
the signal, such as encoder output pulses, output from the SERVOPACK does not change. (refer to 4.4.4
Encoder Output Pulses)
The standard setting for forward rotation is counterclockwise (CCW) as viewed from the load end of the ser-
vomotor.
Forward/
Applicable
Parameter Reverse Direction of Motor Rotation and Encoder Output Pulse
Overtravel (OT)
Reference
Motor speed
+ Torque reference Encoder output pulse
Forward PAO P-OT

Reference Time
PBO Phase B
n. 0 CCW
Motor speed advanced
Sets CCW as for-
ward direction.
+ Motor speed
[Factory setting] Torque reference Encoder output pulse
Reverse Time PAO

Phase A
advanced N-OT
Reference
PBO
Motor speed
CW
Pn000
Motor speed
Forward PAO P-OT
Reference Time
n. 1 CW
PBO Phase B
advanced
Sets CW as for- Motor speed
ward direction.
(Reverse Rotation +
Motor speed
Encoder output pulse
Mode) Torque reference
Reverse PAO Phase A
advanced N-OT
Reference Time
PBO
CCW
Motor speed
Note: SigmaWin+ trace waveforms are shown in the above table. Operation
4-5
4 Operation
4.3.2 Overtravel
4.3.2 Overtravel
The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of
motion and turn ON a limit switch.
For rotating application such as disc table and conveyor, overtravel function is not necessary. In such a case,
no wiring for overtravel input signals is required.
CAUTION
• Installing limit switches
For machines that move using linear motion, connect limit switches to P-OT and N-OT of CN1 as shown below to
prevent machine damage. To prevent a contact fault or disconnection from causing accidents, make sure that the limit
switches are normally closed.
Forward direction
SERVOPACK
Servomotor
Limit Limit CN1
N-OT
switch switch 43
P-OT
42
• Axes to which external force is applied in overtravel

Vertical axes:
Occurrence of overtravel may cause a workpiece to fall, because the /BK signal is on, that is when the brake is
released. Set the parameter (Pn001 = n. 1 ) to bring the servomotor to zero clamp state after stopping to prevent
a workpiece from falling.
Other axes to which external force is applied:
Overtravel will bring about a baseblock state after the servomotor stops, which may cause the servomotor to be
pushed back by the load’s external force. To prevent this, set the parameter (Pn001 = n. 1 ) to bring the servo-
motor to zero clamp state after stopping.
For details on how to set the parameter, refer to (3) Servomotor Stopping Method When Overtravel is Used.
(1) Signal Setting

Connector
Type Name Setting Meaning
Pin Number
Forward run allowed.
ON
P-OT CN1-42 Normal operation status.
Input OFF Forward run prohibited. Forward overtravel.
ON Reverse run allowed. Normal operation status.
N-OT CN1-43
OFF Reverse run prohibited. Reverse overtravel.
Rotation in the opposite direction is possible during overtravel by inputting the reference.
4-6
(2) Overtravel Function Setting

Parameters Pn50A and Pn50B can be set to enable or disable the overtravel function.
If the overtravel function is not used, no wiring for overtravel input signals will be required.
When
Enabled
n.2 Inputs the Forward Run Prohibited (P-OT) signal from
[Factory setting] CN1-42.
Pn50A
Disables the Forward Run Prohibited (P-OT) signal.
n.8
Allows constant forward rotation.
After restart Setup
n. 3 Inputs the Reverse Run Prohibited (N-OT) signal from
[Factory setting] CN1-43.
Pn50B
Disables the Reverse Run Prohibited (N-OT) signal.
n. 8
Allows constant reverse rotation.
A parameter can be used to re-allocate input connector number for the P-OT and N-OT signals. Refer to 3.4.1
Input Signal Allocations for details.
Note: The factory settings of these parameters in a large-capacity Σ-V SERVOPACK are not all the same as those for a
standard Σ-V SERVOPACK.
Make sure that you consider any differences in the factory settings if you copy the parameters from a standard Σ-V
SERVOPACK to a large-capacity Σ-V SERVOPACK.
(3) Servomotor Stopping Method When Overtravel is Used

There are three servomotor stopping methods when an overtravel is used.
• Dynamic brake
By short-circuiting the electric circuits, the servomotor comes to a quick stop.
• Decelerate to a stop
Stops by using emergency stop torque.
• Coast to a stop
Stops naturally, with no control, by using the friction resistance of the servomotor in operation.
After servomotor stopping, there are two modes.
• Coast mode
Stopped naturally, with no control, by using the friction resistance of the servomotor in operation.
• Zero clamp mode
A mode forms a position loop by using the position reference zero.
The servomotor stopping method when an overtravel (P-OT, N-OT) signal is input while the servomotor is Operation
operating can be set with parameter Pn001.
Mode After
Parameter Stop Method When Enabled Classification
Stopping
n. 00
4
DB
[Factory setting]
DB
n. 01*
Pn001 Coast After restart Setup
n. 02 Coast
n. 1 Zero clamp
Deceleration to a stop
n. 2 Coast
∗ Always connect a dynamic brake circuit for these settings.

• A servomotor under torque control cannot be decelerated to a stop. The servomotor is stopped with the
dynamic braking (DB) or coasts to a stop according to the setting of Pn001.0. After the servomotor stops,
the servomotor will enter a coast state.
• For details on servomotor stopping methods after the SV_OFF command is received or an alarm occurs,
refer to 4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence.
4-7
4 Operation
4.3.2 Overtravel
When Servomotor Stopping Method is Set to Decelerate to Stop

Emergency stop torque can be set with Pn406.
Emergency Stop Torque Speed 　 Position 　 Torque

Classification
Pn406 Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 800 Immediately Setup
• The setting unit is a percentage of the rated torque.

• The factory setting is 800% so that the setting is large enough a value to operate the servomotor at maximum
torque. The maximum value of emergency stop torque that is actually available, however, is limited to the
maximum torque of the servomotor.
(4) Overtravel Warning Function
This function detects an overtravel warning (A.9A0) if overtravel occurs while the servomotor power is ON.
Using this function enables notifying the host controller when the SERVOPACK detects overtravel even if the
overtravel signal is ON only momentarily.
To use the overtravel warning function, set digit 4 of Pn00D to 1 (detects overtravel warning).
Warning Output Timing
Command Motion command ALM_CLR command
Servomotor power OFF ON

MECHA
Overtravel input signal Disabled Enabled Disabled Enabled Disabled
㧔P-OT, N-OT signals㧕
Overtravel warning Normal operation Warning status Normal operation
㧔A.9A0㧕
Warning not detected.
<Notes>
• Warnings are detected for overtravel in the same direction as the reference.
• Warnings are not detected for overtravel in the reverse direction from the reference.
Example:A warning will not be output for a forward reference even if the N-OT signal (reverse run prohibited)
turns ON.
• A warning can be detected in either the forward or reverse direction, when there is no reference.
• A warning will not be detected when the servomotor power is OFF even if overtravel occurs.
• A warning will not be detected when the servomotor power changes from OFF to ON even if overtravel status
exists.
• To clear the overtravel warning, send a Clear Warning or Alarm command (ALM_CLR) regardless of the status of
the servomotor power and the overtravel signal. If the warning is cleared by this method during an overtravel
state, the occurrence of the warning will not be indicated until the overtravelling is corrected and reset.
• The overtravel warning will be detected when the software limit is in effect.
CAUTION
• The overtravel warning function only detects warnings. It does not affect on stopping for overtravel or
motion operations at the host controller. The next step (e.g., the next motion or other command) can be
executed even if an overtravel warning exists. However, depending on the processing specifications and
programming for warnings in the host controller, operation may be affected when an overtravel warning
occurs (e.g., motion may stop or not stop). Confirm the specifications and programming in the host control-
ler.
• When an overtravel occurs, the SERVOPACK will perform stop processing for overtravel. Therefore, when
an overtravel warning occurs, the servomotor may not reach the target position specified by the host con-
troller. Check the feedback position to make sure that the axis is stopped at a safe position.
4-8
Related Parameter
n.0
Does not detect overtravel warning.
Pn00D [Factory setting] After restart Setup
n.1 Detects overtravel warning.
Operation
4-9
4 Operation
4.3.3 Software Limit Settings
4.3.3 Software Limit Settings

The software limits set limits in software for machine movement that do not use the overtravel signals (P-OT
and N-OT). If a software limit is exceeded, an emergency stop will be executed in the same way as it is for
overtravel.
(1) Software Limit Function

The software limit function can be enabled or disabled.
Use the parameter Pn801.0 to enable the software limit function.
The software limit function can be enabled under the following conditions. Under all other circumstances, the
software limits will not be enabled even if a software limit is exceeded.
• The ZRET command has been executed.

• REFE = 1 using the POS_SET command.
Enable or disable the software limits using one of the following settings.
Parameter Description When Enabled Classification

n. 0 Software limits enabled in both direction.
n. 1 Forward software limit enabled.
Pn801 n. 2 Reverse software limit enabled. Immediately Setup
n. 3
Both software limits disabled.
[Factory setting]
(2) Software Limit Check using References

Enable or disable software limit checks when target position references such as POSING or INTERPOLATE
are input. When the input target position exceeds the software limit, a deceleration stop will be performed
from the software limit set position.
Parameter Description When Enabled Classification

n. 0
No software limit check using references.
Pn801 [Factory setting] Immediately Setup
n. 1 Software limit check using references.
(3) Software Limit Setting

Set software limits value in the positive and negative directions.
Because the limit zone is set according to the forward or reverse direction, the reverse limit must be less than
the forward limit.
Forward Software Limit Position

Classification
-1073741823 to
1 Reference Unit 819191808 Immediately Setup
1073741823
Reverse Software Limit Position

Classification
-1073741823 to
1 Reference Unit -819191808 Immediately Setup
1073741823
4-10
4.3.4 Holding Brakes

A holding brake is a brake that is used to hold the position of the movable part of the machine when the SER-
VOPACK and converter are turned OFF so that movable part does not move due to gravity or external forces.
Holding brakes are built into servomotors with brakes.
The holding brake is used in the following cases.
Vertical Shaft Shaft with External Force Applied

Rotation
Prevents the Movable part of machine
movable part from External
moving due to its force Servomotor
own weight when the
power is OFF. Holding brake
Servomotor Movable part of

machine Prevents the movable part (table)
from moving due to external force.
Holding brake
• The brake built into the servomotor with brakes is a de-energization brake, which is
used only to hold and cannot be used for braking. Use the holding brake only to hold
a stopped servomotor.
There is a delay in the braking operation. Set the following ON/OFF timing.
Servo ON command OFF ON OFF

(SV_ON)
OFF ON OFF
Servomotor power
*3 MECHA
OFF ON OFF
Brake signal (/BK)
Brake contact part Brake applied Brake release Brake applied

(lining) *1 *1
Position reference/ 0
Speed reference
Motor speed
Operation
*2
4-11
4 Operation
∗1. The operation delay time of the brake is shown in the following table. The operation delay time is an example when
the power supply is turned ON and OFF on the DC side. Be sure to evaluate the above times on the actual equipment
before using the application.
Main Circuit Power Servomotor Rated Speed Brake Open Time Brake Operation
Voltage
Supply Voltage Model: SGMVV- [min-1] [ms] Time [ms]
2BA B
3ZA B 1500
500 max. 150 max.
Three-phase 3GA B
200 VAC 2BA D
3ZA D 800 550 max.
320 max.
3GA D 700 max.
2BD B
24 VDC
3ZD B 500 max. 150 max.
or
3GD B 1500 90 VDC
4ED B
550 max. 320 max.
Three-phase 5ED B
400 VAC
2BD D 500 max. 150 max.
3ZD D 550 max.
320 max.
3GD D 800 700 max.
An SGMVV-4ED D servomotor is not
4ED D
available in a model with a holding brake.
∗2. After the SV_ON command has been sent and 50 ms has passed since the brake was released, output the reference
from the host controller to the SERVOPACK.
∗3. Use Pn506, Pn507, and Pn508 to set the timing of when the brake will be activated and when the servomotor power
will be turned OFF.
(1) Wiring Example

Use the brake signal (/BK) and the brake power supply to form a brake ON/OFF circuit. The following dia-
gram shows a standard wiring example.
The timing can be easily set using the brake signal (/BK).
SERVOPACK and Servomotor with
converter holding brake
Power supply
L1 U
400 VAC L2 V
L3 M
W
CN2 ENC
+24 V BK
CN101 CN1
(/BK+) BK-RY Surge
+ 24 V absorber
24-VDC
100/200 VAC power
(/BK-) 1D 0V
supply - 0V
AC side DC side
Brake power
supply BK-RY
Blue or yellow Red
White AC DC Black
BK-R Y: Brake control relay

Brake power supply for 90 V Input voltage 200-V models: LPSE-2H01-E
Input voltage 100-V models: LPDE-1H01-E
A 24-VDC power supply for a 24-VDC brake is not included.
4-12
• Select the optimum surge absorber in accordance with the applied brake current and
brake power supply.
When using the LPSE-2H01-E power supply: Z10D471 (Made by SEMITEC
Corporation)
When using the LPDE-1H01-E power supply: Z10D271 (Made by SEMITEC
Corporation)
When using the 24-V power supply: Z15D121 (Made by SEMITEC Corporation)
• After the surge absorber is connected, check the total time the brake is applied for the
system. Depending on the surge absorber, the total time the brake is applied can be
changed.
• Configure the relay circuit to apply the holding brake by the emergency stop.
Relay Circuit Example
SERVOPACK
5 to 24 VDC
Emergency stop
Photocoupler
0V
• The allocation of the /BK signal can be changed. Refer to (3) Brake Signal (/BK) Allo-
cation to set the parameter Pn50F.
• When using a 24-V brake, separate the 24-VDC power supply from other power sup-
plies, such as the one used for the I/O signals of CN1 connectors. Always install the
24-VDC power supply separately. If the power supply is shared, the I/O signals might
malfunction.
(2) Brake Signal (/BK) Setting

This output signal controls the brake. The allocation of the /BK signal can be changed. Refer to (3) Brake Sig-
nal (/BK) Allocation for allocation.
The /BK signal turns OFF (applies the brake) when an alarm is detected or the SV_OFF command is received.
The brake OFF timing can be adjusted with Pn506.
Connector
Type Name Setting Meaning
Pin Number
ON (closed) Releases the brake. Operation
Output /BK CN1-25, CN1-26
OFF (open) Applies the brake.
The /BK signal is still ON during overtravel and the brake is still released. 4
4-13
4 Operation
(3) Brake Signal (/BK) Allocation

Use parameter Pn50F.2 to allocate the /BK signal.
Connector
Pin Number When Classifica-
Parameter Meaning
Enabled tion
+ Terminal - Terminal
n. 0
– – The /BK signal is not used.
n. 1
The /BK signal is output from output
[Factory CN1-25 CN1-26
terminal CN1-25, 26. After
Pn50F setting] Setup
restart
n. 2 CN1-27 CN1-28
terminal CN1-27, 28.
n. 3 CN1-29 CN1-30
terminal CN1-29, 30.
When multiple signals are allocated to the same output terminal, the signals are output
with OR logic. For the /BK signal, do not use the output terminal that is already being
used for another signal.
(4) Brake ON Timing after the Servomotor Stops

When the servomotor stops, the /BK signal turns OFF at the same time as the SV_OFF command is received.
Use parameter Pn506 to change the timing to turn OFF the servomotor power after the SV_OFF command has
been received.
Brake Reference-Servo OFF Delay Time Speed Position Torque

Classification
0 to 50 10 ms 0 Immediately Setup
• When using the servomotor to control a vertical

SV_OFF
axis, the machine movable part may shift slightly command Servo ON Servo OFF
depending on the brake ON timing due to gravity or
an external force. To eliminate this slight shift, set /BK output Brake released Brake applied
parameter so that the power to the servomotor turns (ON) (OFF)
OFF after the brake is applied. Power to motor Power to motor No power to motor
• This parameter changes the brake ON timing while MECHA

the servomotor is stopped. Pn506
The servomotor will turn OFF immediately when an alarm occurs, regardless of the set-
ting of this parameter. The machine movable part may shift due to gravity or external
force before the brake operates.
4-14
(5) Brake Signal (/BK) Output Timing during Servomotor Rotation

If an alarm occurs while the servomotor is rotating, the servomotor will come to a stop and the brake signal
(/BK) will be turned OFF. The timing of brake signal (/BK) output can be adjusted by setting the brake refer-
ence output speed level (Pn507) and the waiting time for brake signal when motor running (Pn508).
Note: If the servomotor is set so that it comes to a zero-speed stop for an alarm, follow the information in (4) Brake ON
Timing after the Servomotor Stops after the servomotor comes to a stop for a zero position reference.
Brake Reference Output Speed Level Speed Position Torque

Classification
0 to 10000 1 min-1 100 Immediately Setup
Waiting Time for Brake Signal When Motor Running Speed Position Torque
Classification
/BK Signal Output Conditions SV_OFF

When Servomotor Rotating command Servo ON Servo OFF
or alarm or
power OFF
The /BK signal goes to high level
(brake ON) when either of the fol-
lowing conditions is satisfied: Motor stopped by applying
Pn-507
Motor speed DB or by coasting
Pn001.0
• When the motor speed falls
below the level set in Pn507
after the power to the servomo-
Power to motor
tor is turned OFF. OFF
ON
• When the time set in Pn508 is
exceeded after the power to the
servomotor is turned OFF. /BK output
Brake
released Brake applied
(OFF)
(ON)
Pn508 MECHA
• The servomotor will be limited to its maximum speed even if the value set in Pn507 is
higher than the maximum speed.
• Do not allocate the rotation detection signal (/TGON) and the brake signal (/BK) to the
same terminal. The /TGON signal will otherwise be turned ON by the falling speed on
a vertical axis, and the brake may not operate.
For the /BK signal, do not use the terminal that is already being used for another Operation
signal.
4-15
4 Operation
4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence
4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence

The servomotor stopping method can be selected after the SV_OFF command is received or an alarm occurs.
• Dynamic braking (DB) is used for emergency stops. The DB circuit will operate fre-
quently if the power is turned ON and OFF or the SV_ON command and SV_OFF
command are received with a reference input applied to start and stop the servomo-
tor, which may result in deterioration of the internal elements in the SERVOPACK and
converter.
Use speed input references or position references to start and stop the servomotor.
• If you turn OFF the control power supply during operation without turning OFF the
servo, the servomotor will coast to a stop. In this case, you cannot set the stop
method in a parameter.
• To minimize the coasting distance of the servomotor to come to a stop when an alarm
occurs, the zero-speed stopping method is factory-set for alarms to which the zero-
speed stop method is applicable. The DB stopping method may be more suitable than
the zero-speed stopping method, however, depending on the application.
For example, for multiple axes coupling operation (a twin-drive operation), machinery
damage may result if a zero-speed stop alarm occurs for one of the coupled shafts
and the other shaft stops by dynamic brake. In such cases, change the method to the
DB stopping method.
(1) Stopping Method for Servomotor after SV_OFF Command is Received

Use Pn001.0 to select the stopping method for the servomotor after the SV_OFF command is received.
Parameter Stop Mode Mode After Stopping When Enabled Classification

n. 0* DB
[Factory setting] DB
n. 1* Coast
n. 2 Coast Coast

Note: Similar to the Coast Mode, the n. 0 setting (which stops the servomotor by dynamic braking and then holds it
in Dynamic Brake Mode) does not generate any braking force when the servomotor stops or when it rotates at very
low speed.
(2) Stopping Method for Servomotor When an Alarm Occurs

There are two types of alarms (Gr.1 and Gr.2) that depend on the stopping method when an alarm occurs.
Select the stopping method for the servomotor when an alarm occurs using Pn001.0 and Pn00B.1.
The stopping method for the servomotor for a Gr.1 alarm is set to Pn001.0.
The stopping method for the servomotor for a Gr.2 alarm is set to Pn00B.1.
Refer to the information on alarm stopping methods in 9.1.1 List of Alarms.
4-16
Stopping Method for Servomotor for Gr.1 Alarms

The stopping method of the servomotor when a Gr.1 alarm occurs is the same as that in (1) Stopping Method
for Servomotor after SV_OFF Command is Received.
Mode After
Parameter Stop Mode When Enabled Classification
Stopping
n. 0* DB
n. 1* Coast
n. 2 Coast Coast

Stopping Method for Servomotor for Gr.2 Alarms
Parameter Mode After
Stop Mode When Enabled Classification
Pn00B Pn001 Stopping
n. 0*1 DB
n. 0 [Factory setting] Zero-speed
[Factory setting] n. 1*1 stopping*2
Coast
n. 2
After restart Setup
n. 0*1 DB
n. 1
n. 1*1
Coast
n. 2 Coast
∗1. Always connect a dynamic brake circuit for these settings.
∗2. Zero-speed stopping: The speed reference is set to 0 to stop quickly.
Note: The setting of Pn00B.1 is effective for position control and speed control. Pn00B.1 will be ignored for torque control
and only the setting of Pn001.0 will be valid.
Operation
4-17
4 Operation
4.3.6 Instantaneous Power Interruption Settings
4.3.6 Instantaneous Power Interruption Settings

Determines whether to continue operation or turn OFF the servomotor’s power when the power supply voltage
to the main circuit power supply of the SERVOPACK and converter is interrupted.
Instantaneous Power Cut Hold Time Speed Position Torque

Classification
If the power interruption time is shorter than the set value in Pn509, the servomotor will continue operation. If
it is longer than the set value, the servomotor’s power will be turned OFF during the power interruption. The
servomotor is turned ON when power supply to the main circuit recovers.
Set value for Pn509 ≥ OFF time (t) Set value for Pn509 < OFF time (t)
Instantaneous power interruption Instantaneous power interruption
Main circuit Main circuit

power supply OFF time (t) power supply
OFF time (t)
Set value for Set value for

Pn509 Pn509 Set value for
Set value for
Pn509 ≥ OFF time (t) Pn509 < OFF time (t)
Power OFF
Operation
Servomotor continues. Servomotor Power ON
Power ON
status status
Forced OFF
Instantaneous power interruption Instantaneous power interruption
Note: If the instantaneous power interruption is longer than the set value of Pn509, the /S-RDY signal turns OFF.
• If the control power supply makes control impossible during an instantaneous power
interruption, the same operation will be performed as for normally turning OFF the
power supply, and the setting of Pn509 will be ignored.
• The holding time of the main circuit power supply varies with the output of the SER-
VOPACK. If the load on the servomotor is large and an undervoltage alarm (A.410)
occurs, the setting of Pn509 will be ignored.
• The holding time of the control power supply (24 VDC) for the 400-V SERVOPACKs
depends on the capability of the power supply (not included). Check the power supply
before using the application.
If the uninterruptible power supplies are used for the control power supply and main circuit power supply, the
SERVOPACK can withstand an instantaneous power interruption period of 50,000 ms max.
4-18
4.3.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage
for Main Circuit)
The torque limit function detects an undervoltage warning and limits the output current if the DC power sup-
ply voltage for the main circuit in the SERVOPACK drops to a specified value because the power was
momentarily interrupted or the power supply voltage for the main circuit was temporality lowered.
This function complies with SEMI F47 standards for semiconductor production equipment.
Combining this function with the parameter for Instantaneous Power Cut Hold Time allows the servomotor to
continue operating without stopping for an alarm or without recovery work even if the power supply voltage
drops.
• This function is able to cope with instantaneous power interruptions in the voltage and
time ranges stipulated in SEMI F47. An uninterruptible power supply (UPS) is
required as a backup for instantaneous power interruptions that exceed these voltage
and time ranges.
• This function is intended for voltage drops in the main circuit power supply. The follow-
ing restrictions apply when it is used to provide an instantaneous power cut hold time
in the control power supply.
<Control Power Supply Restrictions>
400-VAC voltage input SERVOPACK: Provide the control power supply from a 24-
VDC power supply that complies with SEMI F47 standards.
• Set the host controller and SERVOPACK torque limit so that a torque reference that
exceeds the specified acceleration will not be output when the power supply for the
main circuit is restored.
• Do not limit the torque to values lower than the holding torque for the vertical axis.
• This function limits torque within the range of the SERVOPACK's capability when the
power is cut. It is not intended for use under all load and operating conditions. Use the
actual machine to set parameters while confirming correct operation.
• Setting the Instantaneous Power Cut Hold Time lengthens the amount of time from
when the power supply is turned OFF until the motor current turns OFF. Send the
SV_OFF command to instantly stop the motor current.
Operation
4-19
4 Operation
4.3.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit)
(1) Execution Method

This function can be executed either with the host controller and the SERVOPACK or with the SERVOPACK
only.
With the Host Controller and the SERVOPACK

The host controller limits the torque in response to an undervoltage warning.
The host controller removes the torque limit after the undervoltage warning is cleared.
Main circuit
Main circuit power interruption time Rotation
input power supply
560 V Main circuit bus voltage drops slowly

Main circuit because output torque is limited.
bus voltage 400 V
SERVOPACK Main circuit bus voltage
increases by recovery
of the main circuit power.
Undervoltage
warning detected
Torque limit starts.

Torque limit
0%
Undervoltage The torque is limited in
response to an under-
warning voltage warning.
Host
controller Torque limit Torque limit ends.
reference
0%
With the SERVOPACK only

The torque is limited in the SERVOPACK in response to an undervoltage warning.
The SERVOPACK controls the torque limit value in the set time after the undervoltage warning is cleared.
Use Pn008.1 to specify whether the function is executed by the host controller and SERVOPACK or by the
SERVOPACK only.
Main circuit power interruption time Rotation

Main circuit
input power supply
560 V Main circuit bus voltage drops slowly because

output torque is limited.
Main circuit 400 V
SERVOPACK bus voltage Main circuit bus voltage
increases by recovery
of the main circuit power.
Undervoltage
warning detected
Setting value for Pn425
Torque limit starts.
Torque limit
Setting value for Pn424
0%
4-20
(2) Related Parameters

n. 0
Does not detect undervoltage.
[Factory setting]
Pn008 n. 1 Detects warning and limits torque by host controller. After restart Setup
Detects warning and limits torque by Pn424 and Pn425.
n. 2
(Only in the SERVOPACK)
Torque Limit at Main Circuit Voltage Drop Speed Position Torque Classification
0 to 100 1%* 50 Immediately Setup
Release Time for Torque Limit at Main Circuit
Speed Position Torque
Voltage Drop Classification
Pn425
∗ The setting unit is a percentage of the rated torque.
Instantaneous Power Cut Hold Time Speed Position Torque

Classification
Note: When using SEMI F47 function, set 1000 ms.
Operation
4-21
4 Operation
4.3.8 Setting Motor Overload Detection Level
4.3.8 Setting Motor Overload Detection Level

In this SERVOPACK, the detection timing of the warnings and alarms can be changed by changing how to
detect an overload warning (A.910) and overload (low load) alarm (A.720).
The overload characteristics and the detection level of the overload (high load) alarm (A.710) cannot be
changed.
(1) Changing Detection Timing of Overload Warning (A.910)

The overload warning level is set by default to 20% so that an overload warning is detected in 20% of the time
required to detect an overload alarm. The time required to detect an overload warning can be changed by
changing the setting of the overload warning level (Pn52B). This protective function enables the warning out-
put signal (/WARN) to serve as a protective function and to be output at the best timing for your system.
The following graph shows an example of the detection of an overload warning when the overload warning
level (Pn52B) is changed from 20% to 50%. An overload warning is detected in half of the time required to
detect an overload alarm.
Overload detection time Rotation
Detection curve of
Detection curve of overload alarm
overload warning when
Pn52B = 50%
Detection curve of overload warning

when Pn52B = 20% (factory setting)
100% 200% Torque reference [%]
Note: For details, refer to Overload Characteristics listed in the section for the relevant servomotor in the Large-Capacity
Σ-V Series Product Catalog (No.: KAEP S800000 86).
Overload Warning Level Speed Position Torque

Classification
Pn52B Setting Range Setting Unit Factory Setting When Enabled
4-22
(2) Changing Detection Timing of Overload (Low Load) Alarm (A.720)

An overload (low load) alarm (A.720) can be detected earlier to protect the servomotor from overloading. The
time required to detect an overload alarm can be shortened by using the derated motor base current obtained
with the following equation.
Note: The detection level of the overload (high load) alarm (A.710) cannot be changed.
Motor base current × Derating of base current at detecting overload of motor (Pn52C)
= Derated motor base current
Motor base current: Threshold value of motor current to start calculation for overload alarm
Derating of base current at detecting overload of motor (Pn52C): Derating of motor base current
The following graph shows an example of the detection of an overload alarm when Pn52C is set to 50%. The
calculation for the overload of motors starts at 50% of the motor base current and then an overload alarm will
be detected earlier.
Changing the setting of Pn52C will change the detection timing of the overload alarm, so the time required to
detect the overload warning will also be changed.
Overload detection time Rotation
Detection curve of
overload alarm when
Pn52C = 100% (factory setting)
Detection curve of
overload alarm
when Pn52C = 50%
50% 100% 200% Torque reference [%]

Note: For details, refer to Overload Characteristics listed in the section for the relevant servomotor in the Σ-V Series Prod-
uct Catalog (No.: KAEP S800000 42).
Derating of Base Current at Detecting Overload of

Motor Classification
Pn52C
Setting Range Setting Unit Factory Setting When Enabled Operation
10 to 100 1% 100 After restart Setup
4-23
4 Operation
4.4.1 Inspection and Checking before Trial Operation
4.4 Trial Operation

This section describes a trial operation using MECHATROLINK-III communications.
4.4.1 Inspection and Checking before Trial Operation

To ensure safe and correct trial operation, inspect and check the following items before starting trial operation.
(1) Servomotors
Inspect and check the following items, and take appropriate measures before performing trial operation if any
problem exists.
• Are all wiring and connections correct?

• Are all nuts and bolts securely tightened?
• If the servomotor has an oil seal, is the seal undamaged and is the servomotor oiled?
Note: When performing trial operation on a servomotor that has been stored for a long period of time, perform the inspec-
tion according to the procedures described in 1.10 Inspection and Maintenance.
(2) SERVOPACKs and Converters

Inspect and check the following items, and take appropriate measures before performing trial operation if any
problem exists.
• Are all wiring and connections correct?

• Is the correct power supply voltage being supplied to the SERVOPACK and converter?
4-24
4.4 Trial Operation
4.4.2 Trial Operation via MECHATROLINK-III

The following table provides the procedures for trial operation via MECHATROLINK-III.
Step Description Reference

Confirm that the wiring is correct, and then connect the I/O signal con-
1 3 Wiring and Connection
nector (CN1 connector).
Turn ON the power to the SERVOPACK and converter.
And then, turn ON the power of the host controller. If the power is sup-
plied to the control circuit of the SERVOPACK and converter, the seven-
segment LED indicator will light up as shown here.
2 If the power is supplied to the main circuit of the SERVOPACK and con- –
verter, the CHARGE indicator on the SERVOPACK and converter will
light up.
If communications are established, the L1 and L2, LED indicators corre-
sponding to the connector CN6A and CN6B connected to the MECHA-
TROLINK-III cable will light up. If the L1 and L2, LED indicators do
not light up, recheck the settings of MECHATROLINK-III setting
switches S1, S2, and S3, and then turn the power OFF and ON again.
Send the CONNECT command from the host controller.
If the SERVOPACK correctly receives the CONNECT command, the
CN, LED indicator will light up.
3
If the CN does not light up, the set value of the CONNECT command is Σ-V Series User’s Manual
incorrect. Reset the CONNECT command, and then resend it from the MECHATROLINK-III Standard
host controller. Servo Profile Commands
(SIEP S800000 63)
Check the product type using an ID_RD command.
4 A reply showing the product type, such as SGDV-750J21A, is received
from the SERVOPACK.
Set the following items to the necessary settings for a trial operation.
4.4.3 Electronic Gear
• Electronic gear settings
5 4.3.1 Servomotor Rotation Direction
• Rotational direction of servomotor
4.3.2 Overtravel
• Overtravel
Save these settings (step 5).
• If saving the settings in the host controller, use the SVPRM_WR com-
6 mand (set the mode to RAM area).
• If saving settings in the SERVOPACK, use the SVPRM_WR com-
mand (set the mode to the non-volatile memory area). Σ-V Series User’s Manual
7 Send the CONFIG command to enable the settings. MECHATROLINK-III Standard
Servo Profile Commands
8
Send the SENS_ON command to obtain the position data (encoder ready (SIEP S800000 63) Operation
response).
Send the SV_ON command.
9 A response showing that the servomotor has switched to Drive status
and that SVON=1 (Conductivity to motor being made) is received.
Run the servomotor at low speed. 4
<Example using a positioning command>
10 Command used: POSING –
Command setting: Positioning position =10000 (If using the absolute
encoder, add 10000 to the present position), rapid traverse speed= 400
Check the following points while running the servomotor at low speed
(step 10).
• Confirm that the rotational direction of the servomotor correctly coin-
cides with the forward rotation or reverse rotation reference. If they do 4.3.1 Servomotor Rotation Direction
not coincide, reset the direction. 9.4 Troubleshooting Malfunction
11
• Confirm that no unusual vibrations, noises, or temperature rises occur. Based on Operation and Conditions
If any abnormalities are seen, correct the conditions. of the Servomotor
Note: Because the running-in of the load machine is not sufficient at the
time of the trial operation, the servomotor may become over-
loaded.
4-25
4 Operation

The electronic gear enables the workpiece travel distance per reference unit input from the host controller. The
minimum unit of the position data moving a load is called a reference unit.
The section indicates the difference between using and not using an electronic gear when a
workpiece is moved 10 mm in the following configuration.
Workpiece
Rotation
Encoder resolution (20 bit) 1048576
Ball screw pitch: 6 mm
When the Electronic Gear is Not Used:

1 Calculate the revolutions.
1 revolution is 6 mm. Therefore, 10 ÷ 6 = 10/6 revolutions.
2 Calculate the required reference units.

1048576 reference units is 1 revolution. Therefore, 10/6 × 1048576 = 1747626.66 reference units.
3 Input 1747627 references as reference units.
Reference units must be calculated per reference. → complicated
When the Electronic Gear is Used:
The reference unit is 1 μm. Therefore, to move the workpiece 10 mm (10000 μm),
1 reference unit = 1 μm, so 10000 ÷ 1 = 10000 reference units.
Input 10000 reference units.
Calculation of reference units per reference is not required. → simplified
4-26
4.4 Trial Operation
(1) Electronic Gear Ratio

Set the electronic gear ratio using Pn20E and Pn210.
Electronic Gear Ratio (Numerator) Position

Classification
Pn20E Setting Range Setting Unit Factory Setting When Enabled
1 to 1073741824 1 1 After restart Setup
Electronic Gear Ratio (Denominator) Position

Classification
1 to 1073741824 1 1 After restart Setup
If the gear ratio of the servomotor and the load shaft is given as n/m where m is the rotation of the servomotor
and n is the rotation of the load shaft,
B Pn20E Encoder resolution m

Electronic gear ratio:
A
=
Pn210
=
Travel distance per load
×
n Rotation
shaft revolution (reference units)
Encoder Resolution
Encoder resolution can be checked with servomotor model designation.
SGMVV
Symbol Specification Encoder Resolutions
3 20-bit absolute 1048576
D 20-bit incremental 1048576
Electronic gear ratio setting range: 0.001 ≤ Electronic gear ratio (B/A) ≤ 4000
If the electronic gear ratio is outside this range, a parameter setting error 1 (A.040) will
be output.
Operation
4-27
4 Operation
(2) Electronic Gear Ratio Setting Examples

The following examples show electronic gear ratio settings for different load configurations.
Load Configuration
Ball Screw Disc Table Belt and Pulley
Reference unit: 0.001 mm Reference unit: 0.005 mm

Reference unit: 0.01°
Step Operation Load shaft Load shaft
Gear ratio:
Gear ratio
1/100 1/50
20-bit encoder Ball screw Pulley diameter:
pitch: 6 mm 100 mm
Load shaft
20-bit encoder 20-bit encoder
Pulley diameter: 100 mm

Rotation angle per revolu-
Check machine specifica- Ball screw pitch: 6 mm (pulley circumference: 314
1 tion: 360°
tions. Gear ratio: 1/1 mm)
Gear ratio: 1/100
• Gear ratio: 1/50
Check the encoder reso-
2 1048576 (20-bit) 1048576 (20-bit) 1048576 (20-bit)
lution.
Determine the reference Reference unit: 0.001 mm Reference unit: 0.005 mm
3 Reference unit: 0.01°
unit used. (1 μm) (5 μm)
Calculate the travel dis-
314 mm/0.005 mm =
4 tance per load shaft revo- 6 mm/0.001 mm = 6000 360°/0.01° = 36000
62800
lution. (Reference unit)
Calculate the electronic 100 B 1048576 50

5 B 1048576 1 B 1048576
gear ratio. = = =
A 6000 1 A 36000 1 A 62800 1
Pn20E: 1048576 Pn20E: 104857600 Pn20E: 52428800
6 Set parameters.
Pn210: 6000 Pn210: 36000 Pn210: 62800
4-28
4.4 Trial Operation
4.4.4 Encoder Output Pulses

The encoder pulse output is a signal that is output from the encoder and processed inside the SERVOPACK. It
is then output externally in the form of two phase pulse signal (phases A and B) with a 90° phase differential.
It is used as the position feedback to the host controller.
Signals and output phase form are as shown below.
(1) Signals
Signal Connector
Type Name Remarks
Name Pin Number
PAO CN1-33 These encoder pulse output pins out-
Encoder output pulse: phase A put the number of pulses per motor
/PAO CN1-34
revolution that is set in Pn212. Phase
PBO CN1-35 A and phase B are different from
Output Encoder output pulse: phase B each other in phase by an electric
/PBO CN1-36 angle of 90°.
PCO CN1-19 One pulse is output per motor rota-
Encoder output pulse: phase C tion.
/PCO CN1-20
Host controller SERVOPACK Rotation

CN1 CN2
PAO Serial
Converts data
Dividing ENC
PBO circuit serial
data to
(Pn212) pulse.
PCO
(2) Output Phase Form

Forward rotation (phase B leads by 90°) Reverse rotation (phase A leads by 90°)
90° 90°
Phase A Phase A
Phase B Phase B
Phase C Phase C
t t
Operation
Note: The pulse width for phase C (origin pulse) changes according to the setting of the encoder output pulses (Pn212) and
becomes the same as that for phase A.
Even in reverse rotation mode (Pn000.0 = 1), the output phase form is the same as that for the standard setting
(Pn000.0 = 0) above. 4
If using the SERVOPACK’s phase-C pulse output for a zero point return, rotate the ser-
vomotor two or more times before starting a zero point return. If the servomotor cannot
be rotated two or more times, perform a zero point return at a motor speed of 600 min-1
or below. If the motor speed is faster than 600 min-1, the phase-C pulse may not be out-
put correctly.
4-29
4 Operation
4.4.5 Setting Encoder Output Pulse
4.4.5 Setting Encoder Output Pulse

Set the encoder output pulse using the following parameter.
Encoder Output Pulses Speed Position Torque

Classification
16 to 1073741824 1 P/rev 2048 After restart Setup
Pulses from the encoder per revolution are divided inside the SERVOPACK by the number set in this parame-
ter before being output. Set the number of encoder output pulses according to the system specifications of the
machine or host controller.
Setting Range of Encoder Output Setting Unit Upper Limit of Servomotor Speed for
Pulses (P/Rev) Set Encoder Output Pulses [min-1]
16 to 16384 1 6000
16386 to 32768 2 3000
32772 to 65536 4 1500
65544 to 131072 8 750
131088 to 262144 16 375
Note 1. An encoder output pulse setting error (A.041) will occur if the setting does not satisfy the required conditions
listed in the table.
Pn212 = 25000 (P/Rev) is accepted, but
Pn212 = 25001 (P/Rev) is not accepted. The alarm A.041 is output because the setting unit differs from that in
the above table.
2. The upper limit of the pulse frequency is approximately 1.6 Mpps.
The servomotor speed is limited if the setting value of the encoder output pulses (Pn212) is large.
An overspeed of encoder output pulse rate alarm (A.511) will occur if the motor speed exceeds the upper limit
specified in the above table.
Output Example: When Pn212 = 16 (16-pulse output per one revolution), PAO and PBO are output as shown
below.
Preset value: 16 Rotation
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
PAO
PBO
One revolution
4-30
4.5 Test Without Motor Function

The test without a motor is used to check the operation of the host controller and peripheral devices by simu-
lating the operation of the servomotor in the SERVOPACK, i.e., without actually operating a servomotor. This
function enables you to check wiring, verify the system while debugging, and verify parameters, thus shorten-
ing the time required for setup work and preventing damage to the machine that may result from possible mal-
functions. The operation of the motor can be checked during performing this function regardless of whether
the motor is actually connected or not.
SERVOPACK Simulates the operation

Reference Reference
without motor.
Host controller
Response Response
M-III
Use Pn00C.0 to enable or disable the test without a motor.
When
Enabled
n. 0
Disables the test without a motor.
Pn00C [Factory setting] After restart Setup
n. 1 Enables the test without a motor.
4.5.1 Motor Information

The motor information that is used for a test without a motor is given below.
(1) When Motor is Connected

If a motor is connected, the information from the connected motor is used for the motor and encoder scale
information. The set values of Pn00C.1 and Pn00C.2 are not used.
(2) When Motor is Not Connected

The information for the virtual motor that is stored in the SERVOPACK is used. The set values of Pn00C.1
and Pn00C.2 are used for the encoder information.
Encoder Resolution Operation

The encoder information for the motor is set in Pn00C.1. The setting of Pn00C.1 is not used for an external
encoder with fully-closed loop control.
When
Parameter Meaning
Enabled
Classification 4
n. 0 Sets the encoder resolution for the test without a motor
[Factory setting] to 13 bits.
Pn00C After restart Setup
Sets the encoder resolution for the test without a motor
n. 1 to 20 bits.
4-31
4 Operation
4.5.2 Motor Position and Speed Responses
Encoder Type
The encoder information for the motor is set in Pn00C.2. An external encoder with fully-closed loop control is
always regarded as an incremental encoder.
When
Enabled
n. 0 Sets an incremental encoder as an encoder type for the
[Factory setting] test without a motor.
Pn00C After restart Setup
Sets an absolute encoder as an encoder type for the test
n. 1 without a motor.
(3) When External Encoder for Fully-closed Loop Control is Connected

The information from an external encoder is used as the encoder information.
(4) When External Encoder for Fully-closed Loop Control is Not Connected
The encoder information stored in the SERVOPACK is used for the encoder information.
• Resolution: 256
• Incremental encoder
4.5.2 Motor Position and Speed Responses

For the test without a motor, the following responses are simulated for references from the host controller
according to the gain settings for position or speed control.
• Servomotor position
• Servomotor speed
• Encoder position
The load model, however, will be a rigid system with the moment of inertia ratio that is set in Pn103.
4-32
4.5.3 Limitations
The following functions cannot be used during the test without a motor.
• Regeneration and dynamic brake operation

• Brake output signal (The brake output signal can be checked with the I/O signal monitor function of the Sig-
maWin+.)
• Items marked with "×" in the following utility function table.
Can be
used or not
Fn No. Contents
Motor not Motor con-
connected nected
Fn000 Alarm history display
Fn002 JOG operation
Fn003 Origin search
Fn004 Program JOG operation
Fn005 Initializing parameter settings
Fn006 Clearing alarm history
Fn008 Absolute encoder multiturn reset and encoder alarm reset ×
Fn00C Offset adjustment of analog monitor output
Fn00D Gain adjustment of analog monitor output
Fn00E Automatic offset-signal adjustment of the motor current detection signal ×
Fn00F Manual offset-signal adjustment of the motor current detection signal ×
Fn010 Write prohibited setting
Fn011 Servomotor model display
Fn012 Software version display
Multiturn limit value setting change when a multiturn limit disagreement alarm
Fn013 ×
occurs
Fn014 Resetting configuration error in option modules
Fn01B Vibration detection level initialization × ×
Fn01E Display of SERVOPACK and servomotor ID
Fn01F Display of servomotor ID in feedback option module
Fn020 Origin setting ×
Fn030 Software reset
Fn200 Tuning-less levels setting × × Operation
Fn201 Advanced autotuning × ×
Fn202 Advanced autotuning by reference × ×
Fn203 One-parameter tuning × ×
Fn204 Anti-resonance control adjustment function × × 4
Fn205 Vibration suppression function × ×
Fn206 EasyFFT × ×
Fn207 Online vibration monitor × ×
Note: : Can be used
× : Cannot be used
4-33
4 Operation
4.5.4 Digital Operator Displays during Testing without Motor
4.5.4 Digital Operator Displays during Testing without Motor

An asterisk (∗) is displayed before status display to indicate the test without a motor operation is in progress.
∗BB −PRM/MON−
Un0 0 0= 0 0 0 000
Un0 0 2= 0 0 0 000
Un0 0 8= 0 0 0 00000000
Un0 0 D= 0 0 0 00000000
(Example: Status of power to the servomotor is OFF)
Display Status
*RUN Power is supplied to the servomotor.
*BB Power to the servomotor is OFF.
*PT NT Forward or reverse run is prohibited.
*P-OT Forward run is prohibited.
*N-OT Reverse run is prohibited.
*HBB In hard-wire base block (safety) state.
Note: The test without a motor status is not displayed during alarm occurs (A. ).
4-34
4.6 Limiting Torque
4.6 Limiting Torque

The SERVOPACK provides the following four methods for limiting output torque to protect the machine.
Limiting Method Reference Sec-

Description
tion
Internal torque limit Always limits torque by setting the parameter. 4.6.1
External torque limit Limits torque by input signal from the host controller. 4.6.2
Torque limit with the com- Limits torque by using the command data (TLIM) for torque lim-
–
mand data (TLIM)* iting function settable commands.
Torque limit with P_CL and

N_CL signals of the servo Limits torque by using P_CL and N_CL signals of the servo com-
–
command output signals mand output signals (SVCMD_IO).
(SVCMD_IO)*
∗ For details, refer to Σ-V Series User's Manual MECHATROLINK-III Standard Servo Profile Commands (No.: SIEP
S800000 63).
Note: The maximum torque of the servomotor is used when the set value exceeds the maximum torque.
4.6.1 Internal Torque Limit

This function always limits maximum output torque by setting values of following parameters.
Forward Torque Limit Speed Position Torque

Classification
Reverse Torque Limit Speed Position Torque

Classification
The setting unit is a percentage of the rated torque.
Note: If the settings of Pn402 and Pn403 are too low, the torque may be insufficient for acceleration or deceleration of the
servomotor.
Torque waveform
Operation
No Internal Torque Limit
Internal Torque Limit
Rotation
(Maximum torque can be output)
Maximum torque Limiting torque

Speed
Pn402
Speed
4
t t
Pn403
4-35
4 Operation
4.6.2 External Torque Limit
4.6.2 External Torque Limit

Use this function to limit torque by inputting a signal from the host controller at specific times during machine
operation. For example, some pressure must continually be applied (but not enough to damage the workpiece)
when the robot is holding a workpiece or when a device is stopping on contact.
(1) Input Signals

Use the following input signals to limit a torque by external torque limit.
Signal Connector
Type Setting Meaning Limit value
Name Pin Number
ON The smaller value of these set-
Forward external torque limit ON
(closed) tings: Pn402 or Pn404
Input /P-CL Must be allocated
OFF Forward external torque limit
Pn402
(open) OFF
ON The smaller value of these set-
Reverse external torque limit ON
(closed) tings: Pn403 or Pn405
Input /N-CL Must be allocated
OFF Reverse external torque limit
Pn403
(open) OFF
Note: Use parameter Pn50B.2 and Pn50B.3 to allocate the /P-CL signal and the /N-CL signal for use. For details, refer to
3.4.1 Input Signal Allocations.

Set the following parameters for external torque limit.
Forward Torque Limit Speed Position Torque

Classification
Reverse Torque Limit Speed Position Torque

Classification
Forward External Torque Limit Speed Position Torque

Classification
Reverse External Torque Limit Speed Position Torque

Classification
The setting unit is a percentage of the rated torque.
Note: If the settings of Pn402, Pn403, Pn404, and Pn405 are too low, the torque may be insufficient for acceleration or
deceleration of the servomotor.
4-36
4.6 Limiting Torque
(3) Changes in Output Torque during External Torque Limiting

The following diagrams show the change in output torque when the internal torque limit is set to 800%.
In this example, the servomotor rotation direction is Pn000.0 = 0 (Sets CCW as forward direction).
/P-CL
OFF ON
Pn402 Pn402
Speed Speed
Pn404
OFF 0 0
Torque Torque
Pn403 Pn403
/N-CL
Pn402 Pn402
Speed Speed
Pn404
ON 0 0
Pn405 Pn405
Torque Torque
Pn403 Pn403
4.6.3 Checking Output Torque Limiting during Operation

The following signal can be output to indicate that the servomotor output torque is being limited.
Connector
Type Signal Name Setting Meaning
Pin Number
Servomotor output torque is being lim-
ON (closed)
ited.
Output /CLT Must be allocated
Servomotor output torque is not being
OFF (open)
limited.
Note: Use parameter Pn50F.0 to allocate the /CLT signal for use. For details, refer to 3.4.2 Output Signal Allocations.
Operation
4-37
4 Operation
4.7 Absolute Encoders

If using an absolute encoder, a system to detect the absolute position can be designed for use with the host
controller. As a result, an operation can be performed without a zero point return operation immediately after
the power is turned ON.
A battery case is required to save position data in the absolute encoder.

The battery is attached to the battery case of the encoder cable.
If an encoder cable with a battery case is not used, install a battery to the host controller.
PROHIBITED
• Do not install batteries in both the host controller and battery case. It is dangerous because that sets up a
loop circuit between the batteries.
Set Pn002.2 to 0 (factory setting) to use the absolute encoder.
When
Enabled
n. 0
Uses the absolute encoder as an absolute encoder.
Pn002 [Factory setting] After restart Setup
n. 1 Uses the absolute encoder as an incremental encoder.
A battery is not required when using the absolute encoder as an incremental encoder.
The output range of the rotational serial data for the absolute position detecting system
used for Σ-V large-capacity servo drives is different from that of SGDB Σ servo drives. As
a result, the infinite-length positioning system of the Σ servo drives must be changed for
use with Σ-V large-capacity servo drives. Be sure to make the following system modifica-
tions.
Absolute Output Range

SERVOPACK Encoder of Rotational Action when Limit Is Exceeded
Resolution Serial Data
• When the upper limit (+99999) is exceeded
in the forward direction, the rotational
Σ Series 12-bit -99999 to serial data will be 0.
SGDB 15-bit + 99999 • When the lower limit (-99999) is exceeded
in the reverse direction, the rotational serial
data will be 0.
Σ-II, • When the upper limit (+32767) is exceeded
Σ-V (large-capacity) in the forward direction, the rotational
Series 17-bit -32768 to serial data will be -32768.*
SGDM 20-bit + 32767 • When the lower limit (-32768) is exceeded
SGDH in the reverse direction, the rotational serial
SGDV data will be +32767.*
∗ The action differs when the multiturn limit setting (Pn205) is changed. Refer to 4.7.6 Multiturn
Limit Setting.
4-38
4.7.1 Connecting the Absolute Encoder

The following diagram shows the connection between a servomotor with an absolute encoder, the SERVO-
PACK, and the host controller.
(1) Using an Encoder Cable with a Battery Case

∗2
MECHA
CN1
Phase A 33 PAO
34 /PAO R Phase A
Absolute encoder Phase B 35 PBO
36 /PBO R Phase B
∗1 ∗2 Phase C 19 PCO
CN2 Phase C
PS 5 20 /PCO R
/PS 6
Output line-driver
ENC SN75ALS174
Instruments or
the equivalent 16 SG 0V
BAT(+) 3
BAT(-) 4
∗3
Battery
PG5 V 1
PG0 V 2
Applicable line receiver: SN75ALS175
Connector or MC3486 manufactured by Texas
FG shell Instruments or the equivalent
Connector
Encoder cable shell Terminating resistance R: 220 to 470 Ω
with battery case
∗1. The absolute encoder pin numbers for the connector wiring depend on the servomotors.
Operation
4-39
4 Operation
4.7.1 Connecting the Absolute Encoder
(2) Installing the Battery in the Host Controller

∗2
MECHA
CN1
Phase A 33 PAO
Absolute encoder 34 /PAO R Phase A
Phase B 35 PBO
∗1 ∗2 36 /PBO R Phase B
CN2
PS 5 Phase C 19 PCO
/PS 6 20 /PCO R Phase C
ENC Output line-driver

SN75ALS174
Instruments or
the equivalent
1 SG 0V
CN1
BAT(+) 3 21 BAT(+)
BAT(-) 4 22 BAT (-)
+
- Battery
∗3
PG5 V 1
PG0 V 2
Connector
FG shell Applicable line receiver: SN75ALS175 or
Connector MC3486 manufactured by Texas
shell Instruments or the equivalent
Terminating resistance R: 220 to 470 Ω
∗1. The absolute encoder pin numbers for the connector wiring depend on the servomotors.
4-40
4.7.2 Absolute Data Request (SENS ON Command)

The Turn Sensor ON command (SENS_ON) must be sent to obtain absolute data as an output from the SER-
VOPACK.
The SENS_ON command is sent at the following timing.
ON
SERVOPACK control *
power supply OFF 5 seconds max. OFF
ON (Normal status)
ALM signal OFF
(Alarm status) OFF OFF
ON
SENS_ON
(Turn Sensor ON) OFF OFF
Rotational serial data
Initial incremental Incremental

PAO Undefined pulses pulses
(Phase A) (Phase A)
Initial incremental Incremental

PBO Undefined pulses pulses
(Phase B) (Phase B)
ON
Servomotor power OFF

60 ms max.
(90 ms typ.)
Approx.
50 ms 15 ms 400 ms max.
1 to 3 ms
The servomotor will not be turned ON even if the M-III

SV_ON command is received during this interval.
∗ Send the SENS_OFF command to turn OFF the control power supply.
Operation
4-41
4 Operation
4.7.3 Battery Replacement
4.7.3 Battery Replacement

If the battery voltage drops to approximately 2.7 V or less, an absolute encoder battery error alarm (A.830) or
an absolute encoder battery error warning (A.930) will be displayed.
If this alarm or warning is displayed, replace the batteries using the following procedure.
Use Pn008.0 to set either an alarm (A.830) or a warning (A.930).
When
Enabled
n. 0 Outputs the alarm A.830 when the battery voltage
[Factory setting] drops.
Outputs the warning A.930 when the battery voltage
n. 1
drops.
• If Pn008.0 is set to 0, alarm detection will be enabled for 4 seconds after the ALM signal outputs max. 5 sec-
onds when the control power is turned ON.
No battery-related alarm will be displayed even if the battery voltage drops below the specified value after
these 4 seconds.
• If Pn008.0 is set to 1, alarm detection will be always enabled after the ALM signal outputs max. 5 seconds
when the control power supply is turned ON.
ON Rotation
OFF
Control
power
Alarm status Normal status
ALM
5 s max. 4s
Battery
Alarm A.830 voltage being
(Pn008.0 = 0) monitored
Warning A.930 Battery voltage

(Pn008.0 = 1) being monitored
4-42
(1) Battery Replacement Procedure

Using an Encoder Cable with a Battery Case
1. Turn ON the control power supply to only the SERVOPACK and converter.
2. Open the battery case cover.
Open the cover. Rotation
3. Remove the old battery and mount the new JZSP-BA01 battery as shown below.
To the SERVOPACK
Rotation
Encoder Cable
Mount the JZSP-BA01 battery.
4. Close the battery case cover.
Close the cover.

Rotation
Operation
4
5. After replacing the battery, turn OFF the control power supply to clear the absolute encoder battery error
alarm (A.830).
6. Turn ON the control power supply again.
7. Check that the alarm display has been cleared and that the SERVOPACK and converter operate normally.
If the control power supply to the SERVOPACK and converter is turned OFF and the bat-
tery is disconnected (which includes disconnecting the encoder cable), the absolute
encoder data will be deleted.
4-43
4 Operation
4.7.4 Absolute Encoder Setup and Reinitialization
Installing a Battery in the Host Controller

1. Turn ON the control power supply to only the SERVOPACK and converter.
2. Remove the old battery and mount the new battery.
3. After replacing the battery, turn OFF the control power supply to clear the absolute encoder battery error
alarm (A.830).
4. Turn ON the control power supply again.
5. Check that the alarm display has been cleared and that the SERVOPACK and converter operate normally.
4.7.4 Absolute Encoder Setup and Reinitialization
CAUTION
• The rotational data will be a value between -2 and +2 rotations when the absolute encoder setup is exe-
cuted. The reference position of the machine system will change. Set the reference position of the host
controller to the position after setup.
If the machine is started without adjusting the position of the host controller, unexpected operation may
cause injury or damage to the machine. Take sufficient care when operating the machine.
Setting up and reinitialization of the absolute encoder are necessary in the following cases.
• When starting the machine for the first time

• When an encoder backup error alarm (A.810) is generated
• When an encoder checksum error alarm (A.820) is generated
• When initializing the rotational serial data of the absolute encoder
Set up the absolute encoder with Fn008.
(1) Precautions on Setup and Reinitialization

• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• Set up or reinitialize the encoder when the servomotor power is OFF.
• If the following absolute encoder alarms are displayed, cancel the alarm by using the same method as the set
up (initializing) with Fn008. They cannot be canceled with the SERVOPACK Clear Warning or Alarm com-
mand (ALM_CLR).
• Encoder backup error alarm (A.810)
• Encoder checksum error alarm (A.820)
• Any other alarms (A.8 ) that monitor the inside of the encoder should be canceled by turning OFF the
power.
(2) Procedure for Setup and Reinitialization
Follow the steps below to setup or reinitialize the absolute encoder.This setting can be performed using the
Write Memory command (MEM_WR). For details, refer to Σ-V Series User's Manual MECHATROLINK-III
Standard Servo Profile Commands (SIEP S800000 63).
Step Panel Display Keys Description
B B -FUNCTION-
F n0 0 6: Alm Hist Clr Press the Key to select the utility function. And
1 F n0 0 8: Mtu rn Clr
F n0 0 9: Ref Adj press the or Key to select the Fn008.
F n0 0 A: Vel Adj
BB
2 Multiturn Clear
Press the Key to view the execution display of
Fn008.
PGCL1
BB
3 Keep pressing the Key until "PGCL1" is

Multiturn Clear
changed to "PGCL5."
PGCL5
4-44
(cont’d)
Step Panel Display Keys Description
BB
Press the Key to setup the absolute encoder.
4 Multiturn Clear After completing the setup, "DONE" is flashed for
approximately one second and "BB" is displayed.
PGCL5
B B -FUNCTION-
5
F n0 0 6: Alm Hist Clr
Press the Key to return to the display of the pro-
F n0 0 8: Mtu rn Clr
F n0 0 9: Ref Adj cedure 1.
F n0 0 A: Vel Adj
6 To enable the change in the setting, turn the power OFF and ON again.
Operation
4-45
4 Operation
4.7.5 Absolute Data Reception Sequence

The sequence in which the SERVOPACK receives outputs from the absolute encoder and transmits them to
host controller is shown below.
(1) Outline of Absolute Data

The serial data, pulses, etc., of the absolute encoder that are output from the SERVOPACK are output from the
PAO, PBO, and PCO signals as shown below.
Host
controller SERVOPACK MECHA
CN1 CN2
Serial
PAO
data
Dividing Serial data→ ENC
PBO
circuit pulse conversion
PCO (Pn212)
Signal Name Status Contents

Rotational serial data
At initialization
PAO Initial incremental pulses
Normal Operations Incremental pulses
At initialization Initial incremental pulses
PBO
PCO Always Origin pulses
Phase-C Output Specifications

The pulse width of phase C (origin pulse) changes depending on the encoder output pulse (Pn212), becoming
the same width as phase A.
The output timing is one of the following.
• Synchronized with the rising edge of phase A

• Synchronized with the falling edge of phase A
• Synchronized with the rising edge of phase B
• Synchronized with the falling edge of phase B
Note: When host controller receives the data of absolute encoder, do not perform counter reset using the output of PCO
signal.
(2) Absolute Data Reception Sequence

1. Send the Turn Sensor ON (SENS_ON) command from the host controller.
2. After 100 ms, the system is set to rotational serial data reception standby and the incremental pulse up/
down counter is cleared to zero.
3. Eight characters of rotational serial data is received.
4. The system enters a normal incremental operation state about 400 ms after the last rotational serial data is
received.
SENS_ON Rotational M-III

(Turn Sensor ON) serial data
Initial
PAO Undefined incremental
pulses
Incremental pulses
(Phase A) (Phase A)
Initial
PBO Undefined incremental
pulses Incremental pulses
(Phase B) (Phase B)
60 ms min.
90 ms typ.
50 ms Approx. 15 ms 400 ms max.
1 to 3 ms
Note: The output pulses are phase-B advanced if the servomotor is turning forward regardless of the setting in Pn000.0.
4-46
Rotational serial data:

Indicates how many turns the motor shaft has made from the reference position, which was the position at
setup.
Initial incremental pulses:

Initial incremental pulses which provide absolute data are the number of pulses required to rotate the motor
shaft from the servomotor origin to the present position.
Just as with normal incremental pulses, these pulses are divided by the dividing circuit inside the SERVO-
PACK and then output.
The initial incremental pulse speed depends on the setting of the encoder output pulses (Pn212). Use the fol-
lowing formula to obtain the initial incremental pulse speed.
Setting of the Encoder Output Pulses

Formula of the Initial Incremental Pulse Speed
(Pn212)
16 to 16384 680 × Pn212

[kpps]
16384
16386 to 32768 680 × Pn212

[kpps]
32768
32772 to 65536 680 × Pn212

[kpps]
65536
65544 to 131072 680 × Pn212

[kpps]
131072
131088 to 262144 680 × Pn212

[kpps]
262144
Reference position Rotation

(at setup) Current position
Coordinate -1 0 +1 +2 +3
value
-1 ±0 +1 +2
Value of M
M×R PO
PE
PS PM
Final absolute data PM is calculated by following formula.
PE = M × R + PO
P S = M S × R + P S’
Operation
PM = PE - PS
Signal Meaning
PE Current value read by encoder
M Rotational serial data
4
PO Number of initial incremental pulses
PS Absolute data read at setup (This is saved and controlled by the host controller.)
MS Rotational serial data read at setup
PS’ Number of initial incremental pulses read at setup
PM Current value required for the user’s system
R Number of pulses per encoder revolution (pulse count after dividing, value of Pn212)
Note: The following formula applies in reverse mode. (Pn000.0 = 1)

PE = –M × R + PO
P S = M S × R + P S'
PM = PE – P S
4-47
4 Operation
(3) Rotational Serial Data Specifications and Initial Incremental Pulses

Rotational Serial Data Specifications
The rotational serial data is output from PAO signal.
Data Transfer Start-stop Synchronization (ASYNC)

Method
Baud rate 9600 bps
Start bits 1 bit
Stop bits 1 bit
Parity Even
Character code ASCII 7-bit code
Data format 8 characters, as shown below.
"0" to "9"
"P" "+" or " - " Rotational data
in five digits "CR" Rotation
0 00 0 0 1 0 1 0 1
Data Stop bit
Start bit Even parity
Note 1. Data is "P+00000" (CR) or "P-00000" (CR) when the number of revolutions is zero.
2. The revolution range is "-32768" to "+32767". When this range is exceeded, the data
changes from "+32767" to "-32678" or from "-32678" to "+32767". When changing
multiturn limit, the range changes. For details, refer to 4.7.6 Multiturn Limit Setting.
Initial Incremental Pulses

The initial incremental pulses are output after division inside the SERVOPACK in the same way as for normal
incremental pulses. Refer to 4.4.4 Encoder Output Pulses for details.
4-48
(4) Transferring Alarm Contents

If an absolute encoder is used, the contents of alarms detected by the SERVOPACK are transmitted in serial
data to the host controller from the PAO output when the Turn Sensor OFF command (SENS_OFF) is
received.
Note: The SENS_OFF command cannot be received while the servomotor power is ON.
Output example of alarm contents are as shown below.
Turn Sensor
ON OFF M-III
OFF
Error detection
(SENS_OFF)
Panel Display or
Overspeed
Incremental pulse Serial Data

Enlarged view
PAO Output Serial Data Format
" A" " L" " M" "5" "1" " . " "CR "
Upper 2 digits
Operation
4-49
4 Operation
4.7.6 Multiturn Limit Setting
4.7.6 Multiturn Limit Setting

The multiturn limit setting is used in position control applications for a turntable or other rotating device. For
example, consider a machine that moves the turntable in the following diagram in only one direction.
Turntable Rotation
Gear
Servomotor
Because the turntable moves in only one direction, the upper limit for revolutions that can be counted by an
absolute encoder will eventually be exceeded. The multiturn limit setting is used in cases like this to prevent
fractions from being produced by the integral ratio of the motor revolutions and turntable revolutions.
For a machine with a gear ratio of n:m, as shown above, the value of m minus 1 will be the setting for the mul-
titurn limit setting (Pn205).
Multiturn limit setting (Pn205) = m-1
The case in which the relationship between the turntable revolutions and motor revolutions is m = 100 and n =
3 is shown in the following graph.
Pn205 is set to 99.
Pn205 = 100 − 1 = 99
9
8
7 Table rotations
6
Table 5 Rotational
rotations 4 Set value of Pn205 = 99 serial data
Rotational data
3 100
2
50
1
0
100 200 300 0
Rotation Motor rotations
Multiturn Limit Setting Speed Position Torque

Classification
0 to 65535 1 Rev 65535 After restart Setup
Note: This parameter is valid when the absolute encoder is used.
The range of the data will vary when this parameter is set to anything other than the factory setting.
1. When the motor rotates in the reverse direction with the rotational data at 0, the rotational data will change
to the setting of Pn205.
2. When the motor rotates in the forward direction with the rotational data at the Pn205 setting, the rotational
data will change to 0.
4-50
Set the value, the desired rotational amount -1, to Pn205.
Factory Setting (= 65535) Other Setting (≠65535)
+32767 Reverse
Pn205 setting value Forward
Forward Reverse
Rotational 0
data Rotational
data 0
Motor rotations
-32768 Motor rotations
4.7.7 Multiturn Limit Disagreement Alarm (A.CC0)

When the multiturn limit set value is changed with parameter Pn205, a multiturn limit disagreement alarm
(A.CC0) will be displayed because the value differs from that of the encoder.
Alarm
Alarm Name Alarm Output Meaning
Display
Different multiturn limits have been set in the
A.CC0 Multiturn Limit Disagreement OFF (H)
encoder and SERVOPACK.
If this alarm is displayed, perform the operation described below and change the multiturn limit value in the
encoder to the value set in Pn205.
This setting can be performed using the Write Memory command (MEM_WR). For details, refer to Σ-V Series
User’s Manual MECHATROLINK-III Standard Servo Profile Commands (SIEP S800000 63).
A .C C0 -FUNCTION-
F n0 12: Soft Ver Press the Key to select the utility function. And
1 F n0 13: MturnLmSet
F n0 14: Opt Init press the or Key to select the Fn013.
F n0 1B: Viblvl Init
Press the Key to view the execution display of

A. C C 0
Fn013.
‫ޓ‬Multiturn Limit
2 ‫ޓޓޓ‬Set
Note: If the display is not switched and “NO-OP” is
‫ޓޓ‬Start :[DATA] displayed in the status display, the Write Pro-
‫ޓޓ‬Return:[SET] hibited Setting (Fn010 = 0001) is set. Check
the setting and reset.
Press the Key to set the multiturn limit value.

A.CC0 When the setting is completed, the status display Operation
Multiturn Limit shows "DONE" for one second. The status display
3 Set
then returns to show "A.CC0" again.
Start :[DATA]
Return:[SET] Note: If the Key is pressed instead of the
Key, the multiturn limit value will not be reset.
A .C C0 -FUNCTION- 4
4
F n0 12: Soft Ver Press the Key to return to the display the proce-
F n0 13: MturnLmSet
F n0 14: Opt Init
dure 1.
F n0 1B: Viblvl Init
4-51
4 Operation
4.7.8 Absolute Encoder Origin Offset
4.7.8 Absolute Encoder Origin Offset

If using the absolute encoder, the positions of the encoder and the offset of the machine coordinate system
(APOS) can be set. Use Pn808 to make the setting. After the SENS_ON command is received by MECHA-
TROLINK communications, this parameter will be enabled.
Absolute Encoder Origin Offset Position 　

Classification
-1073741823 to
1 reference unit 0 Immediately Setup
1073741823
<Example>
If the encoder position (X) is set at the origin of the machine coordinate system (0), Pn808 = X.
Origin MECHA
Machine coordinate
system position
(APOS)
Pn808 Encoder position
Encoder position
Encoder position: Origin
4-52
4.8 Other Output Signals

This section explains other output signals.
Use these signals according to the application needs, e.g., for machine protection.
4.8.1 Servo Alarm Output Signal (ALM)

This section describes signals that are output when the SERVOPACK detects errors and resetting methods.
(1) Servo Alarm Output Signal (ALM)

This signal is output when the SERVOPACK detects an error.
Configure an external circuit so that this alarm output turns OFF the main circuit power
supply to the SERVOPACK and converter whenever an error occurs.
Signal Connector
Type Setting Meaning
Name Pin Number
ON (closed) Normal status
Output ALM CN1-31, 32
OFF (open) Alarm status
(2) Alarm Reset Method

If a servo alarm (ALM) occurs, use one of the following methods to reset the alarm after eliminating the cause
of the alarm.
Be sure to eliminate the cause of the alarm before resetting it.

If the alarm is reset and operation continued without eliminating the cause of the alarm, it
may result in damage to the equipment or fire.
Resetting Alarms by Sending Clear Warning or Alarm Command (ALM_CLR)

For details, refer to Σ-V Series User’s Manual, MECHATROLINK-III Standard Servo Profile Commands (No.:
SIEP S800000 63).
Resetting Alarms Using the Digital Operator

Operation
Press the ALARM RESET Key on the digital operator. For details, refer to Σ-V Series User’s Manual, Opera-
tion of Digital Operator (No.: SIEP S800000 55).
4.8.2 Warning Output Signal (/WARN)

4
This signal is for a warning issued before the occurrence of an alarm.
Refer to 9.2.1 List of Warnings.
(1) Signal Specifications

Signal Connector Pin
Name Number
ON (closed) Warning status
Output /WARN Must be allocated
OFF (open) Normal status
Note: Use parameter Pn50F.3 to allocate the /WARN signal for use. For details, refer to 3.4.2 Output Signal Alloca-
tions.
4-53
4 Operation
4.8.3 Rotation Detection Output Signal (/TGON)
4.8.3 Rotation Detection Output Signal (/TGON)

This output signal indicates that the servomotor is rotating at the speed set for Pn502 or a higher speed.

Name Number
Servomotor is rotating with the motor speed above
ON (closed)
the setting in Pn502.
Output /TGON Must be allocated
Servomotor is rotating with the motor speed below
OFF (open)
the setting in Pn502.
Note: Use parameter Pn50E.2 to allocate the /TGON signal for use. For details, refer to 3.4.2 Output Signal Alloca-
tions.
(2) Related Parameter
Set the range in which the /TGON signal is output using the following parameter.
Rotation Detection Level Speed 　 Position 　 Torque

Classification
4.8.4 Servo Ready Output Signal (/S-RDY)

This signal is turned ON when the SERVOPACK is ready to accept the servo ON (SV_ON) command.
The /S-RDY signal is turned ON under the following conditions.
• The main circuit power supply is ON.

• No hard wire base block state
• No servo alarms
• The Turn Sensor ON (SENS_ON) command is received. (When an absolute encoder is used.)
If an absolute encoder is used, the output of absolute data to the host controller must have been completed
when the SENS_ON command is received.
For details on the hard wire base block function, refer to 4.9.1 Hard Wire Base Block (HWBB) Function.

Name Number
The SERVOPACK is ready to accept the SV_ON
ON (closed)
command.
Output /S-RDY Must be allocated
The SERVOPACK is not ready to accept the
OFF (open)
SV_ON command.
Note 1. Use parameter Pn50E.3 to allocate the /S-RDY signal for use. For details, refer to 3.4.2 Output Signal Alloca-
tions.
2. For details on the hard wire base block function and the servo ready output signal, refer to 4.9.1 Hard Wire Base
Block (HWBB) Function.
4-54
4.8.5 Speed Coincidence Output Signal (/V-CMP)

The speed coincidence output signal (/V-CMP) is output when the actual servomotor speed is the same as the
reference speed. The host controller uses the signal as an interlock. This signal is the output signal during
speed control.

Name Number
ON (closed) Speed coincides.
Output /V-CMP Must be allocated
OFF (open) Speed does not coincide.
Note: Use parameter Pn50E.1 to allocate the /V-CMP signal for use. Refer to 3.4.2 Output Signal Allocations for details.
Speed Coincidence Signal Output Width Speed

Classification
The /V-CMP signal is output when the difference between the reference speed and actual motor speed is below
this setting.
Motor speed Rotation
Pn503
Reference speed
/V-CMP is output in
this range.
<Example>
The /V-CMP signal is output at 1900 to 2100 min-1 if the Pn503 is set to 100 and the reference speed is 2000
min-1.
Operation
4-55
4 Operation
4.8.6 Positioning Completed Output Signal (/COIN)
4.8.6 Positioning Completed Output Signal (/COIN)

This signal indicates that servomotor movement has been completed during position control.
When the difference between the number of references output by the host controller and the travel distance of
the servomotor (position error) drops below the set value in the parameter, the positioning completion signal
will be output.
Use this signal to check the completion of positioning from the host controller.
Signal Connector
Name Pin Number
ON (closed) Positioning has been completed.
Output /COIN Must be allocated
OFF (open) Positioning is not completed.
Note: Use parameter Pn50E.0 to allocate the /COIN signal for use. Refer to 3.4.2 Output Signal Allocations for details.
Positioning Completed Width Position

Classification
0 to 1073741824 1 reference unit 7 Immediately Setup
The positioning completed width setting has no effect on final positioning accuracy.
Reference
Motor speed Motor speed
Time
Pn522
Position error
Time
/COIN Effective at ON (close).

Time
Note: If the parameter is set to a value that is too large, a positioning completed signal might be output if the position error
is low during a low speed operation. This will cause the positioning completed signal to be output continuously. If
this signal is output unexpectedly, reduce the set value until it is no longer output.
If the position error is kept to a minimum when the positioning completed width is small, use Pn207.3 to
change output timing for the /COIN signal.
When
Parameter Name Meaning Classification
Enabled
When the absolute value of the posi-
n.0
tion error is below the positioning
[Factory setting]
completed width (Pn522).
n.1 /COIN Output completed width (Pn522), and the ref-
Timing erence after applying the position ref-
erence filter is 0.
n.2
completed width (Pn522), and the
position reference input is 0.
4-56
4.8.7 Positioning Near Output Signal (/NEAR)

Before confirming that the positioning completed signal has been received, the host controller first receives a
positioning near signal and can prepare the operating sequence after positioning has been completed. The time
required for this sequence after positioning can be shortened.
This signal is generally used in combination with the positioning completed output signal.
Signal Connector
Name Pin Number
The servomotor has reached a point near to
ON (closed)
positioning completed.
Output /NEAR Must be allocated
The servomotor has not reached a point near
OFF (open)
to positioning completed.
Note: Use parameter Pn510.0 to allocate the /NEAR signal for use. Refer to 3.4.2 Output Signal Allocations for details.
NEAR Signal Width Position

Classification
The positioning near signal (/NEAR) is output when the difference between the number of references output
by the host controller and the travel distance of the servomotor (position error) is less than the set value.
Motor speed Reference
Motor speed
Position error Pn524 Pn522 Time
0
Time
/NEAR Effective at ON (close).

Time
/COIN Effective at ON (close).
Time
Note: Normally, the value of Pn524 should be larger than that for the positioning completed width (Pn522).
Operation
4-57
4 Operation
4.8.8 Speed Limit Detection Signal (/VLT)
4.8.8 Speed Limit Detection Signal (/VLT)

This function limits the speed of the servomotor to protect the machine.
A servomotor in torque control is controlled to output the specified torque, but the motor speed is not con-
trolled. Therefore, if an excessive reference torque is set for the load torque on the machinery side, the speed
of the servomotor may increase greatly. If that may occur, use this function to limit the speed.
Note: The actual limit value of motor speed depends on the load conditions of the servomotor.
With No Speed Limit With Speed Limit
Danger of damage due to Motor speed

Motor speed critical speed.
Maximum speed Safe operation with
speed limit.
Limiting speed
Time Time
Refer to the following parameters for speed limit.
(1) Signals Output during Servomotor Speed Limit

The following signal is output when the motor speed reaches the limit speed.
Signal Connector
Name Pin Number
ON (closed) Servomotor speed limit being applied.
Output /VLT Must be allocated
OFF (open) Servomotor speed limit not being applied.
Note: Use parameter Pn50F.1 to allocate the /VLT signal for use. For details, refer to 3.4.2 Output Signal Allocations.
(2) Speed Limit Setting

Select the speed limit mode with Pn002.1.
When
Enabled
VLIM (the speed limit value during torque control) is
n. 0
not available. Uses the value set in Pn407 as the speed
[Factory setting]
Pn002 limit (internal speed limit function). After restart Setup
VLIM operates as the speed limit value (external speed
n. 1
limit function).
4-58
Internal Speed Limit Function
If the internal speed limit function is selected in Pn002.1, set the limit of the maximum speed of the servomo-
tor in Pn407. The limit of the speed in Pn408.1 can be either the maximum speed of the servomotor or the
overspeed alarm detection speed. Select the overspeed alarm detection speed to limit the speed to the maxi-
mum speed of the servomotor or the equivalent.
Speed Limit During Torque Control Torque

Classification
Note: The servomotor’s maximum speed or the overspeed alarm detection speed will be used when the setting in this
parameter exceeds the maximum speed of the servomotor used.
When
Enabled
n. 0 Uses the smaller value of the maximum motor speed
[Factory setting] and the value of Pn407 as the speed limit value.
Uses the smaller value of the overspeed alarm detec-
n. 1
tion speed and the value of Pn407 as speed limit value.
External Speed Limit Function

If the external speed limit function is selected in Pn002.1, the motor speed is controlled by the speed limit
value (VLIM). For details, refer to Σ-V Series User’s Manual, MECHATROLINK-III Standard Servo Profile
Commands (No.: SIEP S800000 63).
Operation
4-59
4 Operation
4.9.1 Hard Wire Base Block (HWBB) Function
4.9 Safety Function

The safety function is incorporated in the SERVOPACK to reduce the risk associated with the machine by pro-
tecting workers from injury and by securing safe machine operation. Especially when working in hazardous
areas inside the safeguard, as for machine maintenance, it can be used to avoid adverse machine movement.

The Hard Wire Base Block function (hereinafter referred to as HWBB function) is a safety function designed
to baseblock the servomotor (shut off the motor current) by using the hardwired circuits. Each circuit for two
channel input signals blocks the run signal to turn off the power module that controls the motor current, and
the motor current is shut off. (Refer to the diagram below.)
Power supply
SERVOPACK Converter
Control circuit
24-V power supply CN8
Run
Switch signal
/HWBB1+ 4
Fuse
/HWBB1- 3 Block
/HWBB2+ 6
Block
/HWBB2- 5
0V
Power module
Motor
Note: For safety function signal connections, the input signal is the 0 V common and the output signal is the source output.
This is the opposite of other signals described in this manual. To avoid confusion, the ON and OFF status of signals
for safety functions are defined as follows:
ON: The state in which the relay contacts are closed or the transistor is ON and current flows into the signal line.
OFF: The state in which the relay contacts are open or the transistor is OFF and no current flows into the signal line.
(1) Risk Assessment

When using the HWBB function, be sure to perform a risk assessment of the servo system in advance. Make
sure that the safety level of the standards is met. For details about the standards, refer to Harmonized Stan-
dards at the front of this manual.
Note 1. Applications for certification are pending to show that SERVOPACKs comply with rules and regulations for
North American and other safety standards, including those for safe performance.
2. To meet the performance level d (PLd) in EN ISO 13849-1, the EDM signal must be monitored by a host control-
ler. If the EDM signal is not monitored by a host controller, the system only qualifies for the performance level c
(PLc).
The following risks can be estimated even if the HWBB function is used. These risks must be included in the
risk assessment.
• The servomotor will move in an application where external force is applied to the servomotor (for example,
gravity on the vertical axis). Take measures to secure the servomotor, such as installing a mechanical brake.
• The servomotor may move within the electric angle of 180 degrees in case of the power module failure, etc.
Make sure that safety is ensured even in that situation.
The maximum motor rotation angle is 1/6 of a rotation (This is the converted rotation angle for the motor
shaft).
• The HWBB function does not shut off the power to the SERVOPACK and converter or electrically isolate
them. Take measures to shut off the power to the SERVOPACK and converter before performing mainte-
nance on them.
4-60
4.9 Safety Function
(2) Hard Wire Base Block (HWBB) State

The SERVOPACK will be in the following state if the HWBB function operates. If the /HWBB1 or /HWBB2
signal is OFF, the HWBB function will operate and the SERVOPACK will enter a hard wire baseblock
(HWBB) state.
The HWBB function operates after the servomotor power is turned OFF.
OFF
/HWBB1 ON (Motor current shut-off
/HWBB2 (Normal operation) request.)
M-III command Motion SV_OFF SMON

command, etc. command command, etc.
Servo command
status SV_ON 1 0
Servo command input 0 1

signal monitoring ESTP
SERVOPACK
Operation BB state HWBB state
state
M-III
The HWBB function operates while the servomotor power is ON.
/HWBB1 ON OFF
/HWBB2 (Normal operation) (Motor current shut-off request.)
M-III command Motion SMON

command, etc. command, etc.
Servo command
status SV_ON 1 0
Servo command input 0 1

SERVOPACK
state Operation HWBB state
Operation
4-61
4 Operation
(3) Resetting the HWBB State

Usually after the servo OFF command (SV_OFF: 32H) is received and the servomotor power is OFF, the
SERVOPACK will then enter a hard wire baseblock (HWBB) state with the /HWBB1 and /HWBB2 signals
turned OFF. By then turning the /HWBB1 and /HWBB2 signals ON in this state, the SERVOPACK will enter
a baseblock (BB) state and can accept the servo ON command (SV_ON: 31H).
/HWBB1 OFF
/HWBB2 (Motor current shut-off request.) ON M-III
(Normal operation)
M-III command SMON SV_ON

Command, etc. Command
Servo command
status SV_ON 0 1
Servo command input 1 0 0

SERVOPACK
state HWBB state BB state Operation
If the /HWBB1 and /HWBB2 signals are OFF and the servo ON command is received, the HWBB state will
be maintained after the /HWBB1 and /HWBB2 signals are turned ON.
Send the servo OFF command, and the SERVOPACK is placed in a BB state. Then send the servo ON com-
mand again.
OFF
/HWBB1 (Motor current
ON
/HWBB2 shut-off request)
(Normal operation)
M-III SV_ON SV_OFF SV_ON

Command Command Command Command
Servo command
0 0 1
status SV_ON
M-III
Servo command 1 0 0
input signal
monitoring ESTP
SERVOPACK state HWBB state BB state Operation
Note: Even if the servomotor power is turned OFF by turning OFF the main circuit power, the HWBB status is retained
until a servo OFF command is received.
4-62
4.9 Safety Function
(4) Related Commands

If the HWBB function is working with the /HWBB1 or /HWBB2 signal turned OFF, the setting of ESTP of the
servo command input signal monitoring changes to 1, so the status of the upper level apparatus can be known
by looking at the setting of this bit.
If the status becomes HWBB status during the execution of the next command, a command warning is issued.
If a warning is given, clear the alarm to return to normal operational status. After stopping or canceling the
action command, using the sequence of commands to return to the HWBB status is recommended.
Object Action Commands

Servo ON (SV_ON)
Interpolating (INTERPORATE)
Positioning (POSING)
Constant speed feed (FEED)
Constant speed feed with position detection function (EX_FEED)
Interpolating with position detection function (LATCH)
External input positioning (EX_POSING)
Homing (ZRET)
(5) Error Detection in HWBB Signal

If only the /HWBB1 or /HWBB2 signal is input, an A.Eb1 alarm (Safety Function Signal Input Timing Error)
will occur unless the other signal is input within 10 seconds. This makes it possible to detect failures, such as
disconnection of the HWBB signals.
CAUTION
• The safety function signal input timing error alarm (A.Eb1) is not a safety-related part of a control system. Keep this
in mind in the system design.
Operation
4-63
4 Operation
(6) Connection Example and Specifications of Input Signals (HWBB Signals)

The input signals must be redundant. A connection example and specifications of input signals (HWBB sig-
nals) are shown below.
For safety function signal connections, the input signal is the 0 V common and the output
signal is the source output. This is opposite to other signals described in this manual. To
avoid confusion, the ON and OFF status of signals for safety functions are defined as fol-
lows:
ON: The state in which the relay contacts are closed or the transistor is ON and current
flows into the signal line.
OFF: The state in which the relay contacts are open or the transistor is OFF and no cur-
rent flows into the signal line.
Connection Example
SERVOPACK
24-V power
supply CN8
Switch
/HWBB1+ 4
Fuse
/HWBB1- 3
Use a switch /HWBB2+ 6
that has micro-current
contacts.
/HWBB2- 5
0V
Specifications
Signal Connector
Name Pin Number
ON (closed) Does not use the HWBB function. (normal operation)
CN8-4
/HWBB1 Uses the HWBB function. (motor current shut-off
CN8-3 OFF (open)
request)
Input
ON (closed) Does not use the HWBB function. (normal operation)
CN8-6
/HWBB2 Uses the HWBB function. (motor current shut-off
CN8-5 OFF (open)
request)
The input signals (HWBB signals) have the following electrical characteristics.
Items Characteristics Remarks

Internal Impedance 3.3 kΩ −
Operation Movable Volt-
+11 V to + 25 V −
age Range
Time from the /HWBB1 and /HWBB2 signals are OFF to
the HWBB function operates.
If the HWBB function is requested by turning OFF the /HWBB1 and /HWBB2 input signals on the two chan-
nels, the power supply to the servomotor will be turned OFF within 20 ms (see below).
Within 20 ms
/HWBB1
ON OFF (Motor current
/HWBB2
(Normal operation) shut-off request)
SERVOPACK Normal operation HWBB state

State
Note 1. The OFF status is not recognized if the total OFF time of the /HWBB1 and /HWBB2 signals is 0.5 ms or shorter.
2. The status of the input signals can be checked using monitor displays. Refer to 7.5 Monitoring Safety Input Sig-
nals.
4-64
4.9 Safety Function
(7) Operation with Utility Functions

The HWBB function works while the SERVOPACK operates in the utility function.
If any of the following utility functions is being used with the /HWBB1 and /HWBB2 signals turned OFF, the
SERVOPACK cannot be operated by turning ON the /HWBB1 and /HWBB2 signals. Cancel the utility func-
tion first, and then set the SERVOPACK to the utility function again and restart operation.
• JOG operation (Fn002)

• Origin search (Fn003)
• Program JOG operation (Fn004)
• Advanced autotuning (Fn201)
• EasyFFT (Fn206)
• Automatic offset-signal adjustment of motor current detection signal (Fn00E)
(8) Servo Ready Output (/S-RDY)
The servo ON (SV_ON: 31H) command will not be accepted in the HWBB state. Therefore, the servo ready
output will turn OFF. The servo ready output will turn ON if the servomotor power is OFF (set to BB state)
when both the /HWBB1 and /HWBB2 signals are ON.
The following diagram shows an example where the main circuit power supply is turned ON, the Turn Sensor
ON (SENS_ON) command is sent (with an absolute encoder), and no servo alarm occurs.
OFF
/HWBB1 ON (Motor current ON
/HWBB2 (Normal shut-off request) (Normal operation)
operation)
MECHA
OFF
Servomotor ON
Power
SERVOPACK
State Operating HWBB state BB state
OFF
/S-RDY ON ON
(9) Brake Signal (/BK)

When the /HWBB1 or /HWBB2 signal is OFF and the HWBB function operates, the brake signal (/BK) will
turn OFF. At that time, Pn506 (brake reference - servo OFF delay time) will be disabled. Therefore, the servo-
motor may be moved by external force until the actual brake becomes effective after the brake signal (/BK) Operation
turns OFF.
CAUTION
4
• The brake signal is not a safety-related part of a control system. Be sure to design the system so that the
system will not be put into danger if the brake signal fails in the HWBB state. Moreover, if a servomotor
with a brake is used, keep in mind that the brake for the servomotor is used only to prevent the movable
part from being moved by gravity or an external force and it cannot be used to brake the servomotor.
4-65
4 Operation
4.9.2 External Device Monitor (EDM1)
(10) Dynamic Brake

If the dynamic brake is enabled in Pn001.0 (Stopping Method for Servomotor after SV_OFF Command is
Received), the servomotor will come to a stop under the control of the dynamic brake when the HWBB func-
tion works while the /HWBB1 or /HWBB2 signal is OFF.
CAUTION
• The dynamic brake is not a safety-related part of a control system. Be sure to design the system so that
the system will not be put into danger if the servomotor coasts to a stop in the HWBB state. Usually, use a
sequence in which the HWBB state occurs after the servomotor is stopped using the reference.
• If the application frequently uses the HWBB function, do not use the dynamic brake to stop the servomo-
tor. Otherwise element deterioration in the SERVOPACK and converter may result. To prevent internal ele-
ments from deteriorating, use a sequence in which the HWBB state occurs after the servomotor has come
to a stop.
(11) Servo Alarm Output Signal (ALM)

In the HWBB state, the servo alarm output signal (ALM) is not sent.
4.9.2 External Device Monitor (EDM1)

The external device monitor (EDM1) functions to monitor failures in the HWBB function. Connect the moni-
tor to feedback signals to the safety function device.
Note: To meet the performance level d (PLd) in EN ISO13849-1, the EDM signal must be monitored by a host controller.
If the EDM signal is not monitored by a host controller, the system only qualifies for the performance level c (PLc).
Failure Detection Signal for EDM1 Signal
The relation of the EDM1, /HWBB1, and /HWBB2 signals is shown below.
Detection of failures in the EDM1 circuit can be checked using the following four status of the EDM1 signal
in the table. Failures can be detected if the failure status can be confirmed, e.g., when the power supply is
turned ON.
Signal
Logic
Name
/HWBB1 ON ON OFF OFF
/HWBB2 ON OFF ON OFF
EDM1 OFF OFF OFF ON
WARNING
• The EDM1 signal is not a safety output. Use it only for monitoring a failure.
4-66
4.9 Safety Function
(1) Connection Example and Specifications of EDM1 Output Signal

Connection example and specifications of EDM1 output signal are explained below.
For safety function signal connections, the input signal is the 0 V common and the output
signal is the source output. This is opposite to other signals described in this manual. To
avoid confusion, the ON and OFF status of signals for safety functions are defined as fol-
lows:
ON: The state in which the relay contacts are closed or the transistor is ON and current
flows into the signal line.
OFF: The state in which the relay contacts are open or the transistor is OFF and no cur-
rent flows into the signal line.
Connection Example
EDM1 output signal is used for source circuit.
CN8 24-V power supply

8 EDM1+
7 EDM1-
0V
Specifications
Signal Connector
Name Pin Number
Both the /HWBB1 and the /HWBB2 signals are working
ON (closed)
CN8-8 normally.
Output EDM1
CN8-7 The /HWBB1 signal, the /HWBB2 signal or both are not
OFF (open)
working normally.
Electrical characteristics of EDM1 signal are as follows. Operation
Items Characteristics Remarks

Maximum Allowable Voltage 30 VDC −
Maximum Current 50 mADC − 4
Voltage between EDM1+ and EDM1- when current is 50
Maximum Voltage Drop at ON 1.0 V
mA
Time from the change in /HWBB1 or /HWBB2 until the
change in EDM1
4-67
4 Operation
4.9.3 Application Example of Safety Functions
4.9.3 Application Example of Safety Functions

An example of using safety functions is shown below.
(1) Connection Example

In the following example, a safety unit is used and the HWBB function operates when the guard opens.
Close
Guard Limit switch
Safety unit G9SX-BC202

24-V power
supply manufactured by OMRON Corp.
Open
Fuse
A1 T11 T12 T21 T22
Power Input
supply Reset/feedback
input input Output
A2 T31 T32 T33 S24 S14
SERVOPACK
CN8
/HWBB1+ 4
0V
/HWBB1- 3
/HWBB2+ 6
/HWBB2- 5
EDM1+ 8
EDM1- 7
When a guard opens, both of signals, the /HWBB1 and the /HWBB2, turn OFF, and the EDM1 signal turns
ON. Since the feedback is ON when the guard closes, the safety unit is reset, and the /HWBB1 and the /
HWBB2 signals turn ON, and the operation becomes possible.
Note: The EDM1 signal is used as a sourcing output. Connect the EDM1 so that the current flows from EMD1+ to EMD1-.
(2) Failure Detection Method

In case of a failure such as the /HWBB1 or the /HWBB2 signal remains ON, the safety unit is not reset when
the guard closes because the EDM1 signal keeps OFF. Therefore starting is impossible, then the failure is
detected.
In this case, an error in the external device, disconnection or short-circuiting of the external wiring, or a failure
in the SERVOPACK or converter must be considered. Find the cause and correct the problem.
4-68
4.9 Safety Function
(3) Procedure
1 Request to open the guard.
When the servomotor is operating, the host

2 controller stops the servomotor and sends
the servo OFF command (SV_OFF).
3 Open the guard and enter.
The /HWBB1 and /HWBB2 signals are

4 OFF and HWBB function operates.
(The operation in the guard is available.)
After completing the operation, leave and

5
close the guard.
The host controller sends the servo ON com-

6 mand (SV_ON).
4.9.4 Confirming Safety Functions

When starting the equipment or replacing the SERVOPACK or converter for maintenance, be sure to conduct
the following confirmation test on the HWBB function after wiring.
• When the /HWBB1 and /HWBB2 signals turn OFF, check that the digital operator displays "Hbb" and that
the servomotor does not operate.
• Check the ON/OFF states of the /HWBB1 and /HWBB2 signals with Un015.
→ If the ON/OFF states of the signals do not coincide with the display, an error in the external device, dis-
connection or short-circuiting of the external wiring, or a failure in the SERVOPACK or converter must be
considered. Find the cause and correct the problem.
• Check with the display of the feedback circuit input of the connected device to confirm that the EDM1 sig-
nal is OFF while in normal operation.
4.9.5 Connecting a Safety Function Device

Connect a safety function device using the following procedure.
1. Remove the safety function’s jumper connector from CN8.

Operation
M-III
Hold the jumper connector with

Safety function’s two fingers and pull it out.
jumper connector
2. Connect a safety function device to CN8.

Note: When not using the safety function, use the SERVOPACK with the safety function’s jumper connector (JZSP-
CVH05-E provided as an accessory) inserted in CN8. If the SERVOPACK is used without the jumper connector
inserted into CN8, no current will flow to the servomotor and no torque will be output. In this case, "Hbb" will be
displayed on the digital operator.
4-69
4 Operation
4.9.6 Precautions for Safety Functions
4.9.6 Precautions for Safety Functions
WARNING
• To check that the HWBB function satisfies the safety requirements of the system, be sure to conduct a risk
assessment of the system.
Incorrect use of the machine may cause injury.
• The servomotor rotates if there is external force (e.g., gravity in a vertical axis) when the HWBB function is
operating. Therefore, use an appropriate device independently, such as a mechanical brake, that satisfies
safety requirements.
• While the HWBB function is operating, the motor may rotate within an electric angle of 180° or less as a
result of failure of the SERVOPACK or converter. Use the HWBB function for applications only after check-
ing that the rotation of the motor will not result in a dangerous condition.
• The dynamic brake and the brake signal are not safety-related parts of a control system. Be sure to design
the system that these failures will not cause a dangerous condition when the HWBB function operates.
• Connect devices meeting safety standards for the signals for safety functions.
• If the HWBB function is used for an emergency stop, turn OFF the power supply to the servomotor with
independent electric or mechanical parts.
• The HWBB function does not shut off the power to the SERVOPACK and converter or electrically isolate it.
Take measures to shut off the power to the SERVOPACK and converter when performing maintenance on
it.
Failure to observe this warning may cause an electric shock.
4-70
5
Adjustments
5.1 Type of Adjustments and Basic Adjustment Procedure . . . . . . . . . . . . . . 5-3

5.1.1 Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.1.2 Basic Adjustment Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.1.3 Monitoring Operation during Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.1.4 Safety Precautions on Adjustment of Servo Gains . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.2 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11

5.2.1 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.2.2 Tuning-less Levels Setting (Fn200) Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
5.2.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
5.3 Advanced Autotuning (Fn201) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18

5.3.1 Advanced Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5.3.2 Advanced Autotuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21
5.4 Advanced Autotuning by Reference (Fn202) . . . . . . . . . . . . . . . . . . . . . 5-28

5.4.1 Advanced Autotuning by Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
5.4.2 Advanced Autotuning by Reference Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-30
5.5 One-parameter Tuning (Fn203) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35 Adjustments

5.5.1 One-parameter Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35
5.5.2 One-parameter Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-36
5.5.3 One-parameter Tuning Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
5.6 Anti-Resonance Control Adjustment Function (Fn204) . . . . . . . . . . . . . 5-45

5.6.1 Anti-Resonance Control Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-45 5
5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure . . . . . . . . . . . . 5-46
5.7 Vibration Suppression Function (Fn205) . . . . . . . . . . . . . . . . . . . . . . . . 5-52

5.7.1 Vibration Suppression Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-52
5.7.2 Vibration Suppression Function Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . 5-53
5-1
5 Adjustments
5.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-57

5.8.1 Switching Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-57
5.8.2 Manual Adjustment of Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-61
5.8.3 Current Control Mode Selection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63
5.8.4 Current Gain Level Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63
5.8.5 Speed Detection Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63
5.8.6 Backlash Compensation Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-64
5.8.7 Position Integral . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-70
5.9 Compatible Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71

5.9.1 Feedforward Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71
5.9.2 Mode Switch (P/PI Switching) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-72
5.9.3 Torque Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-74
5-2
5.1 Type of Adjustments and Basic Adjustment Procedure

This section describes type of adjustments and the basic adjustment procedure.
5.1.1 Adjustments
Adjustments (tuning) are performed to optimize the responsiveness of the SERVOPACK.
The responsiveness is determined by the servo gain that is set in the SERVOPACK.
The servo gain is set using a combination of parameters, such as speed loop gain, position loop gain, filters,
friction compensation, and moment of inertia ratio. These parameters influence each other. Therefore, the
servo gain must be set considering the balance between the set values.
Generally, the responsiveness of a machine with high rigidity can be improved by increasing the servo gain. If
the servo gain of a machine with low rigidity is increased, however, the machine will vibrate and the respon-
siveness may not be improved. In such case, it is possible to suppress the vibration with a variety of vibration
suppression functions in the SERVOPACK.
The servo gains are factory-set to appropriate values for stable operation. The following utility function can be
used to adjust the servo gain to increase the responsiveness of the machine in accordance with the actual con-
ditions. With this function, parameters related to adjustment above will be adjusted automatically and the need
to adjust them individually will be eliminated.
This section describes the following utility adjustment functions.
Applicable
Utility Function for Adjustment Outline
Control Method
This function is enabled when the factory settings are used. This function can
Tuning-less Levels Setting
be used to obtain a stable response regardless of the type of machine or Speed and Position
(Fn200)
changes in the load.
The following parameters are automatically adjusted using internal references
in the SERVOPACK during automatic operation.
• Moment of inertia ratio
• Gains (position loop gain, speed loop gain, etc.)
Advanced Autotuning (Fn201) Speed and Position
• Filters (torque reference filter, notch filter)
• Friction compensation
• Anti-resonance control adjustment function
• Vibration suppression function
The following parameters are automatically adjusted with the position refer-
ence input from the host controller while the machine is in operation. Adjustments
• Gains (position loop gain, speed loop gain, etc.)
Advanced Autotuning by • Filters (torque reference filter, notch filter) Position
Reference (Fn202)
• Vibration suppression function
The following parameters are manually adjusted with the position or speed ref-
erence input from the host controller while the machine is in operation. 5
One-parameter Tuning • Gains (position loop gain, speed loop gain, etc.)
Speed and Position
(Fn203) • Filters (torque reference filter, notch filter)
Anti-Resonance Control
This function effectively suppresses continuous vibration. Speed and Position
Adjustment Function (Fn204)
Vibration Suppression This function effectively suppresses residual vibration if it occurs when posi-
Position
Function (Fn205) tioning.
5-3
5 Adjustments
5.1.2 Basic Adjustment Procedure
5.1.2 Basic Adjustment Procedure

The basic adjustment procedure is shown in the following flowchart. Make suitable adjustments considering
the conditions and operating requirements of the machine.
Start adjusting servo gain.
(1) Adjust using Tuning-less Function.

Runs the servomotor without any adjustments.
Refer to 5.2 Tuning-less Function.
Yes
Results OK? Completed.
No
(2) Adjust using Advanced Autotuning.

Automatically adjusts the moment of inertia ratio, gains, and filters
with internal references in the SERVOPACK.
Refer to 5.3 Advanced Autotuning (Fn201).
Yes
No
(3) Adjust using Advanced Autotuning by Reference.

Automatically adjusts gains and filters with user reference inputs.
Refer to 5.4 Advanced Autotuning by Reference (Fn202).
Yes
No
(4) Adjust using One-parameter Tuning.
Manually adjusts gains and filters.
Position loop gain, speed loop gain, filters, and friction compensation
adjustments are available.
Refer to 5.5 One-parameter Tuning (Fn203).
Yes
No
Continuous vibration occurs.

Reduce the vibration using Anti-resonance Control Adjustment Function.
Refer to 5.6 Anti-Resonance Control Adjustment Function (Fn204).
Residual vibration occurs at positioning.
Reduce the vibration using Vibration Suppression Function.
Refer to 5.7 Vibration Suppression Function (Fn205).
No
Results OK?
Yes
Completed.
5-4
5.1.3 Monitoring Operation during Adjustment

Check the operating status of the machine and signal waveform when adjusting the servo gain. Connect a mea-
suring instrument, such as a memory recorder, to connector CN5 analog monitor connector on the SERVO-
PACK to monitor analog signal waveform.
The settings and parameters for monitoring analog signals are described in the following sections.
(1) Connector CN5 for Analog Monitor

To monitor analog signals, connect a measuring instrument with cable (JZSP-CA01-E) to the connector CN5.
Connection Example
M-III
CN5
JZSP-CA01-E
Black
Black White Measuring probe
White
Black Measuring
Red
CN5 Probe GND instrument*
Red Measuring probe
Black
Probe GND
∗ Measuring instrument is not included.
Line Color Signal Name Factory Setting

White Analog monitor 1 Torque reference: 1 V/100% rated torque
Red Analog monitor 2 Motor speed: 1 V/1000 min-1
Black (2 lines) GND Analog monitor GND: 0 V
(2) Monitor Signal

The shaded parts in the following diagram indicate analog output signals that can be monitored.
SERVOPACK MECHA
Torque Speed feedforward Torque feedforward
reference
Speed Position reference speed Speed reference
reference
Active gain
Adjustments
conversion amplifier error reference
Position loop
Position
reference + Error + + + +
Electronic Backlash Speed Current
gear compensation counter Kp loop loop M Load
- −
(U/V/W)
External encoder speed ∗ ∗
+ 1
+ CN2
5
Electronic Motor rotational External
− gear speed
ENC
Speed ENC
Error conversion
counter
∗
+ 1
Error Motor - load Speed
Position error Electronic CN31
counter position error conversion
− gear
Positioning
completed
Fully-closed ∗
Completion of position loop control
reference
∗ Available when the fully-closed loop control is being used.
5-5
5 Adjustments
5.1.3 Monitoring Operation during Adjustment
The following signals can be monitored by selecting functions with parameters Pn006 and Pn007.
Pn006 is used for analog monitor 1 and Pn007 is used for analog monitor 2.
Description
Parameter
Monitor Signal Unit Remarks
n. 00
[Pn007
Factory
Motor rotating speed 1 V/1000 min-1 −
Setting]
n. 01 Speed reference 1 V/1000 min-1 −
n. 02
[Pn006
Torque reference 1 V/100% rated torque −
Factory
Setting]
n. 03 Position error 0.05 V/1 reference unit 0 V at speed/torque control
0.05 V/1 encoder pulse Position error after electronic
n. 04 Position amplifier error
unit gear conversion
n. 05 Position reference speed 1 V/1000 min-1 −
Pn006
Pn007 n. 06 Reserved (Do not set.) − −
n. 07 Motor-load position error 0.01 V/1 reference unit −
Positioning completed:
5V Completion indicated by out-
n. 08 Positioning completed
Positioning not com- put voltage.
pleted: 0 V
n. 09 Speed feedforward 1 V/1000 min-1 −
n. 0A Torque feedforward 1 V/100% rated torque −
1st gain: 1 V Gain type indicated by output
n. 0B Active gain * 2nd gain: 2 V voltage.
Completed: 5 V Completion indicated by out-
n. 0C Completion of position reference
Not completed: 0 V put voltage.
n. 0D External encoder speed 1 V/1000 min-1 Value at motor shaft
∗ Refer to 5.8.1 Switching Gain Settings for details.
5-6
(3) Setting Monitor Factor

The output voltages on analog monitors 1 and 2 are calculated by the following equations.
Analog monitor 1 output voltage = (-1) × Signal selection × Multiplier + Offset voltage [V]
(Pn006=n.00‫)غغ‬ (Pn552) (Pn550)
Analog monitor 2 output voltage = (-1) × Signal selection × Multiplier + Offset voltage [V]
(Pn007=n.00‫)غغ‬ (Pn553) (Pn551)
<Example>
Analog monitor output at n. 00 (motor rotating speed setting)
When multiplier is set to × 1: When multiplier is set to × 10: Rotation

Analog monitor Analog monitor
output voltage [V] output voltage[V]
+10 V (approx.)
+8 V
+6 V
+6 V
+6000 Motor speed +600 +800 Motor speed

-6000 [min-1] -800 -600 [min-1]
-6 V -6 V
-8 V
-10 V (approx.)
Note: Linear effective range: within ± 8 V

Output resolution: 16-bit

Use the following parameters to change the monitor factor and the offset.
Analog Monitor 1 Offset Voltage Speed Position Torque
Classification
-10000 to 10000 0.1 V 0 Immediately Setup
Analog Monitor 2 Offset Voltage Speed Position Torque
Classification
-10000 to 10000 0.1 V 0 Immediately Setup
Analog Monitor Magnification (× 1) Speed Position Torque
Classification Adjustments
-10000 to 10000 × 0.01 100 Immediately Setup
Analog Monitor Magnification (× 2) Speed Position Torque
Classification
-10000 to 10000 × 0.01 100 Immediately Setup
5
5-7
5 Adjustments
5.1.4 Safety Precautions on Adjustment of Servo Gains
CAUTION
• If adjusting the servo gains, observe the following precautions.
• Do not touch the rotating section of the servomotor while power is being supplied to the motor.
• Before starting the servomotor, make sure that the SERVOPACK can come to an emergency stop at any time.
• Make sure that a trial operation has been performed without any trouble.
• Install a safety brake on the machine.
Set the following protective functions of the SERVOPACK to the correct settings before starting to adjust the
servo gains.
(1) Overtravel Function

Set the overtravel function. For details on how to set the overtravel function, refer to 4.3.2 Overtravel.
(2) Torque Limit

The torque limit calculates the torque required to operate the machine and sets the torque limits so that the out-
put torque will not be greater than required. Setting torque limits can reduce the amount of shock applied to
the machine when troubles occur, such as collisions or interference. If a torque limit is set lower than the value
that is needed for operation, overshooting or vibration can be occurred.
For details, refer to 4.6 Limiting Torque.
(3) Excessive Position Error Alarm Level

The excessive position error alarm is a protective function that will be enabled when the SERVOPACK is used
in position control.
If this alarm level is set to a suitable value, the SERVOPACK will detect an excessive position error and will
stop the servomotor if the servomotor does not operate according to the reference. The position error indicates
the difference between the position reference value and the actual motor position.
The position error can be calculated from the position loop gain (Pn102) and the motor speed with the follow-
ing equation.
Motor Speed [min-1]

Position Error [reference unit] =
Encoder Resolution*1 Pn210 Rotation

60 Pn102 [0.1/s]/10*2, *3 Pn20E
• Excessive Position Error Alarm Level (Pn520 [1 reference unit])
Max. Motor Speed [min-1] Encoder Resolution*1 Pn210 Rotation

Pn520 > × × × (1.2 to 2)*4
60 Pn102 [0.1/s]/10*2, *3 Pn20E
∗1. Refer to 4.4.3 Electronic Gear.
∗2. When model following control is enabled (Pn140 is set to n. 1), use the set value of Pn141 and not that of
Pn102.
∗3. To check the Pn102 setting, change the parameter display setting to display all parameters (Pn00B.0 = 1).
∗4. At the end of the equation, a coefficient is shown as "× (1.2 to 2)." This coefficient is used to add a margin that pre-
vents a position error overflow alarm (A.d00) from occurring in actual operation of the servomotor.
Set the level to a value that satisfies these equations, and no position error overflow alarm (A.d00) will be gen-
erated during normal operation. The servomotor will be stopped, however, if it does not operate according to
the reference and the SERVOPACK detects an excessive position error.
The following example outlines how the maximum limit for position deviation is calculated. These conditions
apply.
• Maximum speed = 6000
• Encoder resolution = 1048576 (20 bits)
• Pn102 = 400
Pn210 1
• Pn20E = 1
Under these conditions, the following equation is used to calculate the maximum limit (Pn520).
5-8
6000 1048576 1
Pn520 = × × ×2
60 400/10 1
Rotation
= 2621440 × 2
= 5242880 (The factory setting of Pn520)

If the acceleration/deceleration of the position reference exceeds the capacity of the servomotor, the servomo-
tor cannot perform at the requested speed, and the allowable level for position error will be increased as not to
satisfy these equations. If so, lower the level of the acceleration/deceleration for the position reference so that
the servomotor can perform at the requested speed or increase the excessive position error alarm level
(Pn520).
Related Parameter
Excessive Position Error Alarm Level Position
Classification
Related Alarm
Alarm
Alarm Name Meaning
Display
A.d00 Position Error Overflow Position errors exceeded parameter Pn520.
(4) Vibration Detection Function

Set the vibration detection function to an appropriate value with the vibration detection level initialization
(Fn01B). For details on how to set the vibration detection function, refer to 6.16 Vibration Detection Level
Initialization (Fn01B).
(5) Excessive Position Error Alarm Level at Servo ON

If position errors remain in the error counter when turning ON the servomotor power, the servomotor will
move and this movement will clear the counter of all position errors. Because the servomotor will move sud-
denly and unexpectedly, safety precautions are required. To prevent the servomotor from moving suddenly,
select the appropriate level for the excessive position error alarm level at servo ON (Pn526) to restrict opera-
tion of the servomotor.
Related Parameters
Excessive Position Error Alarm Level at Servo ON Position

Classification
1 to 1073741823 1 reference unit 5242880 Immediately Setup Adjustments
Excessive Position Error Warning Level at Servo ON Position

Classification
5
Speed Limit Level at Servo ON Position
Classification
5-9
5 Adjustments
Related Alarms
Alarm
Alarm Name Meaning
Display
This alarm occurs if the servomotor power is turned ON when the position
Position Error Overflow
A.d01 error is greater than the set value of Pn526 while the servomotor power is
Alarm at Servo ON
OFF.
When the position errors remain in the error counter, Pn529 limits the speed
Position Error Overflow if the servomotor power is turned ON. If Pn529 limits the speed in such a
A.d02 Alarm by Speed Limit at state, this alarm occurs when position references are input and the number of
Servo ON position errors exceeds the value set for the excessive position error alarm
level (Pn520).
When an alarm occurs, refer to 9 Troubleshooting and take the corrective actions.
5-10
5.2 Tuning-less Function

The tuning-less function is enabled in the factory settings. If resonance is generated or excessive vibration
occurs, refer to 5.2.2 Tuning-less Levels Setting (Fn200) Procedure and change the set value of Pn170.2 for
the rigidity level and the set value in Pn170.3 for the load level.
CAUTION
• The tuning-less function is enabled in the factory settings. A sound may be heard for a moment when the
SV_ON command is received for the first time after the servo drive is mounted to the machine. This sound
does not indicate any problems; it means that the automatic notch filter was set. The sound will not be
heard from the next time the SV_ON command is received. For details on the automatic notch filter, refer
to (3) Automatically Setting the Notch Filter on the next page.
• The servomotor may vibrate if the load moment of inertia exceeds the allowable load value.
If vibration occurs, set the mode to 2 in Fn200 or lower the adjustment level.
5.2.1 Tuning-less Function

The tuning-less function obtains a stable response without manual adjustment regardless of the type of
machine or changes in the load.
(1) Enabling/Disabling Tuning-less Function

The following parameter is used to enable or disable the tuning-less function.

n. 0 Disables tuning-less function.
n. 1
Enables tuning-less function.
[Factory setting]
Pn170 n. 0 After restart Setup
Used as speed control.
[Factory setting]
Used as speed control and host controller used as
n. 1
position control.
(2) Application Restrictions

The tuning-less function can be used in position control or speed control. This function is not available in
torque control. The following application restrictions apply to the tuning-less function.
Function Availability Remarks Adjustments

Vibration detection level initialization
Available –
(Fn01B)
• This function can be used when the
moment of inertia is calculated.
Available • While this function is being used, the
Advanced autotuning (Fn201)
(Some conditions apply) tuning-less function cannot be used. After
completion of the autotuning, it can be 5
used again.
Advanced autotuning by reference (Fn202) Not available –
One-parameter tuning (Fn203) Not available –
Anti-resonance control adjustment func-
Not available –
tion (Fn204)
Vibration suppression function (Fn205) Not available –
While this function is being used, the tuning-
less function cannot be used. After
EasyFFT (Fn206) Available
completion of the EasyFFT, it can be used
again.
Friction compensation Not available –
5-11
5 Adjustments
5.2.1 Tuning-less Function
(cont’d)
Function Availability Remarks
Gain switching Not available –
Disable the tuning-less function by setting
Offline moment of inertia calculation* Not available
Pn170.0 to 0 before executing this function.
While this function is being used, the tuning-
* less function cannot be used. After
Mechanical analysis Available
completion of the analysis, it can be used
again.
∗ Operate using SigmaWin+.
(3) Automatically Setting the Notch Filter

Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.)
If this function is set to Auto Setting, vibration will be detected automatically and the notch filter will be set
when the tuning-less function is enabled.
Set this function to Not Auto Setting only if you do not change the notch filter setting before executing tuning-
less function.

Does not set the 2nd notch filter automatically with
n. 0
utility function.
Pn460 Immediately Tuning
n. 1 Set the 2nd notch filter automatically with utility
[Factory setting] function.
(4) Tuning-less Level Settings

Two tuning-less levels are available: the rigidity level and load level. Both levels can be set in the Fn200 util-
ity function or in the Pn170 parameter.
Rigidity Level
a) Using the utility function
To change the setting, refer to 5.2.2 Tuning-less Levels Setting (Fn200) Procedure.
Digital Operator Display Meaning
Level 0 Rigidity level 0
Level 4 [Factory setting] Rigidity level 4
b) Using the parameter

n. 0 Rigidity level 0 (Level 0)
Pn170 Immediately Setup
n. 4
Rigidity level 4 (Level 4)
[Factory setting]
5-12
Load Level
a) Using the utility function
To change the setting, refer to 5.2.2 Tuning-less Levels Setting (Fn200) Procedure.
Digital Operator Display Meaning
Mode 0 Load level : Low
Mode 1 [Factory setting] Load level : Medium
Mode 2 Load level : High
b) Using the parameter

n.0 Load level : Low (Mode 0)
n.1
Pn170 Load level : Medium (Mode 1) Immediately Setup
[Factory setting]
n.2 Load level : High (Mode 2)
Adjustments
5-13
5 Adjustments
5.2.2 Tuning-less Levels Setting (Fn200) Procedure
CAUTION
• To ensure safety, perform the tuning-less function in a state where the SERVOPACK can come to an
emergency stop at any time.
The procedure to use the tuning-less function is given below.
Operate the tuning-less function from the digital operator (option) or SigmaWin+.
For the basic operation of the digital operator, refer to Σ-V Series User’s Manual, Operation of Digital Opera-
tor (No.: SIEP S800000 55).
(1) Preparation
Check the following settings before performing the tuning-less function. If the settings are not correct, "NO-
OP" will be displayed during the tuning-less function.
• The tuning-less function must be enabled (Pn170.0 = 1).

• The test without a motor function must be disabled. (Pn00C.0 = 0).
(2) Operating Procedure with Digital Operator
㧾㨁㧺 ̆㧲㨁㧺㧯㨀㧵㧻㧺̆ Press the Key to view the main menu for the
㧲㨚㧜㧤㧜㧦㧼㨛㨘㨑‫ޓ‬㧰㨑㨠㨑㨏㨠 utility function.
1 㧲㨚㧞㧜㧜㧦㨀㨡㨚㨑㧸㨢㨘‫ޓ‬㧿㨑㨠
㧲㨚㧞㧜㧝㧦㧭㧭㨀 Use the or Key to move through the list,
㧲㨚㧞㧜㧞㧦㧾㨑㨒㧙㧭㧭㨀 select Fn200.
Press the Key to display the load level setting
screen for Fn200 (Tuning-less Levels setting).
Notes:
㧾㨁㧺 ̆㨀㨡㨚㨑㧸㨢㨘㧿㨑㨠̆ • If the response waveform causes overshooting or if
the load moment of inertia exceeds the allowable
2 ‫ޓ‬㧹㨛㨐㨑㧩
level (i.e., outside the scope of product guarantee),
press the Key and change the mode setting to
2.
• If a high-frequency noise is heard, press the
Key and change the mode setting to 0.
㧾㨁㧺 ̆㨀㨡㨚㨑㧸㨢㨘㧿㨑㨠̆
3
Press the Key to display the rigidity level of the
‫ޓ‬㧸㨑㨢㨑㨘㧩㧠
tuning-less mode setting screen.
Press the Key or the Key to select the rigid-

ity level.
Select the rigidity level from 0 to 4. The larger the
㧾㨁㧺 ̆㨀㨡㨚㨑㧸㨢㨘㧿㨑㨠̆ value, the higher the gain is and the better response
performance will be. (The factory setting is 4.)
‫ޓ‬㧸㨑㨢㨑㨘㧩㧠
4 Notes:
‫ޓޓޓޓޓ‬㧺㧲㧞 • Vibration may occur if the rigidity level is too high.
Lower the rigidity level if vibration occurs.
2nd notch filter

• If a high-frequency noise is heard, press the
Key to automatically set a notch filter to the vibra-
tion frequency.
㧾㨁㧺 ̆㨀㨡㨚㨑㧸㨢㨘㧿㨑㨠̆
Press the Key. “DONE” will flash for approxi-
5 ‫ޓ‬㧸㨑㨢㨑㨘㧩㧠 mately two seconds and then “RUN” will be dis-
played. The settings are saved in the SERVOPACK.
5-14
(cont’d)
㧾㨁㧺 ̆㧲㨁㧺㧯㨀㧵㧻㧺̆
6
㧲㨚㧜㧟㧜
Press the Key to complete the tuning-less func-
㧲㨚㧞㧜㧜
㧲㨚㧞㧜㧝 tion. The screen in step 1 will appear again.
㧲㨚㧞㧜㧞
Note: If the rigidity level is changed, the automatically set notch filter will be canceled. If vibration occurs, however, the
notch filter will be set again automatically.
(3) Alarm and Corrective Actions

The autotuning alarm (A.521) will occur if resonance sound is generated or excessive vibration occurs during
position control. In such case, take the following actions.
Resonance Sound
Reduce the setting of the rigidity level or load level.
Excessive Vibration during Position Control

Take one of the following actions to correct the problem.
• Increase the setting of the rigidity level or reduce the load level.
• Increase the setting of Pn170.3 or reduce the setting of Pn170.2.
(4) Parameters Disabled by Tuning-less Function
When the tuning-less function is enabled in the factory settings, the settings of these parameters are not avail-
able: Pn100, Pn101, Pn102, Pn103, Pn104, Pn105, Pn106, Pn160, Pn139, and Pn408. These gain-related
parameters, however, may become effective depending on the executing conditions of the functions specified
in the following table. For example, if EasyFFT is executed when the tuning-less function is enabled, the set-
tings in Pn100, Pn104, Pn101, Pn105, Pn102, Pn106, and Pn103, as well as the manual gain switch setting,
will be enabled, but the settings in Pn408.3, Pn160.0, and Pn139.0 will be not enabled.
Parameters Disabled by Tuning-less Function Related Functions and Parameters*

Mechanical
Torque Easy Analysis (Ver-
Item Name Pn Number
Control FFT tical Axis
Mode)
Speed Loop Gain Pn100
2nd Speed Loop Gain Pn104
Speed Loop Integral Time Constant Pn101
×
Gain 2nd Speed Loop Integral Time Constant Pn105 Adjustments
Position Loop Gain Pn102
×
2nd Position Loop Gain Pn106
Moment of Inertia Ratio Pn103
Friction Compensation Function Selec-
tion
Pn408.3 × × ×
Advanced
Control Anti-resonance Control Adjustment
Pn160.0 × × × 5
Selection
Gain Switch-
ing
Gain Switching Selection Switch Pn139.0 × × ×
∗ : Parameter enabled
×: Parameter disabled
5-15
5 Adjustments
(5) Tuning-less Function Type

The following table shows the types of tuning-less functions for the version of SERVOPACK software.
Tuning-less Type Meaning
Tuning-less type 1 −
Tuning-less type 2 The level of noise produced is lower than that of Type 1.

n. 0 Tuning-less type 1
Pn14F n. 1 After restart Tuning
Tuning-less type 2
[Factory setting]
5-16
5.2.3 Related Parameters

The following table lists parameters related to this function and their possibility of being changed while exe-
cuting this function or of being changed automatically after executing this function.
• Parameters related to this function

These are parameters that are used or referenced when executing this function.
• Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.
No : Parameters cannot be changed using SigmaWin+ while this function is being executed.
• Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.
No : Parameter set values are not automatically set or adjusted after execution of this function.
Mid-execution Automatic
Parameter Name
changes changes
Pn170 Tuning-less Function Related Switch No Yes
Pn401 Torque Reference Filter Time Constant No Yes
Pn40C 2nd Notch Filter Frequency No Yes
Pn40D 2nd Notch Filter Q Value No Yes
Adjustments
5-17
5 Adjustments
5.3.1 Advanced Autotuning
5.3 Advanced Autotuning (Fn201)

This section describes the adjustment using advanced autotuning.
• Advanced autotuning starts adjustments based on the set speed loop gain (Pn100).
Therefore, precise adjustments cannot be made if there is vibration when starting
adjustments. In this case, make adjustments after lowering the speed loop gain
(Pn100) until vibration is eliminated.
• Before performing advanced autotuning with the tuning-less function enabled
(Pn170.0 = 1: Factory setting), always set Jcalc to ON to calculate the load moment of
inertia. The tuning-less function will automatically be disabled, and the gain will be set
by advanced autotuning.
With Jcalc set to OFF so the load moment of inertia is not calculated, "Error" will be
displayed on the panel operator, and advanced autotuning will not be performed.
• If the operating conditions, such as the machine-load or drive system, are changed
after advanced autotuning, then change the following related parameters to disable
any values that were adjusted before performing advanced autotuning once again
with the setting to calculate the moment of inertia (Jcalc = ON). If advanced autotun-
ing is performed without changing the parameters, machine vibration may occur,
resulting in damage to the machine.
Pn00B.0 = 1 (Displays all parameters.)
Pn140.0 = 0 (Does not use model following control.)
Pn160.0 = 0 (Does not use anti-resonance control.)
Pn408 = n.00 0 (Does not use friction compensation, 1st notch filter, or 2nd notch fil-
ter.)

Advanced autotuning automatically operates the servo system (in reciprocating movement in the forward and
reverse directions) within set limits and adjust the SERVOPACK automatically according to the mechanical
characteristics while the servo system is operating.
Advanced autotuning can be performed without connecting the host controller.

The following automatic operation specifications apply.
• Maximum speed: Rated motor speed × 2/3

• Acceleration torque: Approximately 100% of rated motor torque
The acceleration torque varies with the influence of the moment of inertia ratio
(Pn103), machine friction, and external disturbance.
• Travel distance: The travel distance can be set freely. The distance is factory-set to a value equivalent to 3
motor rotations.
Movement
Rated motor Rotation
speed
M-III speed × 2/3
Travel t: time
Reference distance
Response Rated motor

speed × 2/3
Rated motor
Execute advanced autotuning torque
after a JOG operation to move Approx. 100%
SERVOPACK the position to ensure a suitable
t: time
movement range.
Rated motor
torque
Approx. 100% Automatic operation
5-18
Advanced autotuning performs the following adjustments.
• Moment of inertia ratio

• Gains (e.g., position loop gain and speed loop gain)
• Filters (torque reference filter and notch filter)
• Anti-resonance control
• Vibration suppression (Mode = 2 or 3)
Refer to 5.3.3 Related Parameters for parameters used for adjustments.
CAUTION
• Because advanced autotuning adjusts the SERVOPACK during automatic operation, vibration or over-
shooting may occur. To ensure safety, perform advanced autotuning in a state where the SERVOPACK
can come to an emergency stop at any time.
(1) Preparation
Check the following settings before performing advanced autotuning.
The message “NO-OP” indicating that the settings are not appropriate will be displayed, if all of the following
conditions are not met.
• The main circuit power supply must be ON.

• There must be no overtravel.
• The servomotor power must be OFF.
• The control method must not be set to torque control.
• The gain selection switch must be in manual switching mode (Pn139.0 = 0).
• Gain setting 1 must be selected.
• The test without a motor function must be disabled (Pn00C.0 = 0).
• All alarms and warning must be cleared.
• The hardwire baseblock (HWBB) must be disabled.
• Jcalc must be set to ON to calculate the load moment of inertia when the tuning-less function is enabled
(Pn170.0 = 1: factory setting) or the tuning-less function must be disabled (Pn170.0 = 0).
Note:
• If advanced autotuning is started while the SERVOPACK is in speed control, the mode will change to position
control automatically to perform advanced autotuning. The mode will return to speed control after completing the
adjustment. To perform advanced autotuning in speed control, set the mode to 1 (Mode = 1).
(2) When Advanced Autotuning Cannot Be Performed Adjustments

Advanced autotuning cannot be performed normally under the following conditions. Refer to 5.4 Advanced
Autotuning by Reference (Fn202) and 5.5 One-parameter Tuning (Fn203) for details.
• The machine system can work only in a single direction.

• The operating range is within 0.5 rotation.
5-19
5 Adjustments
(3) When Advanced Autotuning Cannot Be Performed Successfully

Advanced autotuning cannot be performed successfully under the following conditions. Refer to 5.4
Advanced Autotuning by Reference (Fn202) and 5.5 One-parameter Tuning (Fn203) for details.
• The operating range is not applicable.

• The moment of inertia changes within the set operating range.
• The machine has high friction.
• The rigidity of the machine is low and vibration occurs when positioning is performed.
• The position integration function is used.
• P control operation (proportional control) is used.
Note:If a setting is made for calculating the moment of inertia, an error will result when P control operation is selected
using /V_PPI of the servo command output signals (SVCMD_IO) while the moment of inertia is being calculated.
• The mode switch is used.
Note:If a setting is made for calculating the moment of inertia, the mode switch function will be disabled while the
moment of inertia is being calculated. At that time, PI control will be used. The mode switch function will be
enabled after calculating the moment of inertia.
• Speed feedforward or torque feedforward is input.
• The positioning completed width (Pn522) is too small.
• Advanced autotuning makes adjustments by referring to the positioning completed

width (Pn522). If the SERVOPACK is operated in position control (Pn000.1=1), set the
electronic gear ratio (Pn20E/Pn210) and positioning completed width (Pn522) to the
actual value during operation. If the SERVOPACK is operated in speed control
(Pn000.1=0), set Mode to 1 to perform advanced autotuning.
• Unless the positioning completed signal (/COIN) is turned ON within approximately 3
seconds after positioning has been completed, "WAITING" will flash. Furthermore,
unless the positioning completed signal (/COIN) is turned ON within approximately 10
seconds, "Error" will flash for 2 seconds and tuning will be aborted.
Change only the overshoot detection level (Pn561) to finely adjust the amount of overshooting without chang-
ing the positioning completed width (Pn522). Because Pn561 is set by default to 100%, the allowable amount
of overshooting is the same amount as that for the positioning completed width.
When Pn561 is set to 0%, the amount of overshooting can be adjusted to prevent overshooting the positioning
completed width. If the setting of Pn561 is changed, however, the positioning time may be extended.
Overshoot Detection Level Speed Position Torque

Classification
5-20
5.3.2 Advanced Autotuning Procedure

The following procedure is used for advanced autotuning.
Advanced autotuning is performed from the digital operator (option) or SigmaWin+.
The operating procedure from the digital operator is described here.
Refer to the Σ-V Series User’s Manual, Operation of Digital Operator (No.: SIEP S800000 55) for basic key
operations of the digital operator.
CAUTION
• When using the SERVOPACK with Jcalc = OFF (moment of inertia is not calculated), be sure to set a suit-
able value for the moment of inertia ratio (Pn103). If the setting greatly differs from the actual moment of
inertia ratio, normal control of the SERVOPACK may not be possible, and vibration may result.
• When using the MP2000 Series with phase control, select the mode = 1 (standard level). If 2 or 3 is
selected, phase control of the MP2000 Series may not be possible.
(1) Operating Procedure
㧮㧮 ‫̆ޓ‬㧲㨁㧺㧯㨀㧵㧻㧺̆ Press the Key to view the main menu for the
㧲㨚㧞㧜㧜㧦㨀㨡㨚㨑㧸㨢㨘‫ޓ‬㧿㨑㨠 utility function.
1 㧲㨚㧞㧜㧝㧦㧭㧭㨀
㧲㨚㧞㧜㧞㧦㧾㨑㨒㧭㧭㨀 Use the or Key to move through the list,
㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚 select Fn201.
Status Display
㧮㧮㧭㨐㨢㨍㨚㨏㨑㨐‫ޓ‬㧭㨀
2 ‫ޓ‬㧶㨏㨍㨘㨏㧩㧻㧺 Press the Key to display the initial setting screen
‫ޓ‬㧹㨛㨐㨑㧩㧞‫ޓ‬㨀㨥㨜㨑㧩㧞 for Fn201(Advanced Autotuning).
‫ޓ‬㧿㨠㨞㨛㨗㨑㧩㧗㧜㧜㧤㧜㧜㧜㧜㧜
‫ޓޓޓޓޓޓ‬㧔㧜㧜㧜㧟㧚㧜㧕㨞㨑㨢
㧮㧮㧭㨐㨢㨍㨚㨏㨑㨐‫ޓ‬㧭㨀
3
‫ޓ‬㧶㨏㨍㨘㨏㧩㧻㧺
Press the , , or Key and set the items in
‫ޓ‬㧹㨛㨐㨑㧩㧞‫ޓ‬㨀㨥㨜㨑㧩㧞
‫ޓ‬㧿㨠㨞㨛㨗㨑㧩㧗㧜㧜㧤㧜㧜㧜㧜㧜 steps 3-1 to 3-4.
‫ޓޓޓޓޓޓ‬㧔㧜㧜㧜㧟㧚㧜㧕㨞㨑㨢
Calculating Moment of Inertia

Select the mode to be used.
Usually, set Jcalc to ON.
Jcalc = ON: Moment of inertia calculated [Factory setting]
3-1
Jcalc = OFF: Moment of inertia not calculated
Adjustments
Note:
If the moment of inertia ratio is already known from the machine specifications, set the value in Pn103
and set Jcalc to OFF.
Mode Selection
Select the mode.
3-2 Mode = 1: Makes adjustments considering response characteristics and stability (Standard level).
Mode = 2: Makes adjustments for positioning [Factory setting]. 5
Mode = 3: Makes adjustments for positioning, giving priority to overshooting suppression.
Type Selection
Select the type according to the machine element to be driven. If there is noise or the gain does not increase, bet-
ter results may be obtained by changing the rigidity type.
3-3 Type = 1: For belt drive mechanisms
Type = 2: For ball screw drive mechanisms [Factory setting]
Type = 3: For rigid systems in which the servomotor is directly coupled to the machine (without gear or other
transmissions)
5-21
5 Adjustments
(cont’d)
STROKE (Travel Distance) Setting
Travel distance setting range:
The travel distance setting range is from -99990000 to +99990000 [reference unit]. Specify the STROKE
(travel distance) in increments of 1000 reference units. The negative (-) direction is for reverse rotation,
and the positive (+) direction is for forward rotation.
Initial value:
3-4
About 3 rotations
Notes:
• Set the number of motor rotations to at least 0.5; otherwise, "Error" will be displayed and the travel distance
cannot be set.
• To calculate the moment of inertia and ensure precise tuning, it is recommended to set the number of motor
rotations to around 3.
㧮㧮㧭㨐㨢㨍㨚㨏㨑㨐㧭㨀
4
㧼㨚㧝㧜㧟㧩㧜㧜㧝㧜㧜
Press the Key. The advanced autotuning execu-
㧼㨚㧝㧜㧜㧩㧜㧜㧠㧜㧜
㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜 tion screen will be displayed.
㧼㨚㧝㧜㧞㧩㧜㧜㧠㧜㧜
Press the Key. The servomotor power will be

R U N 㧭㨐㨢㨍㨚㨏㨑㨐㧭㨀 ON and the display will change from "BB" to
5
㧼㨚㧝㧜㧟㧩㧜㧜㧝㧜㧜 "RUN."
㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜 Note: If the mode is set to 1, Pn102 is displayed. If
㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜 the mode is set to 2 or 3, the Pn102 display will
change to the Pn141.
Calculates the moment of inertia.
Press the Key if a positive (+) value is set in
STROKE (travel distance), or press the Key if a
negative (-) value is set. Calculation of the moment of
inertia will start. While the moment of inertia is being
calculated, the set value for Pn103 will flash and
“ADJ” will flash instead of “RUN.” When calculat-
㧭㧰㧶㧭㨐㨢㨍㨚㨏㨑㨐㧭㨀
㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜 ing the moment of inertia is completed, the display
㧼㨚㧝㧜㧜㧩㧜㧜㧠㧜㧜 will stop flashing and the moment of inertia is dis-
㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜 played. The servomotor will remain ON, but the auto
6 㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜
run operation will be stopped temporarily.
Display example: Notes:
After the moment of inertia is • The wrong key for the set travel direction is
calculated. pressed, the calculation will not start.
• If the moment of inertia is not calculated (Jcalc =
OFF), the set value for Pn103 will be displayed.
• If "NO-OP" or "Error" is displayed during opera-
tion, press the Key to cancel the function.
Refer to (2) Failure in Operation and take a cor-
rective action to enable operation.
After the servomotor is temporarily stopped, press the
Key to save the calculated moment of inertia
ratio in the SERVOPACK. “DONE” will flash for one
second, and “ADJ” will be displayed again.
7 –
Note:
To end operation by calculating only the
moment of inertia ratio and without adjusting
the gain, press the Key to end operation.
5-22
(cont’d)
Gain Adjustment
When the or Key is pressed according to
the sign (+ or -) of the value set for stroke (travel dis-
tance), the calculated value of the moment of inertia
ratio will be saved in the SERVOPACK and the auto
A 㧰㧶㧭㨐㨢㨍㨚㨏㨑㨐㧭㨀 run operation will restart. While the servomotor is
8
㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜 running, the filters, and gains will be automatically
㧼㨚㧝㧜㧜㧩㧜㧝㧜㧜㧜
㧼㨚㧝㧜㧝㧩㧜㧜㧜㧢㧟㧢
set. "ADJ" will flash during the auto setting opera-
㧼㨚㧝㧠㧝㧩㧜㧝㧡㧜㧜 tion.
Note: Precise adjustments cannot be made and
"Error" will be displayed as the status if there is
machine resonance when starting adjustments.
If that occurs, make adjustments using one-
parameter tuning (Fn203).
㧭㧰㧶㧭㨐㨢㨍㨚㨏㨑㨐㧭㨀 When the adjustment has been completed normally,
㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜 the servomotor power will turn OFF, and "END" will
9 㧼㨚㧝㧜㧜㧩㧜㧝㧜㧜㧜
㧼㨚㧝㧜㧝㧩㧜㧜㧜㧢㧟㧢
flash for approximately two seconds and then "ADJ"
㧼㨚㧝㧠㧝㧩㧜㧝㧡㧜㧜 will be displayed on the status display.
Press the Key. The adjusted values will be saved

㧮㧮㧭㨐㨢㨍㨚㨏㨑㨐㧭㨀 in the SERVOPACK.
10
㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜
ME "DONE" will flash for approximately two seconds,
㧼㨚㧝㧜㧝㧩㧜㧜㧜㧢㧟㧢CHA and "BB" will be displayed.
㧼㨚㧝㧠㧝㧩㧜㧝㧡㧜㧜 Note: Press the Key to not save the values. The
display will return to that shown in step 1.
11 Turn ON the SERVOPACK power supply again after executing advanced autotuning.
(2) Failure in Operation

When "NO-OP" Flashes on the Display
Probable Cause Corrective Actions
The main circuit power supply was OFF. Turn ON the main circuit power supply.
An alarm or warning occurred. Remove the cause of the alarm or the warning.
Overtraveling occurred. Remove the cause of the overtravel.
Gain setting 2 was selected by gain switching. Disable the automatic gain switching.
The HWBB function operated. Disable the HWBB function.
Adjustments
5-23
5 Adjustments
When "Error" Flashes on the Display

Error Probable Cause Corrective Actions
• Increase the set value for Pn522.
Machine vibration is occurring or the posi- • Change the mode from 2 to 3.
The gain adjustment was
tioning completed signal (/COIN) is turning • If machine vibration occurs, suppress the
not successfully complet-
ON and OFF when the servomotor is vibration with the anti-resonance control
ed.
stopped. adjustment function and the vibration
suppression function.
An error occurred during
Refer to the following table When an Error Occurs during Calculation of Moment of
the calculation of the mo-
Inertia.
ment of inertia.
The travel distance is set to approximately Increase the travel distance. It is recom-
Travel distance setting er-
0.5 rotation or less, which is less than the mended to set the number of motor rota-
ror
minimum adjustable travel distance. tions to around 3.
The positioning complet-
ed signal (/COIN) did not • Increase the set value for Pn522.
The positioning completed width is too nar-
turn ON within approxi- • Set 0 to V_PPI in the servo command
row or proportional control (P control) is
mately 10 seconds after output signals (SVCMD_IO).
being used.
positioning adjustment
was completed.
The moment of inertia
When the tuning-less function was activat- • Turn OFF the tuning-less function.
cannot be calculated
ed, Jcalc was set to OFF so the moment of • Set Jcalc to ON, so the moment of inertia
when the tuning-less func-
inertia was not calculated. will be calculated.
tion was activated.
When an Error Occurs during Calculation of Moment of Inertia

The following table shows the probable causes of errors that may occur during the calculation of the moment
of inertia with the Jcalc set to ON, along with corrective actions for the errors.
Error
Display
The SERVOPACK started calculating the • Increase the speed loop gain (Pn100).
Err1 moment of inertia, but the calculation was not
• Increase the STROKE (travel distance).
completed.
Set the calculation value based on the machine specifi-
The moment of inertia fluctuated greatly and
Err2 cations in Pn103 and execute the calculation with the
did not converge within 10 tries.
Jcalc set to OFF.
Double the set value of the moment of inertia calculat-
Err3 Low-frequency vibration was detected.
ing start level (Pn324).
• When using the torque limit, increase the torque
limit.
Err4 The torque limit was reached.
• Double the set value of the moment of inertia calcu-
lating start level (Pn324).
While calculating the moment of inertia, the
speed control was set to proportional control by Operate the SERVOPACK with PI control while calcu-
Err5
setting 1 to V_PPI in the servo command output lating the moment of inertia.
signals (SVCMD_IO).
5-24
(3) Related Functions on Advanced Autotuning

This section describes functions related to advanced tuning.
Notch Filter
If this function is set to Auto Setting, vibration will be detected automatically during advanced autotuning and
the notch filter will be set.
Set this function to Not Auto Setting only if you do not change the notch filter setting before executing
advanced autotuning.
Parameter Function When Enabled Classification

Does not set the 1st notch filter automatically with
n. 0
the utility function.
n. 1 Sets the 1st notch filter automatically with the utility
n. 0
n. 1 Sets the 2nd notch filter automatically with the utility
Anti-Resonance Control Adjustment

This function reduces low vibration frequency, which the notch filter does not detect.
Usually, set this function to Auto Setting. (The anti-resonance control is factory-set to Auto Setting.)
When this function is set to Auto Setting, vibration will be automatically detected during advanced autotuning
and anti-resonance control will be automatically adjusted and set.

Does not use the anti-resonance control automatically
n. 0
with the utility function.
n. 1 Uses the anti-resonance control automatically with
[Factory setting] the utility function.
Vibration Suppression
The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is
generated mainly when positioning if the machine stand vibrates.
Usually, set this function to Auto Setting. (The vibration suppression function is factory-set to Auto Setting.) Adjustments
and vibration suppression will be automatically adjusted and set.
Set this function to Not Auto Setting only if you do not change the setting for vibration suppression before
executing advanced autotuning.
Note: This function uses model following control. Therefore, the function can be executed only if the mode is set to 2 or 3.
• Related Parameter 5
Does not use the vibration suppression function auto-
n. 0
matically with the utility function.
n. 1 Uses the vibration suppression function automatically
[Factory setting] with the utility function.
5-25
5 Adjustments
Friction Compensation
This function compensates for changes in the following conditions.
• Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine
• Changes in the friction resistance resulting from variations in the machine assembly
• Changes in the friction resistance due to aging
The conditions for applying friction compensation depend on the mode. The friction compensation setting in
Pn408.3 applies when the Mode is 1. The friction compensation function is always enabled regardless of the
friction compensation setting in Pn408.3 when the Mode is 2 or 3.
Mode
Friction Mode = 1 Mode = 2 Mode = 3
Compensation
Selecting
n.0
Adjusted without the friction
[Factory compensation function Adjusted with the friction Adjusted with the friction
Pn408 setting]
compensation function compensation function
Adjusted with the friction
n.1
compensation function
Feedforward
If Pn140 is set to the factory setting and the mode setting is changed to 2 or 3, the feedforward gain (Pn109),
speed feedforward (VFF) input, and torque feedforward (TFF) input will be disabled.
Set Pn140.3 to 1 if model following control is used together with the speed feedforward (VFF) input and
torque feedforward (TFF) input from the host controller.

n.0 Model following control is not used together with the
[Factory setting] speed/torque feedforward input.
Model following control is used together with the
n.1
speed/torque feedforward input.
Refer to Σ-V Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands (No.: SIEP
S800000 63) for details.
• Model following control is used to make optimum feedforward settings in the SERVO-
PACK when model following control is used with the feedforward function. Therefore,
model following control is not normally used together with either the speed feedfor-
ward (VFF) input or torque feedforward (TFF) input from the host controller. However,
model following control can be used with the speed feedforward (VFF) input or torque
feedforward (TFF) input if required. An improper feedforward input may result in over-
shooting.
5-26




Parameter Name
changes changes
Pn100 Speed Loop Gain No Yes
Pn101 Speed Loop Integral Time Constant No Yes
Pn102 Position Loop Gain No Yes
Pn103 Moment of Inertia Ratio No No
Pn121 Friction Compensation Gain No Yes
Pn123 Friction Compensation Coefficient No Yes
Pn124 Friction Compensation Frequency Correction No No
Pn125 Friction Compensation Gain Correction No Yes
Pn408 Torque Related Function Switch Yes Yes
Pn409 1st Notch Filter Frequency No Yes
Pn40A 1st Notch Filter Q Value No Yes
Pn140 Model Following Control Related Switch Yes Yes
Pn141 Model Following Control Gain No Yes
Pn142 Model Following Control Gain Compensation No Yes
Pn143 Model Following Control Bias (Forward Direction) No Yes
Pn144 Model Following Control Bias (Reverse Direction) No Yes Adjustments
Pn145 Vibration Suppression 1 Frequency A No Yes
Pn146 Vibration Suppression 1 Frequency B No Yes
Pn147 Model Following Control Speed Feedforward Compensation No Yes
Pn160 Anti-Resonance Control Related Switch Yes Yes
Pn161 Anti-Resonance Frequency No Yes
5
Pn163 Anti-Resonance Damping Gain No Yes
Pn531 Program JOG Movement Distance No No
Pn533 Program JOG Movement Speed No No
Pn534 Program JOG Acceleration/Deceleration Time No No
Pn535 Program JOG Waiting Time No No
Pn536 Number of Times of Program JOG Movement No No
5-27
5 Adjustments
5.4.1 Advanced Autotuning by Reference
5.4 Advanced Autotuning by Reference (Fn202)

Adjustments with advanced autotuning by reference are described below.
• Advanced autotuning by reference starts adjustments based on the set speed loop
gain (Pn100). Therefore, precise adjustments cannot be made if there is vibration
when starting adjustments. In this case, make adjustments after lowering the speed
loop gain (Pn100) until vibration is eliminated.
5.4.1 Advanced Autotuning by Reference

Advanced autotuning by reference is used to automatically achieve optimum tuning of the SERVOPACK in
response to the user reference inputs from the host controller.
Advanced autotuning by reference is performed generally to fine-tune the SERVOPACK after advanced auto-
tuning of the SERVOPACK has been performed.
If the moment of inertia ratio is correctly set to Pn103, advanced autotuning by reference can be performed
without performing advanced autotuning.
Movement
speed M-III
Reference Reference Travel

distance
Response
Host controller
SERVOPACK
Advanced autotuning by reference performs the following adjustments.

• Vibration suppression
CAUTION
• Because advanced autotuning by reference adjusts the SERVOPACK during automatic operation, vibra-
tion or overshooting may occur. To ensure safety, perform advanced autotuning by reference in a state
where the SERVOPACK can come to an emergency stop at any time.
5-28
(1) Preparation
Check the following settings before performing advanced autotuning by reference. The message “NO-OP”
indicating that the settings are not appropriate will be displayed, if all of the following conditions are not met.
• The SERVOPACK must be in Servo Ready status (Refer to 4.8.4).

• The position control must be selected when the servomotor power is ON.
• The gain selection switch must be in manual switching mode (Pn139.0 = 0).
• Gain setting 1 must be selected.
• The test without a motor function must be disabled. (Pn00C.0 = 0).
• All warnings must be cleared.
• The tuning-less function must be disabled (Pn170.0 = 0).
(2) When Advanced Autotuning by Reference Cannot Be Performed Successfully
Advanced autotuning by reference cannot be performed successfully under the following conditions. If the
result of autotuning is not satisfactory, perform one-parameter tuning (Fn203). Refer to 5.5 One-parameter
Tuning (Fn203) for details.
• The travel distance in response to references from the host controller is smaller than the set positioning com-
pleted width (Pn522).
• The motor speed in response to references from the host controller is smaller than the set rotation detection
level (Pn502).
• The stopping time, i.e., the period while the positioning completed /COIN signal is OFF, is 10 ms or less.
• The rigidity of the machine is low and vibration occurs when positioning is performed.
• The position integration function is used.
• P control operation (proportional control) is performed.
• The mode switch is used.
• The positioning completed width (Pn522) is too small.
• Advanced autotuning by reference starts adjustments based on the positioning com-

pleted width (Pn522). Set the electronic gear ratio (Pn20E/Pn210) and positioning
completed width (Pn522) to the actual value during operation.
• Unless the positioning completed signal (/COIN) is turned ON within approximately 3
seconds after positioning has been completed, "WAITING" will flash. Furthermore,
unless the positioning completed signal (/COIN) is turned ON within approximately 10
seconds, "Error" will flash for 2 seconds and tuning will be aborted.
Change only the overshoot detection level (Pn561) to finely adjust the amount of overshooting without chang-
Adjustments
ing the positioning completed width (Pn522). Because Pn561 is set by default to 100%, the allowable amount
of overshooting is the same amount as that for the positioning completed width.
When Pn561 is set to 0%, the amount of overshooting can be adjusted without any overshooting in the posi-
tioning completed width. If the setting of Pn561 is changed, however, the positioning time may be extended.
Overshoot Detection Level Speed Position Torque

Classification 5
5-29
5 Adjustments
5.4.2 Advanced Autotuning by Reference Procedure

The following procedure is used for advanced autotuning by reference.
Advanced autotuning by reference is performed from the digital operator (option) or SigmaWin+.
Here, the operating procedure from the digital operator is described.
CAUTION
• When using the MP2000 Series with phase control, select the mode = 1 (standard level). If 2 or 3 is
selected, phase control of the MP2000 Series may not be possible.

Set the correct moment of inertia ratio in Pn103 by using the advanced autotuning before performing this pro-
cedure.
㧮㧮 ‫̆ޓ‬㧲㨁㧺㧯㨀㧵㧻㧺̆ Press the Key to view the main menu for the
㧲㨚㧞㧜㧝㧦㧭㧭㨀 utility function.
1 㧲㨚㧞㧜㧞㧦㧾㨑㨒㧭㧭㨀
㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚 Use the or Key to move through the list and
㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎‫ޓ‬㧿㨡㨜 select Fn202.
Status Display
2 Press the Key to display the initial setting screen
‫ޓ‬㧹㨛㨐㨑㧩㧟‫ޓ‬㨀㨥㨜㨑㧩㧞 for Fn202(Advanced Autotuning by Reference).
3 Press the , , or Key and set the items in

‫ޓ‬㧹㨛㨐㨑㧩㧟‫ޓ‬㨀㨥㨜㨑㧩㧞
steps 3-1 and 3-2.
Mode Selection
Select the mode.
3-1 Mode = 1: Makes adjustments considering response characteristics and stability (Standard level).
Mode = 2: Makes adjustments for positioning [Factory setting].
Mode = 3: Makes adjustments for positioning, giving priority to overshooting suppression.
Type Selection
Select the type according to the machine element to be driven.
If there is noise or the gain does not increase, better results may be obtained by changing the rigidity type.
transmissions)
Press the Key. The advanced autotuning by ref-
㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜 erence execution screen will be displayed.
4 㧼㨚㧝㧜㧜㧩㧜㧜㧠㧜㧜 Note: If the mode is set to 1, Pn102 is displayed. If
㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜
㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜
the mode is set to 2 or 3, the Pn102 display will
change to the Pn141.
㧾㨁㧺㧭㨐㨢㨍㨚㨏㨑㨐㧭㨀
5 㧼㨚㧝㧜㧜㧩㧜㧜㧠㧜㧜 – Send an SV_ON command from the host controller.
㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜
5-30
(cont’d)
Input a reference from the host controller and then
㧭㧰㧶㧭㨐㨢㨍㨚㨏㨑㨐㧭㨀 press the or Key to start the adjustment.
6
"ADJ" will flash during adjustment on the status dis-
㧼㨚㧝㧜㧝㧩㧜㧜㧜㧢㧟㧢 play.
㧼㨚㧝㧠㧝㧩㧜㧝㧡㧜㧜 Note: Adjustment cannot be performed during "BB"
is shown on the status display.
㧭㧰㧶㧭㨐㨢㨍㨚㨏㨑㨐㧭㨀
㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜 When the adjustment has been completed normally,
7 㧼㨚㧝㧜㧜㧩㧜㧝㧜㧜㧜 – "END" will flash for approximately two seconds and
㧼㨚㧝㧜㧝㧩㧜㧜㧜㧢㧟㧢 "ADJ" will be displayed.
㧼㨚㧝㧠㧝㧩㧜㧝㧡㧜㧜
Press the Key to save the settings. "DONE" will

㧾㨁㧺㧭㨐㨢㨍㨚㨏㨑㨐㧭㨀 flash for approximately two seconds and "RUN" will
㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜 be displayed.
8 㧼㨚㧝㧜㧜㧩㧜㧝㧜㧜㧜
㧼㨚㧝㧜㧝㧩㧜㧜㧜㧢㧟㧢 Note: Not to save the values set in step 6, press the
㧼㨚㧝㧠㧝㧩㧜㧝㧡㧜㧜 Key. The display will return to that shown
in step 1.
9 Turn ON the SERVOPACK power supply again after executing advanced autotuning by reference.
(2) Failure in Operation

When "NO-OP" Flashes on the Display
The main circuit power supply was OFF. Turn ON the main circuit power supply.
An alarm or warning occurred. Remove the cause of the alarm or the warning.
Overtraveling occurred. Remove the cause of the overtravel.
Gain setting 2 was selected by gain switching. Disable the automatic gain switching.
HWBB operated. Disable the HWBB function.
When "Error" Flashes on the Display

Error Probable Cause Corrective Actions
• Increase the set value for Pn522.
Machine vibration is occurring or the posi- • Change the mode from 2 to 3.
The gain adjustment
tioning completed signal (/COIN) is turning • If machine vibration occurs, suppress the
was not successfully
ON and OFF when the servomotor is vibration with the anti-resonance control
completed.
stopped. adjustment function and the vibration sup-
pression function.
Adjustments
The positioning complet-

ed signal • Increase the set value for Pn522.
(/COIN) did not turn ON The positioning completed width is too nar-
• Set 0 to V_PPI of the servo command out-
within approximately 10 row or proportional control (P control) is
put signals (SVCMD_IO).
seconds after position- being used.
ing adjustment was com-
pleted. 5
5-31
5 Adjustments
(3) Related Functions on Advanced Autotuning by Reference

This section describes functions related to advanced autotuning by reference.
Notch Filter
If this function is set to Auto Setting, vibration will be detected automatically during advanced autotuning by
reference, and the notch filter will be set.
Set this function to Not Auto Setting only if you do not change the notch filter setting before executing
advanced autotuning by reference.

n. 0
n. 0

by reference and anti-resonance control will be automatically adjusted and set.
n. 0
Vibration Suppression
Usually, set this function to Auto Setting. (The vibration suppression function is factory-set to Auto Setting.)
by reference and vibration suppression will be automatically adjusted and set.
Set this function to Not Auto Setting only if you do not change the setting for vibration suppression before
executing advanced autotuning by reference.
Note: This function uses model following control. Therefore, the function can be executed only if the mode is set to 2 or 3.
• Related Parameters
n. 0 Does not use the vibration suppression function auto-

matically.
n. 1 Uses the vibration suppression function automati-
[Factory setting] cally.
5-32
Conditions to which friction compensation is applicable depend on the mode. The friction compensation set-
ting in Pn408.3 applies when the mode is 1. Mode = 2 and Mode = 3 are adjusted with the friction compensa-
tion function regardless of the friction compensation setting in P408.3.
Mode
Friction Mode = 1 Mode = 2 Mode = 3
Compensation
Selecting
n.0
Adjusted without the friction
[Factory compensation function Adjusted with the friction Adjusted with the friction
Pn408 setting]
compensation function compensation function
Adjusted with the friction
n.1
compensation function
Feedforward
If Pn140 is set to the factory setting and the mode setting is changed to 2 or 3, the feedforward gain (Pn109),
speed feedforward (VFF) input, and torque feedforward (TFF) input will be disabled.

[Factory setting] speed/torque feedforward input.
n.1
Adjustments
shooting.
5-33
5 Adjustments




Parameter Name
changes changes
Pn144 Model Following Control Bias (Reverse Direction) No Yes
5-34
5.5 One-parameter Tuning (Fn203)

Adjustments with one-parameter tuning are described below.
5.5.1 One-parameter Tuning

One-parameter tuning is used to manually make tuning level adjustments during operation with a position ref-
erence or speed reference input from the host controller.
One-parameter tuning enables automatically setting related servo gain settings to balanced conditions by
adjusting one or two tuning levels.
One-parameter tuning performs the following adjustments.

Perform one-parameter tuning if satisfactory response characteristics is not obtained with advanced autotun-
ing or advanced autotuning by reference.
To fine-tune each servo gain after one-parameter tuning, refer to 5.8 Additional Adjustment Function.
CAUTION
• Vibration or overshooting may occur during adjustment. To ensure safety, perform one-parameter tuning in
a state where the SERVOPACK can come to an emergency stop at any time.
Preparation
Check the following settings before performing one-parameter tuning.

• The tuning mode must be set to 0 or 1 when performing speed control.
• The main circuit power must be ON.
Adjustments
• All alarms must be cleared.

5-35
5 Adjustments
5.5.2 One-parameter Tuning Procedure

The following procedure is used for one-parameter tuning.
There are the following two operation procedures depending on the tuning mode being used.
• When the tuning mode is set to 0 or 1, the model following control will be disabled and one-parameter tun-
ing will be used as the tuning method for applications other than positioning.
• When the tuning mode is set to 2 or 3, the model following control will be enabled and it can be used for
tuning for positioning.
One-parameter tuning is performed from the digital operator (option) or SigmaWin+.
Make sure that the moment of inertia ratio (Pn103) is set correctly using advance autotuning before beginning
operation.
The following section provides the operating procedure from the digital operator.
CAUTION
• When using the MP2000 Series with phase control, select the tuning mode = 0 or 1. If 2 or 3 is selected,
phase control of the MP2000 Series may not be possible.
(1) Digital Operator Operating Procedure
Setting the Tuning Mode 0 or 1

㧮㧮‫̆ޓ ޓ‬㧲㨁㧺㧯㨀㧵㧻㧺̆ Press the Key to view the main menu for the
㧲㨚㧞㧜㧞㧦㧾㨑㨒㧭㧭㨀 utility function.
1 㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚
㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎‫ޓ‬㧿㨡㨜 Press the or Key to move through the list
㧲㨚㧞㧜㧡㧦㨂㨕㨎‫ޓ‬㧿㨡㨜
and select Fn203.
Status Display
Press the Key to display the moment of inertia
㧮㧮 ̆ 㧻㨚㨑㧼㨞㨙㨀㨡㨚̆ ratio set in Pn103 at present. Move the digit with the
2 㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜
or Key and change the value with the
or Key.
㧮㧮 ̆ 㧻㨚㨑㧼㨞㨙㨀㨡㨚̆
㧿㨑㨠㨠㨕㨚㨓
㨀㨡㨚㨕㨚㨓㧹㨛㨐㨑㧩㧜 for one-parameter tuning.
㨀㨥㨜㨑㧩㧞
4
㨀㨡㨚㨕㨚㨓㧹㨛㨐㨑㧩㧜 steps 4-1 and 4-2.
㨀㨥㨜㨑㧩㧞
Tuning Mode
Select the tuning mode. Select the tuning mode 0 or 1.
4-1
Tuning Mode = 0: Makes adjustments giving priority to stability.
Tuning Mode = 1: Makes adjustments giving priority to responsiveness.
5-36
(cont’d)
Type Selection
transmissions).
㧾㨁㧺 ̆ 㧻㨚㨑㧼㨞㨙㨀㨡㨚̆ If the servomotor power is OFF, send an SV_ON

㧿㨑㨠㨠㨕㨚㨓 command from the host controller. The display will
5 –
㨀㨡㨚㨕㨚㨓㧹㨛㨐㨑㧩㧜
change from "BB" to "RUN."
㨀㨥㨜㨑㧩㧞 If the servomotor power is ON, go to step 6.
㧾㨁㧺 ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆
6 㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜 Press the Key to display the set value.
㧼㨚㧝㧜㧞㧩㧜㧜㧠㧜㧜
7 㧸㧱㨂㧱㧸㧩㧜㧜㧡㧜

Press the Key again to display the LEVEL set-
ting screen.
‫ޓ‬㧺㧲㧝‫ޓ‬㧺㧲㧞㧭㧾㧱㧿
If readjustment is required, select the digit with the

or Key or change the LEVEL with the
or Key. Check the response.
If readjustment is not required, go to step 9.
Note: The higher the level, the greater the respon-
siveness will be. If the value is too large, how-
ever, vibration will occur.
• If vibration occurs, press the Key. The SER-
VOPACK will automatically detect the vibration
㧾㨁㧺 ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆ frequencies and make notch filter or an anti-reso-
nance control settings. When the notch filter is set,
8 㧸㧱㨂㧱㧸㧩㧜㧜㧡㧜
"NF1" or "NF2" will be displayed on the bottom
‫ޓ‬㧺㧲㧝‫ޓ‬㧺㧲㧞㧭㧾㧱㧿
row. When the anti-resonance control is set,
"ARES" will be displayed in the lower right corner.
‫ޓޓޓ‬㧸㧱㨂㧱㧸㧩㧜㧜㧣㧜
㧺㧲㧞
‫ޓ‬㧺㧲㧝‫ޓޓޓޓޓޓޓ‬㧭㧾㧱㧿
• If the vibration is great, the vibration frequency

will be detected automatically even if the Key Adjustments
is not pressed and a notch filter or an anti-reso-
nance control will be set.
Note: The status display will always be RUN when the servomotor power is ON.
5-37
5 Adjustments
(cont’d)
㧼㨚㧝㧜㧜㧩㧜㧜㧡㧜㧜
9 㧼㨚㧝㧜㧝㧩㧜㧜㧝㧢㧜
Press the Key. A confirmation screen will be dis-
㧼㨚㧝㧜㧞㧩㧜㧜㧡㧜㧜 played after LEVEL adjustment.
• Press the Key to save the adjusted values.

After the data is saved, “DONE” will flash for
approximately two seconds and then “RUN” will
㧼㨚㧝㧜㧜㧩㧜㧜㧡㧜㧜
10 㧼㨚㧝㧜㧝㧩㧜㧜㧝㧢㧜 be displayed.
㧼㨚㧝㧜㧞㧩㧜㧜㧡㧜㧜 • To return to the previous value, press the Key.
• Press the Key to readjust the level without
saving the values.
㧲㨚㧞㧜㧞㧦㧾㨑㨒㧭㧭㨀 Press the Key to complete the one-parameter
11 㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚 tuning operation. The screen in step 1 will appear
㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎‫ޓ‬㧿㨡㨜 again.
5-38
Setting the Tuning Mode 2 or 3

㧮㧮‫̆ޓ ޓ‬㧲㨁㧺㧯㨀㧵㧻㧺̆ Press the Key to view the main menu for the
㧲㨚㧞㧜㧞㧦㧾㨑㨒㧭㧭㨀 utility function.
1 㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚
㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎‫ޓ‬㧿㨡㨜 Press the or Key to move through the list
and select Fn203.
Status Display
Press the Key to display the moment of inertia
㧮㧮 ̆ 㧻㨚㨑㧼㨞㨙㨀㨡㨚̆ ratio set in Pn103 at present. Move the digit with the
2 㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜
or Key and change the value with the
or Key.
㨀㨡㨚㨕㨚㨓㧹㨛㨐㨑㧩㧞 for one-parameter tuning.
㨀㨥㨜㨑㧩㧞
4
㨀㨡㨚㨕㨚㨓㧹㨛㨐㨑㧩㧞 steps 4-1 and 4-2.
㨀㨥㨜㨑㧩㧞
Tuning Mode
Select the tuning mode. Select the tuning mode 2 or 3.
4-1 Tuning Mode = 2: Enables model following control and makes adjustments for positioning.
Tuning Mode = 3: Enables model following control, makes adjustments for positioning, and suppresses over-
shooting.
Type Selection
transmissions).
㧾㨁㧺 ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆ If the servomotor power is OFF, send an SV_ON

‫ޓ‬㧿㨑㨠㨠㨕㨚㨓 command from the host controller. The display will
5 –
㨀㨡㨚㨕㨚㨓‫ޓ‬㧹㨛㨐㨑㧩㧞
change from "BB" to "RUN."
‫ޓޓޓޓޓޓޓ‬㨀㨥㨜㨑㧩㧞 If the servomotor power is ON, go to step 6.
6 㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜 Press the Key to display the set value.
Adjustments
㧾㨁㧺‫̆ ޓ‬㧻㨚㨑㧼㨞㨙㨀㨡㨚̆
㧲㧲‫ޓ‬㧸㧱㨂㧱㧸㧩㧜㧜㧡㧜㧚㧜
7 㧲㧮‫ޓ‬㧸㧱㨂㧱㧸㧩㧜㧜㧠㧜㧚㧜
Press the Key again to display FF LEVEL and
FB LEVEL setting screens.
5-39
5 Adjustments
(cont’d)
If readjustment is required, select the digit with the
or Key or change the FF LEVEL and FB
LEVEL with the or Key. Check the
response.
If readjustment is not required, go to step 9.
Note: The higher the FF LEVEL, the positioning time
will be shorter and the response will be better.
If the level is too high, however, overshooting
or vibration may occur. Overshooting will be
reduced if the FB LEVEL is increased.
If Vibration Occurs
• If vibration occurs, press the Key. The SER-
VOPACK will automatically detect the vibration
frequencies and make notch filter or an anti-reso-
nance control settings. When the notch filter is set,
“NF1” and “NF2” are displayed on the bottom row.
When the anti-resonance control is set, “ARES”
will be displayed on the bottom low.
㧾㨁㧺‫̆ ޓ‬㧻㨚㨑㧼㨞㨙㨀㨡㨚̆
㧾㨁㧺‫̆ ޓ‬㧻㨚㨑㧼㨞㨙㨀㨡㨚̆ 㧲㧲‫ޓ‬㧸㧱㨂㧱㧸㧩㧜㧜㧡㧜㧚㧜
㧲㧲‫ޓ‬㧸㧱㨂㧱㧸㧩㧜㧜㧡㧜㧚㧜㧲㧮‫ޓ‬㧸㧱㨂㧱㧸㧩㧜㧜㧠㧜㧚㧜
8 㧲㧮‫ޓ‬㧸㧱㨂㧱㧸㧩㧜㧜㧠㧜㧚㧜
‫ޓ‬㧺㧲㧝‫ޓޓ‬㧺㧲㧞‫ޓޓ‬㧭㧾㧱㧿
If Vibration Is Large
• Even if the Key is not pressed, the SERVO-
PACK will automatically detect the vibration fre-
quencies and make notch filter or anti-resonance
control settings.
Notes:
• If the FF LEVEL is changed when the servomotor
is in operation, it will not be reflected immediately.
The changes will be effective after the servomotor
comes to a stop with no reference input and then
the servomotor starts operation If the FF LEVEL is
changed too much during operation, vibration may
occur because the responsiveness is changed rap-
idly when the settings become effective.
• The message “FF LEVEL” flashes until the
machine reaches the effective FF LEVEL. If the
servomotor does not stop within approximately 10
seconds after changing the setting, a timeout will
occur. The setting will be returned to the previous
value.
9 㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜
Press the Key to display the confirmation screen
㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜 after level adjustment.
㧺㧲㧝
• Press the Key to save the adjusted values.

After the data is saved, “DONE” will flash for
approximately two seconds and then “RUN” will
10 㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜 be displayed.
㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜 • To return to the previous value, press the Key.
㧺㧲㧝
• Press the Key to readjust the level without
saving the values.
㧲㨚㧞㧜㧞㧦㧾㨑㨒㧭㧭㨀 Press the Key to complete the one-parameter
11 㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚 tuning operation. The screen in step 1 will appear
㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎‫ޓ‬㧿㨡㨜 again.
Note: The status display will always be RUN when the servomotor power is ON.
5-40
(2) Related Functions on One-parameter Tuning

This section describes functions related to one-parameter tuning.
Notch Filter
If this function is set to Auto Setting, vibration will be detected automatically during one-parameter tuning and
the notch filter will be set.
Set this function to Not Auto Setting only if you do not change the notch filter setting before executing one-
parameter tuning.

n. 0
n. 0

When this function is set to Auto Setting, vibration will be automatically detected during one-parameter tun-
ing and anti-resonance control will be automatically adjusted and set.
n. 0
"ARES" will flash on the digital operator when anti-resonance control adjustment function is set.
㧲㧲‫ޓ‬㧸㧱㨂㧱㧸‫ޓ‬㧩‫ޓ‬㧜㧜㧡㧜
㧲㧮‫ޓ‬㧸㧱㨂㧱㧸‫ޓ‬㧩‫ޓ‬㧜㧜㧠㧜‫ޓ‬
‫ޓ‬
‫ޓ‬㧺㧲㧝‫ޓ‬㧺㧲㧞‫ޓޓޓ‬㧭㧾㧱㧿
Adjustments
5-41
5 Adjustments
Conditions to which friction compensation is applicable depend on the tuning mode. The friction compensa-
tion setting in F408.3 applies when the mode is 0 or 1. Tuning Mode = 2 and Tuning Mode = 3 are adjusted
with the friction compensation function regardless of the friction compensation setting in P408.3.
Mode
Friction Tuning Mode = 0 Tuning Mode = 1 Tuning Mode = 2 Tuning Mode = 3
Compensation
Selecting
n.0 Adjusted without the Adjusted without the
[Factory friction compensation friction compensation
setting] function function Adjusted with the Adjusted with the
Pn408 friction compensation friction compensation
Adjusted with the Adjusted with the function function
n.1 friction compensation friction compensation
function function
Feedforward
If Pn140 is set to the factory setting and the tuning mode setting is changed to 2 or 3, the feedforward gain
(Pn109), speed feedforward (VFF) input, and torque feedforward (TFF) input will be disabled.
n.0
Model following control is not used together with the
[Factory speed/torque feedforward input.
Pn140 setting] Immediately Tuning
n.1
shooting.
5-42
5.5.3 One-parameter Tuning Example

The following procedure is used for one-parameter tuning on the condition that the tuning mode is set to 2 or
3. This mode is used to reduce positioning time.
Step Measuring Instrument Display Example Operation
Position error
M
E
C Measure the positioning time after setting the moment of iner-
tia ratio (Pn103) correctly. Tuning will be completed if the
1
Reference speed
H specifications are met here. The tuning results will be saved in
A the SERVOPACK.
Positioning completed signal
The positioning time will become shorter if the FF level is

increased. The tuning will be completed if the specifications
2 are met. The tuning results will be saved in the SERVOPACK.
If overshooting occurs before the specifications are met, go to
step 3.
Overshooting will be reduced if the FB level is increased. If the

3
overshooting is eliminated, go to step 4.
The graph shows overshooting generated with the FF level

increased after step 3. In this state, the overshooting occurs, but
the positioning settling time is shorter. The tuning will be com-
pleted if the specifications are met. The adjustment results are
saved in the SERVOPACK. If overshooting occurs before the
specifications are met, repeat steps 3 and 4.
4 If vibration occurs before the overshooting is eliminated, the
vibration will be suppressed by the automatic notch filter and
anti-resonance control.
Adjustments
Note: The vibration frequencies may not be detected if the

vibration is too small. If that occurs, press the Key
to forcibly detect the vibration frequencies.
5 – The adjustment results are saved in the SERVOPACK.
5-43
5 Adjustments




Parameter Name
changes changes
Pn144 Model Following Control Bias (Reverse Direction) No Yes
Pn145 Vibration Suppression 1 Frequency A No No
Pn146 Vibration Suppression 1 Frequency B No No
5-44
5.6 Anti-Resonance Control Adjustment Function (Fn204)

This section describes the anti-resonance control adjustment function.
5.6.1 Anti-Resonance Control Adjustment Function

The anti-resonance control adjustment function increases the effectiveness of the vibration suppression after
one-parameter tuning. This function is effective in supporting anti-resonance control adjustment if the vibra-
tion frequencies are from 100 to 1000 Hz.
This function rarely needs to be used because it is automatically set by the advanced autotuning or advanced
autotuning by reference input. Use this function only if fine-tuning is required, or vibration detection is failed
and readjustment is required.
Perform one-parameter tuning (Fn203) or use another method to improve the response characteristics after
performing this function. If the anti-resonance gain is increased with one-parameter tuning performed, vibra-
tion may result again. If that occurs, perform this function again to fine-tune the settings.
CAUTION
• If this function is executed, related parameters will be set automatically. Therefore, there will be a large
response change after this function is executed. Enable the function in a state where the machine can
come to an emergency stop at any time to ensure the safety operation of the machine.
• Be sure to set a suitable value for the moment of inertia ratio (Pn103) using advanced autotuning before
executing the anti-resonance control adjustment function. If the setting greatly differs from the actual
moment of inertia ratio, normal control of the machine may not be possible, and vibration may result.
• This function detects vibration between 100 and 1000 Hz. Vibration will not be
detected for frequencies outside of this range, and instead, "F----" will be displayed. If
that occurs, use one-parameter tuning with tuning mode 2 selected to automatically
set a notch filter or use the vibration suppression function (Fn205).
• Vibration can be reduced more effectively by increasing the anti-resonance damping
gain (Pn163). The amplitude of vibration may become larger if the damping gain is
excessively high. Increase the damping gain from about 0% to 200% in 10% incre-
ments while checking the effect of vibration reduction. If the effect of vibration reduc-
tion is still insufficient at a gain of 200%, cancel the setting, and lower the control gain
using a different method, such as one-parameter tuning.
(1) Before Performing Anti-Resonance Control Adjustment Function

Check the following settings before performing anti-resonance control adjustment function.
Adjustments

• The control must not be set to torque control.
5
5-45
5 Adjustments
5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure

With this function, an operation reference is sent, and the function is executed while vibration is occurring.
Anti-resonance control adjustment function is performed from the digital operator (option) or SigmaWin+.
The following methods can be used for the anti-resonance control adjustment function.
• Using anti-resonance control for the first time

• With undetermined vibration frequency
• With determined vibration frequency
• For fine-tuning after adjusting the anti-resonance control
The following describes the operating procedure from the digital operator.
(1) Using Anti-Resonance Control for the First Time

With Undetermined Vibration Frequency
㧾㨁㧺‫̆ ޓ‬㧲㨁㧺㧯㨀㧵㧻㧺̆ Press the Key to view the main menu for the
㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚 utility function.
1 㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎‫ޓ‬㧿㨡㨜
㧲㨚㧞㧜㧡㧦㨂㨕㨎‫ޓ‬㧿㨡㨜 Use the or Key to move through the list,
㧲㨚㧞㧜㧢㧦㧱㨍㨟㨥‫ޓ‬㧲㧲㨀 select Fn204.
Status Display
㧾㨁㧺 ̆ 㨂㨕㨎㧿㨡㨜̆
㨀㨡㨚㨕㨚㨓㧹㨛㨐㨑㧩㧜 for tuning mode.
3

Press the or Key and set the tuning mode
"0."
Press the Key while "Tuning Mode = 0" is dis-

played. The screen shown on the left will appear. The
detection of vibration frequencies will start and
"freq" will flash. Return to step 3 if vibration is not
detected.
4 㨒㨞㨑㨝㧩㧙㧙㧙㧙㧴㨦 Note: If vibration is not detected even when vibration
㨐㨍㨙㨜㧩㧜㧜㧜㧜
is occurring, lower the vibration detection sen-
sitivity (Pn311). When this parameter is low-
ered, the detection sensitivity will be increased.
Vibration may not be detected accurately if too
small value is set.
The vibration frequency will be displayed in “freq” if
vibration is detected.
Ro-
tati
Error
㧾㨁㧺 ̆ 㨂㨕㨎㧿㨡㨜̆ on
5 㨒㨞㨑㨝㧩㧜㧠㧜㧜㧴㨦 –
Torque reference
Positioning completed
signal
Example of measured waveform
5-46
(cont’d)
6 㨒㨞㨑㨝㧩㧜㧠㧜㧜㧴㨦

Press the Key. The cursor will move to "damp,"
㨐㨍㨙㨜㧩㧜㧜㧜㧜 and the flashing of "freq" will stop.
Select the digit with the or Key, and press

the or Key to set the damping gain.
Ro-
tati
Error on
㧾㨁㧺 ̆ 㨂㨕㨎㧿㨡㨜̆ Torque reference

㨐㨍㨙㨜㧩㧜㧝㧞㧜
signal
Note: Increase the damping gain from about 0% to
200% in 10% increments while checking the
effect of vibration reduction. If vibration reduc-
tion is still insufficient at a gain of 200%, can-
cel the setting, and lower the control gain by
using a different method, such as one-parame-
ter tuning.
㧾㨁㧺 ̆ 㨂㨕㨎㧿㨡㨜̆ If fine tuning of the frequency is necessary, press the
Key. The cursor will move from "damp" to
㨐㨍㨙㨜㧩㧜㧝㧞㧜 "freq." If fine-tuning is not necessary, skip step 9 and
go to step 10.

9 㨒㨞㨑㨝㧩㧜㧠㧞㧜㧴㨦
㨐㨍㨙㨜㧩㧜㧝㧞㧜 the or Key to fine-tune the frequency.

10 㨒㨞㨑㨝㧩㧜㧠㧞㧜㧴㨦 flash for approximately two seconds and "RUN" will
㨐㨍㨙㨜㧩㧜㧝㧞㧜 be displayed.
Adjustments
㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚 Press the Key to complete the anti-resonance
11 㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎‫ޓ‬㧿㨡㨜 control adjustment function. The screen in step 1 will
㧲㨚㧞㧜㧡㧦㨂㨕㨎‫ޓ‬㧿㨡㨜 appear again.
㧲㨚㧞㧜㧢㧦㧱㨍㨟㨥‫ޓ‬㧲㧲㨀
5-47
5 Adjustments
With Determined Vibration Frequency
2

Press the Key to display the initial setting screen
for tuning mode.
3

Press the or Key and set the tuning mode
㨀㨡㨚㨕㨚㨓㧹㨛㨐㨑㧩㧝
"1."

played. The screen shown on the left will appear and
"freq" will flash.
Ro-
tati
Error
on
4 㨒㨞㨑㨝㧩㧜㧝㧜㧜㧴㨦
Torque reference
signal

5 㨒㨞㨑㨝㧩㧜㧝㧜㧜㧴㨦
㨐㨍㨙㨜㧩㧜㧜㧜㧜 the or Key to adjust the frequency.
6 㨒㨞㨑㨝㧩㧜㧠㧜㧜㧴㨦 Press the Key. The cursor will move to "damp."
5-48
(cont’d)
the or Key to adjust the damping gain.
Ro-
tati
Error on
㧾㨁㧺 ̆ 㨂㨕㨎㧿㨡㨜̆ Torque reference

㨐㨍㨙㨜㧩㧜㧜㧞㧜
signal
Note: Increase the damping gain from about 0% to
effect of vibration reduction. If vibration reduc-
ter tuning.
Key. The cursor will move from "damp" to
㨐㨍㨙㨜㧩㧜㧝㧞㧜 "freq." If fine-tuning is not necessary, skip step 9 and
go to step 10.

㨐㨍㨙㨜㧩㧜㧝㧞㧜 the or Key to fine-tune the frequency.

10 㨒㨞㨑㨝㧩㧜㧠㧜㧜㧴㨦 flash for approximately two seconds and "RUN" will
㨐㨍㨙㨜㧩㧜㧝㧞㧜 be displayed.
Adjustments
5-49
5 Adjustments
(2) For Fine-tuning After Adjusting the Anti-Resonance Control
2

Press the Key to display the "Tuning Mode = 1"
㨀㨡㨚㨕㨚㨓㧹㨛㨐㨑㧩㧝
as shown on the left.

3 㨒㨞㨑㨝㧩㧜㧠㧜㧜㧴㨦 played. The screen shown on the left will appear and
㨐㨍㨙㨜㧩㧜㧝㧞㧜
"damp" will flash.

the or Key to set the damping gain.
㧾㨁㧺 ̆ 㨂㨕㨎㧿㨡㨜̆ Note: Increase the damping gain from about 0% to
4 㨒㨞㨑㨝㧩㧜㧠㧜㧜㧴㨦 effect of vibration reduction. If vibration reduc-
㨐㨍㨙㨜㧩㧜㧝㧡㧜
ter tuning.
5 Key. The cursor will move from "damp" to
㨒㨞㨑㨝㧩㧜㧠㧜㧜㧴㨦
㨐㨍㨙㨜㧩㧜㧝㧡㧜 "freq." If fine-tuning is not necessary, skip step 6 and
go to step 7.

6 㨒㨞㨑㨝㧩㧜㧠㧞㧜㧴㨦
㨐㨍㨙㨜㧩㧜㧝㧡㧜 the or Key to fine-tune the frequency.

7 㨒㨞㨑㨝㧩㧜㧠㧞㧜㧴㨦 flash for approximately two seconds and "RUN" will
㨐㨍㨙㨜㧩㧜㧝㧡㧜 be displayed.
5-50




Parameter Name
changes changes
Pn162 Anti-Resonance Gain Compensation Yes No
Pn164 Anti-Resonance Filter Time Constant 1 Compensation Yes No
Pn165 Anti-Resonance Filter Time Constant 2 Compensation Yes No
Adjustments
5-51
5 Adjustments
5.7.1 Vibration Suppression Function
5.7 Vibration Suppression Function (Fn205)

The vibration suppression function is described in this section.
5.7.1 Vibration Suppression Function

This function is set automatically when advanced autotuning or advanced autotuning by reference is executed.
In most cases, this function is not necessary. Use this function only if fine-tuning is required or readjustment is
required as a result of a failure to detect vibration.
Perform one-parameter tuning (Fn203) if required to improve the response characteristics after performing
this function.
CAUTION
• If this function is executed, related parameters will be set automatically. Therefore, there will be a large
response change after this function is enabled or disabled. Enable the function in a state where the
machine can come to an emergency stop at any time to ensure the safety operation of the machine.
• Be sure to set a suitable value for the moment of inertia ratio (Pn103) using advanced autotuning before
executing the vibration suppression function. If the setting greatly differs from the actual moment of inertia
ratio, normal control of the SERVOPACK may not be possible, and vibration may result.
• Phase control of the MP2000 Series may not be possible, if the vibration suppression function is per-
formed when using the MP2000 Series with phase control.
• This function detects vibration frequency between 1 to 100 Hz. Vibration will not be
detected for frequencies outside of this range, and instead, "F-----" will be displayed.
• Frequency detection will not be performed if no vibration results from position error or
the vibration frequencies are outside the range of detectable frequencies. If so, use a
device, such as a displacement sensor or vibration sensor, to measure the vibration
frequency.
• If vibration frequencies automatically detected are not suppressed, the actual fre-
quency and the detected frequency may differ. Fine-tune the detected frequency if
necessary.
(1) Preparation
Check the following settings before performing the vibration suppression function.
• The control must be set to position control.

(2) Items Influencing Performance
If continuous vibration occurs when the servomotor is not rotating, the vibration suppression function cannot
be used to suppress the vibration effectively. If the result is not satisfactory, perform anti-resonance control
adjustment function (Fn204) or one-parameter tuning (Fn203).
5-52
(3) Detection of Vibration Frequencies

Frequency detection may not be possible if there is not enough vibration to affect the position error.
The detection sensitivity can be adjusted by changing the setting for the remained vibration detection width
(Pn560) which is set as a percentage of the positioning completed width (Pn522). Perform the detection of
vibration frequencies again after adjusting the remained vibration detection width (Pn560).
Remained Vibration Detection Width Position

Classification
1 to 3000 0.1% 400 Immediately Setup
Note: As a guideline, change the setting 10% at a time. The smaller the set value is, the higher the detection sensitivity will
be. If the value is too small, however, the vibration may not be detected accurately.
The vibration frequencies that are automatically detected may vary somewhat with each positioning operation.
Perform positioning several times and make adjustments while checking the effect of vibration suppression.
5.7.2 Vibration Suppression Function Operating Procedure

The following procedure is used for vibration suppression function.
Vibration suppression function is performed from the digital operator (option) or SigmaWin+.
The operating procedure from the digital operator is described here.
Note: If this function is aborted by pressing the MODE/SET Key, the SERVOPACK will continue operating until the ser-
vomotor comes to a stop. After the servomotor stops, the set value will return to the previous value.
The operating flow of the vibration suppression function is shown below.
(1) Operating Flow
Execute steps 1 to 3 in the following page.
No
Vibration detected? Adjust vibration using measuring device.
Yes
Adjustments
Execute steps 4 to 8 in the following page.
Completed
5
5-53
5 Adjustments
5.7.2 Vibration Suppression Function Operating Procedure

1 Input a operation reference and take the following steps while repeating positioning.
㧲㨚㧞㧜㧠㧦㧭㧙㨂㨕㨎‫ޓ‬㧿㨡㨜 utility function.
2 㧲㨚㧞㧜㧡㧦㨂㨕㨎‫ޓ‬㧿㨡㨜
㧲㨚㧞㧜㧢㧦㧱㨍㨟㨥‫ޓ‬㧲㧲㨀 Use the or Key to move through the list,
㧲㨚㧞㧜㧣㧦㨂㧙㧹㨛㨚㨕㨠㨛㨞 select Fn205.
Press the Key. The display shown on the left will

appear.
Measure f: Measurement frequency
Setting f: Setting frequency [Factory-set to the set
value for Pn145]
If the setting frequency and actual operating fre-
quency are different, "Setting" will flash.
Note:
Frequency detection will not be performed if
㧾㨁㧺 ̆㨂㨕㨎㧿㨡㨜̆
there is no vibration or the vibration frequency
is outside the range of detectable frequencies.
3 㧹㨑㨍㨟㨡㨞㨑㨒㧩㧜㧝㧜㧚㧠㧴㨦 The following screen will be displayed if vibra-
㧿㨑㨠㨠㨕㨚㨓㨒㧩㧜㧡㧜㧚㧠㧴㨦
tion is not detected. If the vibration frequencies
are not detected, prepare a means of detecting
and measuring the vibration. When the vibra-
tion frequencies are measured, go to step 5 and
manually set the measured vibration frequency
to “Setting f.”

㧹㨑㨍㨟㨡㨞㨑㨒㧩㧙㧙㧙㧙㧙㧴㨦
㧿㨑㨠㨠㨕㨚㨓㨒㧩㧜㧡㧜㧚㧜㧴㨦
Press the Key. The displayed “Measure f” value

will be displayed as the “Setting f” value as well.
Rota-
tion

4 㧹㨑㨍㨟㨡㨞㨑㨒㧩㧜㧝㧜㧚㧠㧴㨦 Position
㧿㨑㨠㨠㨕㨚㨓㨒㧩㧜㧝㧜㧚㧠㧴㨦 Error
Torque
reference
If the vibration is not completely suppressed, select
the digit with the or Key, and press the
or Key to fine-tune the frequency “setting
5 㧹㨑㨍㨟㨡㨞㨑㨒㧩㧜㧝㧜㧚㧠㧴㨦 f.” Skip this step and go to step 7 if the fine-tuning of
㧿㨑㨠㨠㨕㨚㨓㨒㧩㧜㧝㧞㧚㧠㧴㨦 the frequency is not necessary.
Note: If the setting frequency and actual operating
frequency are different, "Setting" will flash.
5-54
(cont’d)
Press the Key. The "Setting f" will change to

usual display and the frequency currently displayed
will be set for the vibration suppression function.
Rota-
tion

6 㧹㨑㨍㨟㨡㨞㨑㨒㧩㧜㧝㧜㧚㧠㧴㨦
㧿㨑㨠㨠㨕㨚㨓㨒㧩㧜㧝㧞㧚㧠㧴㨦
Position
Error
Torque
reference

㧾㨁㧺 ‫̆ ޓޓ‬㨂㨕㨎㧿㨡㨜̆
Press the Key to save the setting. "DONE" will
7 㧹㨑㨍㨟㨡㨞㨑㨒㧩㧙㧙㧙㧙㧙㧴㨦 flash for approximately two seconds and "RUN" will
㧿㨑㨠㨠㨕㨚㨓㨒㧩㧜㧝㧞㧚㧠㧴㨦 be displayed again.
8
㧲㨚㧞㧜㧠 Press the Key to complete the vibration suppres-
㧲㨚㧞㧜㧡
㧲㨚㧞㧜㧢 sion function. The screen in step 1 will appear again.
㧲㨚㧞㧜㧣
No settings related to the vibration suppression function will be changed during opera-
tion.
If the servomotor does not stop approximately 10 seconds after the setting changes, a
timeout error will result and the previous setting will be automatically enabled again.
The vibration suppression function will be enabled in step 6. The motor response, how-
ever, will change when the servomotor comes to a stop with no reference input.
(3) Related Function on Vibration Suppression Function

This section describes functions related to vibration suppression function.
Feedforward
The feedforward gain (Pn109), speed feedforward (VFF) input, and torque feedforward (TFF) input will be
disabled in the factory setting. Adjustments
[Factory setting] speed/torque feedforward input. 5
n.1
5-55
5 Adjustments
shooting.




Parameter Name
changes changes
Pn142 Model Following Control Gain Compensation No No
Pn143 Model Following Control Bias (Forward Direction) No No
Pn144 Model Following Control Bias (Reverse Direction) No No
Model Following Control Speed Feedforward Compen-
Pn147 No No
sation
Pn14A Vibration Suppression 2 Frequency No No
Pn14B Vibration Suppression 2 Compensation No No
5-56
5.8 Additional Adjustment Function

This section describes the functions that can be used for additional fine tuning after making adjustments with
advanced autotuning, advanced autotuning by reference, or one-parameter tuning.
• Switching gain settings

• Current control mode selection
• Current gain level setting
• Speed detection method selection
5.8.1 Switching Gain Settings

Two gain switching functions are available, manual switching and automatic switching. The manual switching
function uses an external input signal to switch gains, and the automatic switching function switches gains
automatically.
By using the gain switching function, the positioning time can be shortened by increasing the gain during posi-
tioning and vibration can be suppressed by decreasing the gain while it is stopped.

n. 0
Manual gain switching
Pn139 [Factory setting] Immediately Tuning
n. 2 Automatic gain switching
Note: n. 1 is reserved. Do not use.
For the gain combinations for switching, refer to (1) Gain Combinations for Switching.
For the manual gain switching, refer to (2) Manual Gain Switching.
For the automatic gain switching, refer to (3) Automatic Gain Switching.
(1) Gain Combinations for Switching

Model
Speed Loop Torque Refer- Model Friction
Speed Loop Position Loop Following
Setting Integral Time ence Following Compensation
Gain Gain Control Gain
Constant Filter Control Gain Gain
Compensation
Pn142*
Pn100
Pn101
Pn102
Pn401 Pn141* Pn121
Gain Speed Loop Torque Refer- Model Follow-
Speed Loop Position Loop Model Follow- Friction Com-
Setting 1 Integral Time ence Filter Time ing Control
Gain Gain ing Control pensation Gain
Constant Constant Gain Compen-
Gain
Adjustments
sation
Pn412 Pn149*
Pn104
Pn105
Pn106 1st Step 2nd Pn148* Pn122
Gain 2nd Speed Loop 2nd Model Fol- 2nd Gain for
2nd Speed Loop 2nd Position Torque Refer- 2nd Model Fol-
Setting 2 Integral Time lowing Control Friction
Gain Loop Gain ence Filter Time lowing Control
Constant Gain Compen- Compensation
Constant Gain
sation
∗ The switching gain settings for the model following control gain and the model following control gain compensation 5
are available only for manual gain switching. To enable the gain switching of these parameters, a gain switching input
signal must be sent, and the following conditions must be met.
• No command being executed.
• Motor having been completely stopped.
If these conditions are not satisfied, the applicable parameters will not be switched although the other parameters
shown in this table will be switched.
5-57
5 Adjustments
(2) Manual Gain Switching

Manual gain switching uses G-SEL of the servo command output signals (SVCMD_IO) to switch between
gain setting 1 and gain setting 2.
Type Command Name Setting Meaning

G-SEL of the servo com- 0 Switches to gain setting 1.
Input mand output signals
(SVCMD_IO) 1 Switches to gain setting 2.
(3) Automatic Gain Switching

Automatic gain switching is enabled only in position control. The switching conditions are specified using the
following settings.
Switching Wait
Parameter Setting Switching Condition Setting Switching Time
Time
Condition A satisfied. Gain setting 1 to Pn135 Pn131
gain setting 2 Gain Switching Gain Switching
Waiting Time 1 Time 1
Pn139 n. 2
Condition A not satis- Gain setting 2 to Pn136 Pn132
fied. gain setting 1 Gain Switching Gain Switching
Waiting Time 2 Time 2
Select one of the following settings for switching condition A.
For Other than

Switching Condition A When
Parameter Position Control Classification
for Position Control Enabled
(No Switching)
n. 0 Positioning completed
Fixed in gain setting 1
[Factory setting] signal (/COIN) ON
n. 1 Fixed in gain setting 2
signal (/COIN) OFF
Positioning near signal
(/NEAR) ON
Pn139 Positioning near signal Immediately Tuning
(/NEAR) OFF
No output for position
n. 4 reference filter and posi- Fixed in gain setting 1
tion reference input OFF
Position reference input
ON
Automatic switching pattern 1 (Pn139.0 = 2)
Switching Waiting Time 1 Pn135

Condition A Switching Time 1 Pn131
satisfied
Gain Gain
Settings 1 Settings 2
Pn100 Pn104
Pn101 Pn105
Pn102 Pn106
Pn121 Pn122
Pn401 Pn412
Switching Waiting Time 2‫ޓ‬Pn136 Condition A
Switching Time 2‫ޓ‬Pn132 not satisfied
5-58
Relationship between the Waiting and Switching Times for Gain Switching
In this example, the "positioning completed signal (/COIN) ON" condition is set as condition A for automatic
gain switching. The position loop gain is switched from the value in Pn102 (position loop gain) to the value in
Pn106 (2nd position loop gain). When the /COIN signal goes ON, the switching operation begins after the
waiting time set in Pn135. The switching operation changes the position loop gain linearly from Pn102 to
Pn106 within the switching time set in Pn131.
Switching
Waiting Time Switching Time
Pn135 Pn131
Pn102
Position Loop Gain
Pn106
2nd Position
Loop Gain
/COIN
Switching condition A satisfied
Note: Automatic gain switching is available in the PI and I-P controls (Pn10B).
Speed Loop Gain Speed Position

Classification
10 to 20000 0.1 Hz 400 Immediately Tuning
Speed Loop Integral Time Constant Speed Position

Classification
15 to 51200 0.01 ms 2000 Immediately Tuning
Position Loop Gain Position

Classification
10 to 20000 0.1/s 400 Immediately Tuning
Torque Reference Filter Time Constant Speed Position Torque

Classification
Pn401 Setting Range Setting Unit Factory Setting When Enabled Adjustments
Model Following Control Gain Position

Classification
Model Following Control Gain Compensation Position 5

Classification
500 to 2000 0.1% 1000 Immediately Tuning
Friction Compensation Gain Speed Position
Classification
10 to 1000 1% 100 Immediately Tuning
2nd Speed Loop Gain Speed Position

Classification
10 to 20000 0.1 Hz 400 Immediately Tuning
5-59
5 Adjustments
(cont’d)
2nd Speed Loop Integral Time Constant Speed Position
Classification
2nd Position Loop Gain Position

Classification
1st Step 2nd Torque Reference Filter Time
Constant Classification
Pn412
2nd Model Following Control Gain Position

Classification
2nd Model Following Control Gain Compensation Position

Classification
500 to 2000 0.1% 1000 Immediately Tuning
2nd Gain for Friction Compensation Speed Position
Classification
(5) Parameters for Automatic Gain Switching

Gain Switching Time 1 Position
Classification
0 to 65535 1 ms 0 Immediately Tuning
Gain Switching Time 2 Position

Classification
Gain Switching Waiting Time 1 Position

Classification
Gain Switching Waiting Time 2 Position

Classification
(6) Related Monitor

Monitor No. (Un) Name Value Remarks
1 For gain setting 1
Un014 Effective gain monitor
2 For gain setting 2
Note: When using the tuning-less function, gain setting 1 is enabled.
Analog Moni-
Parameter No. Name Output Value Remarks
tor
Pn006 Effective gain moni- 1V Gain setting 1 is enabled.
n. 0B
Pn007 tor 2V Gain setting 2 is enabled.
5-60
5.8.2 Manual Adjustment of Friction Compensation

Friction compensation rectifies the viscous friction change and regular load change.
The friction compensation function can be automatically adjusted with advanced autotuning (Fn201),
advanced autotuning by reference input (Fn202), or one-parameter tuning (Fn203). This section describes the
steps to follow if manual adjustment is required.
(1) Required Parameter Settings

The following parameter settings are required to use friction compensation.

n.0
Does not use friction compensation.
Pn408 [Factory setting] Immediately Setup
n.1 Uses friction compensation.
Friction Compensation Gain Speed Position

Classification
Friction Compensation Coefficient Speed Position
Classification
Friction Compensation Frequency Correction Speed Position
Classification
-10000 to 10000 0.1 Hz 0 Immediately Tuning
Friction Compensation Gain Correction Speed Position
Classification
Adjustments
5-61
5 Adjustments
5.8.2 Manual Adjustment of Friction Compensation
(2) Operating Procedure for Friction Compensation

The following procedure is used for friction compensation.
CAUTION
• Before using friction compensation, set the moment of inertia ratio (Pn103) as accurately as possible. If
the wrong moment of inertia ratio is set, vibration may result.
Step Operation
Set the following parameters for friction compensation to the factory setting as follows.
Friction compensation gain (Pn121): 100
Friction compensation coefficient (Pn123): 0
1 Friction compensation frequency correction (Pn124): 0
Friction compensation gain correction (Pn125): 100
Note: Always use the factory-set values for friction compensation frequency correction (Pn124) and friction
compensation gain correction (Pn125).
To check the effect of friction compensation, gradually increase the friction compensation coefficient (Pn123).
Note: Usually, set the friction compensation coefficient value to 95% or less. If the effect is insufficient,
increase the friction compensation gain (Pn121) by 10% increments until it stops vibrating.
Effect of Parameters for Adjustment

Pn121: Friction Compensation Gain
2 This parameter sets the responsiveness for external disturbance. The higher the set value is, the better the
responsiveness will be. If the equipment has a resonance frequency, however, vibration may result if the set
value is excessively high.
Pn123: Friction Compensation Coefficient
This parameter sets the effect of friction compensation. The higher the set value is, the more effective friction
compensation will be. If the set value is excessively high, however, the vibration will occur easily. Usually,
set the value to 95% or less.
Effect of Adjustment
The following graph shows the responsiveness with and without proper adjustment.
Insufficient responsiveness Responsiveness MECHA

because of friction is improved by
៺ᡂᄢ㧘៺ᡂዊ
friction
Small friction compensation.
૏⟎஍Ꮕ
Position error ૏⟎஍Ꮕ
Position error
3
៺ᡂᄢ
Large friction
ᜰ઎ࡄ࡞ࠬㅦᐲ
Reference speed ᜰ઎ࡄ࡞ࠬㅦᐲ
Reference speed
Without friction compensation With friction compensation
5-62
5.8.3 Current Control Mode Selection Function

This function reduces high-frequency noises while the servomotor is being stopped. This function is enabled
by default.

n. 0 Selects the current control mode 1.
Pn009 n. 1 After restart Tuning
Selects the current control mode 2 (low noise).
[Factory setting]
• If current control mode 2 is selected, the load ratio may increase while the servomotor
is being stopped.
5.8.4 Current Gain Level Setting

This function reduces noises by adjusting the parameter value for current control inside the SERVOPACK
according to the speed loop gain (Pn100). The noise level can be reduced by reducing the current gain level
(Pn13D) from its factory setting of 2000% (disabled). If the set value of Pn13D is decreased, the level of noise
will be lowered, but the response characteristics of the SERVOPACK will also be degraded. Adjust the current
gain level within the allowable range at which SERVOPACK response characteristics can be secured.
Current Gain Level Speed Position

Classification
Pn13D Setting Range Setting Unit Factory Setting When Enabled
• If the parameter setting of the current gain level is changed, the responses character-
istics of the speed loop will also change. The SERVOPACK must, therefore, be read-
justed again.
5.8.5 Speed Detection Method Selection

This function can ensure smooth movement of the servomotor while the servomotor is running. Set the value
of Pn009.2 to 1 and select speed detection 2 to smooth the movement of the servomotor while the servomotor
is running.

n. 0
Selects speed detection 1.
[Factory setting]
Adjustments
Pn009 After restart Tuning
n. 1 Selects speed detection 2.
• If the speed detection method is changed, the response characteristics of the speed
loop will change and the SERVOPACK must be readjusted again.
5-63
5 Adjustments
5.8.6 Backlash Compensation Function

(1) Overview
When driving a machine with backlash, there will be a deviation between the travel distance in the position
reference that is managed by the host controller and the travel distance of the actual machine. Use backlash
compensation function to add the backlash compensation value to the position reference and use the result to
drive the servomotor. This means that the travel distance of the actual machine will be the same as the travel
distance in the host controller.
Note: This function is supported only for position control.

Travel distance by
position reference MECHA
Machine axis
Travel distance
Backlash compensation value by position reference
Motor axis
Reference forward
rotational direction
Machine axis (e.g. table)
Motor axis
Backlash (play due to mechanical precision)

Set the following parameter to use backlash compensation.
Backlash Compensation Direction

Set the direction in which to apply backlash compensation.

n. 0
Compensates with a reference in the forward direc-
[Factory
tion.
Pn230 setting] After restart Setup
Compensates with a reference in the reverse direc-
n. 1
tion.
Backlash Compensation Value

Set the amount of backlash compensation to add to the position reference.
The amount is set in increments of 0.1 reference unit. However, when the amount is converted to encoder
pulses, it is rounded off at the decimal point.
Example: If Pn231 is set to 6,553.6 [reference unit] and the electronic gear ratio (Pn20E/Pn210) is set to 4/1,
then the pulse equivalent is 6,553.6 × 4 = 26,214.4 [pulses].
⇒The backlash compensation value will be 26,214 encoder pulses.
Backlash compensation value Position

Classification
0.1 reference
-500000 to 500000 0 Immediately Setup
unit
5-64
• The backlash compensation value is restricted by the following formula. The specified compensation
is not performed if this condition is not met.
Pn210 Maximum motor speed [min-1]

Pn231 ≤ × × Encoder resolution × 0.00025
Pn20E 60
∗ For details on encoder resolution, refer to 8.3.5 Electronic Gear. With fully-closed loop control, substitute
the number of external encoder pulses per motor revolution for “encoder resolution” in the formula above.
Example 1:
Assuming Pn20E = 4, Pn210 = 1, maximum motor speed = 6000 [min-1],
encoder resolution = 1048576 (20 bits):
1/4 × 6000/60 × 1048576 × 0.00025 = 6553.6 [reference units]
⇒ The upper limit for the backlash compensation is 6553.6 [reference units].
Example 2:
When using the conditions Pn20E = 4, Pn210 = 1, maximum motor speed = 6000 [min-1], external
encoder pitch count (Pn20A) = 500, JZDP-D00 -000 (signal resolution: 1/256):
1/4 × 6000/60 × (500 × 256) × 0.00025 = 800.0 [reference units]
⇒ The upper limit for the backlash compensation is 800.0 [reference units].
• Do not exceed the upper limit of the backlash compensation value. The upper limit of the backlash
compensation value can be confirmed in Un031.
Backlash Compensation Time Constant

Set a time constant for a first order lag filter to use when adding the backlash compensation value (Pn231) to
the position reference.
If you set Pn233 to 0, the first order lag filter is disabled.
Backlash compensation time constant Position

Classification
0 to 65535 0.01 ms 0 Immediately Setup
Note: Changes to the set value are applied when there is no position reference input and the servomotor is stopped. The
current operation is not affected if the set value is changed during servomotor operation.
(3) Related Monitor

The following monitoring parameters provide information on backlash compensation.
Adjustments
Un No. Displayed Information Unit
Un030 The current backlash compensation value 0.1 reference unit
Un031 Backlash compensation setting limit value 0.1 reference unit
(4) Compensation Operation

This section describes the operation that is performed for backlash compensation. 5
Note: The following figures are for when backlash compensation is applied for references in the forward direction
(Pn230.0 = 0). The following monitoring information is provided in the figures: TPOS (target position in the refer-
ence coordinate system), POS (reference position in the reference coordinate system), and APOS (feedback position
in the machine coordinate system). The monitoring information includes the feedback position in machine coordi-
nate system (APOS) and other feedback information. The backlash compensation value is subtracted from the feed-
back positions in the monitoring information, so it is not necessary for the host controller to consider the backlash
compensation value.
5-65
5 Adjustments
CAUTION
• The encoder output pulse will output the number of encoder pulses for which driving was actually per-
formed, including the backlash compensation value. If using the encoder output pulse for position feed-
back at the host controller, must consider the backlash compensation value.
When Servo is ON
The backlash compensation value (Pn231) is added in the compensation direction when the servo is ON (i.e.,
the servomotor is powered) and a reference is input in the same direction as the backlash compensation direc-
tion (Pn230.0). If there is a reference input in the direction opposite to the backlash compensation direction,
the backlash compensation value is not added (i.e., backlash compensation is not performed).
The relationship between APOS and the servomotor shaft position is as follows:
• If a reference is input in the compensation direction: APOS = Motor shaft position - Pn231
• If a reference is input in the direction opposite to the compensation direction: APOS = Motor shaft position
The following figure shows driving the servomotor in the forward direction from target position TPOS0 to
TPOS1 and then to TPOS2, and then returning from TPOS2 to TPOS1 and then to TPOS0.
Backlash compensation is applied when moving from TPOS0 to TPOS1, but not when moving from TPOS2 to
TPOS1.
Servo ON
MECHA
If a reference is input Target position Target position Target position
in the compensation TPOS0 TPOS1 TPOS2
direction Travel distance 䋱 Travel distance 䋲
POS
APOS
Machine axis
Pn231
Travel distance 䋱 Travel distance 䋲
Motor axis
Machine axis
Motor axis
Backlash (= Pn231)
If a reference is input
in the direction opposite
to the compensation direction

POS
APOS
Machine axis
Pn231
Motor axis
Machine axis
Motor axis
Backlash (= Pn231)
5-66
When Servo is OFF

Backlash compensation is not applied when the servo is OFF (i.e., when the servomotor is not powered).
Therefore, the reference position POS moves by only the backlash compensation value.
The relationship between APOS and the servomotor shaft position is as follows:
• When servo is OFF: APOS = Servomotor shaft position
The following figure shows what happens when the servo is turned OFF after driving the servomotor in the
forward direction from target position TPOS0 to TPOS1. Backlash compensation is not applied when the
servo is OFF (i.e., the SERVOPACK manages the position data so that APOS and POS are the same).
Servo OFF
MECHA
Target position Target position

TPOS0 TPOS1
Travel distance
POS
Status with no backlash
compensation POS = APOS
APOS
Machine axis
Pn231
Travel distance
Motor axis
Machine axis
Motor axis
Backlash䋨= Pn231䋩
When There is Overtravel

When there is overtravel (i.e., when driving is prohibited due to an overtravel signal or software limit), the
operation is the same as for When Servo is OFF, i.e., backlash compensation is not applied.
When Control is Changed

Backlash compensation is performed only for position control. Adjustments
Backlash compensation is not applied if changing from position control to any other type of control.
Backlash compensation is applied in the same way as When Servo is ON if changing from any other type of
control to position control.
When Safety Module Active Mode is Used

During an operation in active mode function, the operation is the same as for When Servo is OFF, i.e., back-
lash compensation is not applied. 5
5-67
5 Adjustments
(5) Monitor Functions (Un Monitoring)

Un No. Displayed Information Unit Specification
Indicates the input reference speed before backlash
Un007 Input reference speed min-1 compensation.
Displays the position error with respect to the position
Un008 Position error amount Reference unit
reference after backlash compensation.
Displays the input reference counter before backlash
Un00C Input reference counter Reference unit
compensation.
Displays the pulse count of the actually driven motor
Un00D Feedback pulse counter Encoder pulse
encoder.
Fully-closed feedback External encoder Displays the pulse count of the actually driven external
Un00E
pulse counter resolution encoder.
Displays the pulse count of the actually driven encoder
Un013 Feedback pulse counter Reference unit
in reference units.
(6) MECHATROLINK Monitor Information

This section describes the information that is set for the MECHATROLINK monitoring information (Monitor
1, Monitor 2, Monitor 3, and Monitor 4) and the backlash compensation operation.
Monitor
Designation Meaning Unit Remarks
Code
Reference position in the reference
Reference
0 POS coordinate system (after the position –
unit
reference filter)
Reference
1 MPOS Reference position –
unit
Reference
2 PERR Position error –
unit
Feedback position in the machine Reference Feedback position with the backlash
3 APOS
coordinate system unit compensation subtracted
Feedback latch position in the Reference Feedback position with the backlash
4 LPOS
machine coordinate system unit compensation subtracted
Reference position in the reference
Reference
5 IPOS coordinate system (before the position –
unit
reference filter)
Target position in the reference coor- Reference
6 TPOS –
dinate system unit
Option monitor 1
E OMN1 – –
(selected with Pn824)
Option monitor 2
F OMN2 – –
(selected with Pn825)
5-68
Parameters Monitor Information Output Unit Remarks

Reference
0003H Position error (lower 32 bits) –
unit
Reference
0004H Position error (upper 32 bits) –
unit
Reference
000AH Encoder count (lower 32 bits)
unit Count value of the actually driven
Reference motor encoder
000BH Encoder count (upper 32 bits)
unit
Reference
000CH FPG count (lower 32 bits)
unit Count value of the actually driven
Reference external encoder
000DH FPG count (upper 32 bits)
Pn824 unit
Pn825 0017H Un007: Input reference speed min-1 Same as monitor display Un007
Reference
0018H Un008: Position error amount Same as monitor display Un008
unit
Reference
001CH Un00C: Input reference counter Same as monitor display Un00C
unit
Encoder
001DH Un00D: Feedback pulse counter Same as monitor display Un00D
pulse
External
Un00E: Fully-closed feedback pulse
001EH encoder Same as monitor display Un00E
counter
resolution
Previous value of latched feedback Encoder Feedback position with the backlash
0080H
position (LPOS) pulse compensation subtracted
Related Monitoring Diagrams
MECHA [U][M]: Un00C

[A][T]: Speed feedforward <Legend symbols>
[A][T]: Position [A]: Analog monitoring
reference speed Feedforward [U]: Monitor display
Speed (Un monitoring)
conversation [U][M]: Un007 [O]: Outpur signal
[T]: Trace data object
[M]: IPOS [A][T]: Position amplifier error [M]: MECHATROLINK
monitor information
Position Electronic 㧗 Error 㧗㧗 Speed/

[M]: TPOS Position reference gear Kp current 㧹 Load
counter loop
reference filter 㧙
Backlash
compensation
[M]: MPOS function
Speed External
([M]: POS) ENC
[U]: Un013 conversation ENC
㧝 Adjustments
㧗 Electronic
Error 㧗㧙 gear
[M]: PERR
counter
㧙
Error [A][T][M]: Position error
counter [U][M]: Un008
[A][O][T]: Positioning completed

Output
[A][T]: Completion of
signal
[M]: APOS
processing
position reference
[O][T]: Position near
5
㧝
Electronic
[M]: Previous gear
value for LPOS
Backlash
㧝 [U][M]: Un00D
compensation
[M]: LPOS Electronic function
gear [U][M]: Un00E
Latch
signal
[M]: PG count
[M]: FPG count
5-69
5 Adjustments
5.8.7 Position Integral
5.8.7 Position Integral

The position integral is the integral function of the position loop. It is used for the electronic cams and elec-
tronic shafts when using the SERVOPACK with Yaskawa MP900/2000 machine controllers.
Position Integral Time Constant Position

Classification
Pn11F Setting Range Setting Unit Factory Setting When Enabled
5-70
5.9 Compatible Adjustment Function

The Σ-V large-capacity SERVOPACKs have adjustment functions as explained in sections 5.1 to 5.8 to make
machine adjustments.
This section explains compatible functions provided by earlier models, such as the Σ-II large-capacity SER-
VOPACK.
5.9.1 Feedforward Reference

This function applies feedforward compensation to position control and shortens positioning time.
Pn109
Pn10A MECHA
Feedforward Filter
Differential Feedforward Gain Time Constant
Position
reference
+ + +
Position loop gain (Kp)
-
Feedback pulse
Feedforward Gain Position

Classification
Feedforward Filter Time Constant Position

Classification
Pn10A Setting Range Setting Unit Factory Setting When Enabled
Note: Too high value may cause the machine to vibrate. For ordinary machines, set 80% or less in this parameter.
Adjustments
5-71
5 Adjustments
5.9.2 Mode Switch (P/PI Switching)
5.9.2 Mode Switch (P/PI Switching)

The mode switch automatically switches between proportional and PI control. Set the switching condition
with Pn10B.0 and set the level of detection points with Pn10C, Pn10D, Pn10E, and Pn10F.
Overshooting caused by acceleration and deceleration can be suppressed and the settling time can be reduced
by setting the switching condition and detection points.
Without Mode Switch With Mode Switch
Motor
Overshoot Motor
speed Actual servomotor
speed
operation
Reference
Time
Overshoot Time
Settling time Settling time

Select the switching condition of the mode switch with Pn10B.0.
Parameter
Containing When Classifi-
Parameter Mode Switch Selection
Detection Enabled cation
Point Setting
n. 0 Uses an internal torque reference level for the
Pn10C
[Factory setting] switching conditions.
Uses a speed reference level for the switching condi-
n. 1 Pn10D
tions.
Immedi-
Pn10B Uses an acceleration level for the switching condi- Setup
n. 2 Pn10E ately
tions.
Uses a position error level for the switching condi-
n. 3 Pn10F
tions.
n. 4 Does not use mode switch function. −
Parameters to Set the Level of Detection Points

Mode Switch (Torque Reference) Speed Position
Classification
Pn10C Setting Range Setting Unit Factory Setting When Enabled
Mode Switch (Speed Reference) Speed Position

Classification
0 to 10000 1 min-1 0 Immediately Tuning
Mode Switch (Acceleration) Speed Position

Classification
0 to 30000 1 min-1/s 0 Immediately Tuning
Mode Switch (Position Error) Position

Classification
Pn10F Setting Range Setting Unit Factory Setting When Enabled
0 to 10000 1 reference unit 0 Immediately Tuning
5-72
(2) Operating Examples for Different Switching Conditions

Using the Torque Reference [Factory Setting]
With this setting, the speed loop is switched to P control when the value of torque reference input exceeds the
torque set in Pn10C. The factory setting for the torque reference detection point is 200% of the rated torque.
Speed reference
Motor speed
Speed
Rotation
Time
+Pn10C Torque reference
Torque
Reference0
- Pn10C
PI P PI Control P PI Control
Using the Speed Reference

With this setting, the speed loop is switched to P control when the value of speed reference input exceeds the
speed set in Pn10D.
Speed reference Motor speed

Speed
Rotation
Pn10D Time
PI P Control PI Control
Using Acceleration
With this setting, the speed loop is switched to P control when the speed reference exceeds the acceleration set
in Pn10E.
Speed
Speed reference Motor speed Rotation
Time
Motor acceleration
+Pn10E
Acceleration 0
- Pn10E
Adjustments
PI P PI Control P PI Control
Using the Position Error

With this setting, the speed loop is switched to P control when the position error exceeds the value set in
Pn10F.
This setting is effective with position control only. 5

Speed reference Motor speed
Speed
Time
Position
error
Pn10F
PI P Control PI Control
5-73
5 Adjustments
5.9.3 Torque Reference Filter

As shown in the following diagram, the torque reference filter contains first order lag filter and notch filters
arrayed in series, and each filter operates independently. The notch filters can be enabled and disabled with the
Pn408.
Torque Related
Rotation
Function Switch
Pn408
* Torque
Torque 1st Notch 2nd
Torque 2nd Notch reference
reference Reference Torque Filter after
before Filter Reference (Pn409, Filter
(Pn40C, filtering
filtering (Pn401) Filter Pn40A,
(Pn40F, and Pn40B) Pn40D, and
Pn410) Pn40E)
First order lag filter Second order lag filter Notch filter Notch filter
* The 2nd torque reference filter is enabled when Pn40F is set to a value less than
5000 and disabled when Pn40F is set to 5000 (factory setting).
(1) Torque Reference Filter

If you suspect that machine vibration is being caused by the servo drive, try adjusting the filter time constants
with Pn401. This may stop the vibration. The lower the value, the better the response will be, but there may be
a limit that depends on the machine conditions.
Torque Reference Filter Time Constant Speed Position Torque

Classification
Torque Reference Filter Setting Guide

Use the speed loop gain (Pn100 [Hz]) and the torque filter time constant (Pn401 [ms]) to set the torque refer-
ence filter.
Adjusted value for stable control: Pn401 [ms] ≤ 1000/ (2π × Pn100 [Hz] × 4)
Critical gains: Pn401 [ms] < 1000/ (2π × Pn100 [Hz] × 1)
2nd Step 2nd Torque Reference Filter

Frequency Classification
Pn40F
100 to 5000 1 Hz 5000* Immediately Tuning
Q Value Classification
Pn410
50 to 100 0.01 50 Immediately Tuning
∗ The filter is disabled if 5000 is set.
5-74
(2) Notch Filter

The notch filter can eliminate specific frequency elements generated by the vibration of sources such as reso-
nance of the shaft of a ball screw. The notch filter puts a notch in the gain curve at the specific vibration fre-
quency. The frequency characteristics near the notch can be reduced or removed with this filter. A higher Q
value produces a sharper notch and phase delay.
Q value = 0.7 Q value = 1.0

Notch Filter Notch Filter
100 100
0 0
Gain Gain
(db) -100 (db) -100
-200 -200
-300 -300 2
10
2
10 3 10 4 3 4
10 10 10
Frequency (Hz) Frequency (Hz)
Notch Filter Notch Filter

0 0
-100 -100
Phase Phase
(deg) -200 (deg) -200
-300 -300
-400 -400 2
10
2
10 3 10 4 10 10
3
10
4
Frequency (Hz) Frequency (Hz)
The notch filter can be enabled or disabled with Pn408.

n. 0
Disables 1st notch filter.
[Factory setting]
n. 1 Enables 1st notch filter.
Pn408 Immediately Setup
n. 0
Disables 2nd notch filter.
[Factory setting]
n. 1 Enables 2nd notch filter.
Set the machine's vibration frequency as a parameter of the notch filter.
1st Notch Filter Frequency Speed Position Torque

Classification
Pn409
Adjustments
50 to 5000 1 Hz 5000 Immediately Tuning
1st Notch Filter Q Value Speed Position Torque
Classification
Pn40A Setting Range Setting Unit Factory Setting When Enabled
5
1st Notch Filter Depth Speed Position Torque
Classification
Pn40B Setting Range Setting Unit Factory Setting When Enabled
2nd Notch Filter Frequency Speed Position Torque
Classification
Pn40C Setting Range Setting Unit Factory Setting When Enabled
50 to 5000 1 Hz 5000 Immediately Tuning
2nd Notch Filter Q Value Speed Position Torque
Classification
5-75
5 Adjustments
(cont’d)
2nd Notch Filter Depth Speed Position Torque
Classification
• Sufficient precautions must be taken when setting the notch filter frequencies. Do not
set the notch filter frequencies (Pn409 or Pn40C) that is close to the speed loop’s
response frequency. Set the frequencies at least four times higher than the speed
loop’s response frequency. Setting the notch filter frequency too close to the response
frequency may cause vibration and damage the machine.
• Change the notch filter frequencies (Pn409 or Pn40C) only when the servomotor is
stopped. Vibration may occur if the notch filter frequency is changed when the servo-
motor is rotating.
5-76
6
Utility Functions (Fn )
6.1 List of Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6.2 Alarm History Display (Fn000) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.3 JOG Operation (Fn002) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.4 Origin Search (Fn003) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.5 Program JOG Operation (Fn004) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
6.6 Initializing Parameter Settings (Fn005) . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
6.7 Clearing Alarm History (Fn006) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
6.8 Offset Adjustment of Analog Monitor Output (Fn00C) . . . . . . . . . . . . . . 6-14
6.9 Gain Adjustment of Analog Monitor Output (Fn00D) . . . . . . . . . . . . . . . 6-16
6.10 Automatic Offset-Signal Adjustment of the Motor Current
Detection Signal (Fn00E) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18
)
6.11 Manual Offset-Signal Adjustment of the Motor Current
Detection Signal (Fn00F) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19 Utility Functions (Fn
6.12 Write Prohibited Setting (Fn010) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21
6.13 Servomotor Model Display (Fn011) . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-23
6.14 Software Version Display (Fn012) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
6.15 Resetting Configuration Errors in Option Modules (Fn014) . . . . . . . . . 6-25
6.16 Vibration Detection Level Initialization (Fn01B) . . . . . . . . . . . . . . . . . . 6-26
6
6.17 Display of SERVOPACK and Servomotor ID (Fn01E) . . . . . . . . . . . . . 6-28
6.18 Display of Servomotor ID in Feedback Option Module (Fn01F) . . . . . . 6-30
6.19 Origin Setting (Fn020) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31
6.20 Software Reset (Fn030) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-32
6.21 EasyFFT (Fn206) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-33
6.22 Online Vibration Monitor (Fn207) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-37
6-1
6 Utility Functions (Fn )
6.1 List of Utility Functions

Utility functions are used to execute the functions related to servomotor operation and adjustment.
Each utility function has a number starting with Fn.
The following table lists the utility functions and reference section.
Function Reference
Function Section
No.
Fn000 Alarm history display 6.2
Fn002 JOG operation 6.3
Fn003 Origin search 6.4
Fn004 Program JOG operation 6.5
Fn005 Initializing parameter settings 6.6
Fn006 Clearing alarm history 6.7
Fn008 Absolute encoder multiturn reset and encoder alarm reset 4.7.4
Fn00C Offset adjustment of analog monitor output 6.8
Fn00D Gain adjustment of analog monitor output 6.9
Fn00E Automatic offset-signal adjustment of the motor current detection signal 6.10
Fn00F Manual offset-signal adjustment of the motor current detection signal 6.11
Fn010 Write prohibited setting 6.12
Fn011 Servomotor model display 6.13
Fn012 Software version display 6.14
Fn013 Multiturn limit value setting change when a multiturn limit disagreement alarm occurs 4.7.7
Fn014 Resetting configuration error in option modules 6.15
Fn01B Vibration detection level initialization 6.16
Fn01E Display of SERVOPACK and servomotor ID 6.17
Fn01F Display of servomotor ID in feedback option module 6.18
Fn020 Origin setting 6.19
Fn030 Software reset 6.20
Fn200 Tuning-less levels setting 5.2.2
Fn201 Advanced autotuning 5.3.2
Fn202 Advanced autotuning by reference 5.4.2
Fn203 One-parameter tuning 5.5.2
Fn204 Anti-resonance control adjustment function 5.6.2
Fn205 Vibration suppression function 5.7.2
Fn206 EasyFFT 6.21
Fn207 Online vibration monitor 6.22
Note: Execute the utility function with either a digital operator or SigmaWin+. If they are used together, "no_oP" or "NO-
OP" will be displayed when the utility function is executed.
6-2
6.2 Alarm History Display (Fn000)
6.2 Alarm History Display (Fn000)

This function displays the last ten alarms that have occurred in the servo drive.
The latest ten alarm numbers and time stamps* can be checked.
∗ Time Stamps
A function that measures the ON times of the control power supply and main circuit power supply in 100-ms
units and displays the total operating time when an alarm occurs. The time stamp operates around the clock for
approximately 13 years.
<Example of Time Stamps>

If 36000 is displayed,
3600000 [ms] = 3600 [s] = 60 [min] = 1 [h]
Therefore, the total number of operating hours is 1 hour.
(1) Preparation
There are no tasks that must be performed before displaying the alarm history.

Use the following procedure.
B B −FUNCTION− Press the Key to view the main menu for the
F n2 0 7 : V−Monitor utility function.
1 F n0 0 0 : Alm History
F n0 0 2 : JOG Use the or Key to move through the list and
F n0 0 3 : Z−Search select Fn000.
A.D00 −ALARM −
2
0:D00 0000120719 6
Press the Key. The display changes to the Fn000
1:720 0000003265 1
2:511 0000000904 3 execution display.
3:−−−
A.D00 −ALARM−
1:720 00000032651
2:511 00000009043
3:−−−
4:−−−
3 Press the or Key to scroll through the alarm
Time stamp history. The alarm history can be viewed.
Alarm no.
Alarm history no.
)
0: Latest
9: Oldest
B B −FUNCTION− Utility Functions (Fn

F n2 0 7 : V−Monitor Press the Key.
4 F n0 0 0 : Alm History The display returns to the main menu of the utility
F n0 0 2 : JOG
function.
F n0 0 3 : Z−Search
Note:
• If the same alarm occurs after more than one hour, the alarm will be saved. If it occurs in less than one hour, it
will not be saved.
• The display " .---" means no alarm occurs.
• Delete the alarm history using the parameter Fn006. The alarm history is not cleared on alarm reset or when the
main circuit power supply to the SERVOPACK and converter is turned OFF. 6
6-3
6.3 JOG Operation (Fn002)

JOG operation is used to check the operation of the servomotor under speed control without connecting the
SERVOPACK to the host controller.
CAUTION
• While the SERVOPACK is in JOG operation, the overtravel function will be disabled. Consider the operat-
ing range of the machine when performing JOG operation for the SERVOPACK.
(1) Preparation
The following conditions must be met to perform a jog operation.
• The JOG speed must be set considering the operating range of the machine.
Set the jog speed in Pn304.
Jog Speed Speed Position Torque

Classification

Use the following procedure. The following example is for when Pn000.0 is set to 0 (CCW is forward direc-
tion) as the rotation direction of the motor.
F n0 0 0 : Alm History utility function.
1 F n0 0 2 : JOG
F n0 0 3 : Z−Search Use the or Key to move through the list and
F n0 0 4 : Program JOG select Fn002.
B B −JOG−
2
P n3 04=00500
U n0 00=000000
U n0 02=000000 execution display.
U n0 0D=00000000000
B B −JOG−
P n304=00500 Press the Key.
3 U n000=000000 The cursor moves to the setting side (the right side) of
U n002=000000
U n00D=00000000000
Pn304 (JOG speed).
B B −JOG−
P n3 04=01000
Press the or Key and the
4 U n0 00=000000 or Key to set the JOG speed (Pn304) to 1000
min-1.
U n0 02=000000
U n0 0D=00000000000
B B −JOG−
P n3 04=01000 Press the Key.
5 U n0 00=000000 The setting value is entered, and the cursor moves to
U
U
n0
n0
02=000000
0D=00000000000
the parameter number side (the left side).
R UN −JOG−
P n304=01000 Press the Key.
6 U n000=000000 The status display changes from "BB" to "RUN", and
U n002=000000
U n00D=00000000000
the servomotor power turns ON.
6-4
6.3 JOG Operation (Fn002)
(cont’d)
The servomotor will rotate at the present speed set in
Pn304 while the Key (for forward rotation) or
R UN −JOG−
Key (for reverse rotation) is pressed.
P n304= 0 1 0 0 0
7 U n000= 0 0 0 0 00
U n002= 0 0 0 0 00
U n00D= 0 0 0 0 0000000 Forward
Reverse
B B −JOG−
After having confirmed the correct motion of servo-
P n3 04= 0 1 0 0 0
8 U n0 00= 0 0 0 0 00
motor, press the Key.
U n0 02= 0 0 0 0 00 The status display changes from "RUN" to "BB", and
U n0 0D= 0 0 0 0 0000000 the servomotor power turns OFF.
B B −FUNCTION−
F n0 0 0 : Alm History Press the Key.
9 F n0 0 2 : JOG The display returns to the main menu of the utility
F n0 0 3 : Z−Search function.
F n0 0 4 : Program JOG
)
Utility Functions (Fn
6-5
6.4 Origin Search (Fn003)

The origin search is designed to position the origin pulse position of the incremental encoder (phase C) and to
clamp at the position.
CAUTION
• Perform origin searches without connecting the coupling.
The forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective in origin
search mode.
This function is used when the motor shaft needs to be aligned to the machine.
Motor speed at the time of execution: 60 min-1
Servomotor Machine
Rotation
For aligning the motor

shaft to the machine
(1) Preparation
The following conditions must be met to perform the origin search.
6-6
6.4 Origin Search (Fn003)

B B −FUNCTION− Press the Key to view the main menu for the util-
F n0 0 2 :JOG ity function.
1 F n0 0 3 :Z−Search
F n0 0 4 :Program JOG Use the or Key to move through the list and
F n0 0 5 :Prm Init select Fn003.
2
U n 0 00= 0 0 0 0 00 Press the Key. The display changes to the Fn003
U n 0 02= 0 0 0 0 00
U n 0 03= 0 0 0 0 0000774
execution display.
U n 0 0D= 0 0 0 0 0000000
Press the Key.

R UN −Z−Search−
U n000= 0 0 0 000 The status display changes from "BB" to "RUN", and
3 U n002= 0 0 0 000 the servomotor power turns ON.
U n003= 0 0 0 00000774 Note: If the servomotor is already at the zero position,
U n00D= 0 0 0 00000000
"-Complete-" is displayed.
Pressing the Key will rotate the servomotor in the
forward direction. Pressing the Key will rotate the
servomotor in the reverse direction. The rotation direc-
tion of the servomotor changes according to the setting
of Pn000.0 as shown in the following table.
R UN −Complete− Parameter key key
U n000= 0 0 0000
4 U n002= 0 0 0000 n. 0 CCW CW
U n003= 0 0 000000000 Pn000
U n00D= 0 0 000001D58 n. 1 CW CCW
Note: Direction when viewed from the load of the ser-
vomotor.
Press the or Key until the servomotor stops.
If the origin search completed normally, "-Complete-"
is displayed on the right top on the screen.
When the origin search is completed, press the
U n 0 00= 0 0 0 0 00 Key.
5 U n 0 02= 0 0 0 0 00 The status display changes from "RUN" to "BB", and
U n 0 03= 0 0 0 0 0000000 the servomotor turns OFF. The display "-Complete-"
U n 0 0D= 0 0 0 0 0001D58
changes to "-Z-Search-."
)
B B −FUNCTION−
F n0 0 2 :JOG Press the Key.
6 F n0 0 3 :Z−Search The display returns to the main menu of the utility Utility Functions (Fn
F n0 0 4 :Program JOG
function.
F n0 0 5 :Prm Init
6-7
6.5 Program JOG Operation (Fn004)

The program JOG operation is a utility function, that allows continuous operation determined by the preset
operation pattern, movement distance, movement speed, acceleration/deceleration time, waiting time, and
number of times of movement.
This function can be used to move the servomotor without it having to be connected to a host controller for the
machine as a trial operation in JOG operation mode. Program JOG operation can be used to confirm the oper-
ation and for simple positioning operations.
(1) Preparation
The following conditions must be met to perform the program JOG operation.
• The travel distance and speed must be set correctly considering the machine operation range and safe opera-
tion speed.
(2) Additional Information
• The functions that are applicable for position control, such as position reference filter, can be used.
• The overtravel function is enabled in this function.
(3) Program JOG Operation Patterns
The following describes an example of program JOG operation pattern. The following example is given when
the rotating direction of the servomotor is set as Pn000.0 = 0 (Forward rotation by forward reference).
Pn530.0 = 0
(Waiting time Pn535 → Forward movement Pn531) × Number of movements Pn536
Number of times of movement Pn536
Movement
Pn531 Pn531 Pn531
Speed speed Movement Movement Movement
Pn533
Diagram distance distance distance
At zero speed
Press the
Key.
Accel/Decel Waiting time
Waiting time time Waiting time
Pn535 Pn534 Pn535 Pn535
Servomotor
Run Status
(Stop) (Forward) (Stop) (Forward) (Stop) (Forward)
Note: When Pn536 (number of times of program JOG movement) is set to 0, infinite time operation is enabled. To stop
infinite time operation, press the JOG/SVON Key to turn OFF the servomotor power.
6-8
Pn530.0 = 1
(Waiting time Pn535 → Reverse movement Pn531) × Number of movements Pn536
Number of movements Pn536
At zero speed
Movement Pn531 Pn531 Pn531

Speed speed Movement Movement Movement
distance distance distance
Diagram Pn533
Press the
Key.
Accel/Decel time
Waiting time Pn534 Waiting time Waiting time
Pn535 Pn535 Pn535
Servomotor
Run Status
(Stop) (Reverse) (Stop) (Reverse) (Stop) (Reverse)
Note: When Pn536 (Number of Times of Program JOG Movement) is set to 0, infinite time operation is enabled. To stop infinite time
operation, press the JOG/SVON Key to turn the servomotor power OFF.
Pn530.0 = 2
Number of movements Pn536 Number of movements Pn536
Accel/Decel time
Movement Pn531
speed Movement
Pn531 Waiting time Pn534 Waiting time
Speed distance
Movement
Pn535 Pn535
Pn533 distance
Diagram
At zero
speed
Press the Movement
Pn531 Pn531 speed
Key. Movement Movement
Accel/Decel Pn533
Waiting time time Waiting time distance distance
Pn535 Pn534 Pn535
Servomotor
Run Status
(Stop) (Forward) (Stop) (Forward) (Stop) (Reverse) (Stop) (Reverse)
Note: When Pn530.0 is set to 2, infinite time operation is disabled.
)
Pn530.0 = 3
(Waiting time Pn535 → Reverse movement Pn531) × Number of movements Pn536 Utility Functions (Fn
Number of movements Pn536 Number of movements Pn536
Accel/Decel time
Waiting time Pn534 Waiting time Waiting time Pn531 Pn531 Movement
Pn535 Pn535 Pn535 Movement Movement speed
Speed Press the distance distance Pn533
Key.
Diagram
At zero
speed 6
Pn531 Pn531
Movement Movement Waiting time
distance distance Accel/Decel time Pn535
Pn533 Pn534
Movement speed
Servomotor
Run Status
(Stop) (Reverse) (Stop) (Reverse) (Stop) (Forward) (Stop) (Forward)
Note: When Pn530.0 is set to 3, infinite time operation is disabled.
6-9
Pn530.0 = 4
(Waiting time Pn535 → Forward movement Pn531 → Waiting time Pn535 → Reserve movement Pn531)
× Number of movements Pn536
Pn531
Movement
Movement speed
Speed distance Pn533
Diagram At zero
speed
Press the
Key. Pn531
Waiting time Waiting time Movement Pn533
Pn535 Accel/Decel time Pn535 distance
Movement speed
Pn534
Servomotor
Run Status
(Stop) (Forward) (Stop) (Reverse) (Stop)
infinite time operation, press the JOG/SVON Key to turn OFF the servomotor power.
Pn530.0 = 5
(Waiting time Pn535 → Reverse movement Pn531 → Waiting time Pn535 → Forward movement Pn531)
× Number of movements Pn536
Accel/Decel time
Waiting time Pn534 Waiting time Pn531
Pn533
Speed Pn535 Pn535 Movement
Movement speed
Press the distance
Diagram Key.
At zero
speed
Pn531 Movement
Movement speed
distance Pn533
Servomotor
Run Status
(Stop) (Reverse) (Stop) (Forward) (Stop)
infinite time operation, press the JOG/SVON Key to turn the servomotor power OFF.

The following parameters set the program JOG operation pattern. Do not change the settings while the pro-
gram JOG operation is being executed.
Program JOG Operation Related Switch Speed Position Torque

Classification
0000 to 0005 − 0000 Immediately Setup
Program JOG Movement Distance Speed Position Torque

Classification
6-10
(cont’d)
Program JOG Movement Speed Speed Position Torque

Classification
Program JOG Acceleration/Deceleration Time Speed Position Torque

Classification
Program JOG Waiting Time Speed Position Torque

Classification
Number of Times of Program JOG Movement Speed Position Torque

Classification
0 to 1000 1 time 1 Immediately Setup

Use the following procedure to perform the program JOG operation after setting a program JOG operation
pattern.
F n0 0 3 :Z−Search utility function.
1 F n0 0 4 :Program JOG
F n0 0 5 :Prm Init Use the or Key to move through the list and
F n0 0 6 :AlmHist Clr select Fn004.
BB −PRG JOG−
2
P n 5 3 1 = 0 0 032768 Press the Key. The display changes to the Fn004
P n 5 3 3 = 0 0 500
P n 5 3 4 = 0 0 100 execution display.
P n 5 3 6 = 0 0 010
Confirm that the parameters have been set.

BB −PRG JOG−
P n 5 3 1 = 0 0 032768
Press the Key to view Pn530.
3* P n 5 3 3 = 0 0 500 Press the Key to view the parameters in the fol-
P n 5 3 4 = 0 0 100
lowing order: Pn530 → Pn531 → Pn533 → Pn534 →
)
P n 5 3 6 = 0 0 010
Pn535 → Pn536.
R UN −PRG JOG− Utility Functions (Fn
P n53 1 = 0 0 0 3 2768 Press the Key.
4 P n53 3 = 0 0 5 0 0 The status display changes from "BB" to "RUN", and
P n53 4 = 0 0 1 0 0
the servomotor power turns ON.
P n53 6 = 0 0 0 1 0
Press the (forward movement start) or

(reverse movement start) Key according to the first
R UN −PRG JOG− movement direction of the preset operation pattern.
P n53 1 = 0 0 0 3 2768 The servomotor starts moving after the preset waiting
5 P
P
n53
n53
3
4
=
=
0
0
0
0
5
1
0
0
0
0
time in Pn535.
P n53 6 = 0 0 0 1 0 Note: Pressing the Key again changes the status 6
to "BB" (baseblocked status) and stops move-
ment even during operation.
When the set program JOG operation movement is
R UN −PRG JOG− completed, "END" is displayed for one second, and
P n53 1 = 0 0 0 32768 then "RUN" is displayed.
6 P n53 3 = 0 0 5 00
P n53 4 = 0 0 1 00 Press the Key. The servomotor becomes base-
P n53 6 = 0 0 0 10 blocked status. The display returns to the main menu
of the utility function.
∗ The settings can be changed for a parameter.
6-11
6.6 Initializing Parameter Settings (Fn005)

This function is used when returning to the factory settings after changing parameter settings.
• Be sure to initialize the parameter settings while the servomotor power is OFF.
• After initialization, turn OFF the power supply and then turn ON again to validate the
settings.
Note: Any value adjusted with Fn00C, Fn00D, Fn00E, and Fn00F cannot be initialized by Fn005.
(1) Preparation
The following conditions must be met to initialize the parameter values.
F n0 0 4 :Program JOG utility function.
1 F n0 0 5 :Prm Init
F n0 0 6 :AlmHist Clr Use the or Key to move through the list and
F n0 0 8 :Mturn Clr select Fn005.
BB
2
Parameter lnit
Start : [DATA]
Return: [SET] execution display.
Press the Key to initialize parameters.

During initialization, "Parameter Init" is flashing in
the display.
BB
Parameter lnit
After the initialization is completed, "Parameter Init"
3 Start : [DATA] stops flashing and the status display changes as fol-
Return: [SET] lows: "BB" to "DONE" to "BB."
Note: Press the Key not to initialize parameters.
The display returns to the main menu of the
utility function.
6-12
6.7 Clearing Alarm History (Fn006)
6.7 Clearing Alarm History (Fn006)

The clear alarm history function deletes all of the alarm history recorded in the SERVOPACK.
Note: The alarm history is not deleted when the alarm reset is executed or the main circuit power supply of the SERVO-
PACK is turned OFF.
(1) Preparation
The follow conditions must be met to clear the alarm history.
F n0 0 5 : Prm Init utility function.
1 F n0 0 6 : AlmHist Clr
F n0 0 8 : Mturn Clr Use the or Key to move through the list and
F n0 0 9 : Ref Adj select Fn006.
BB
2
Alarm History
Data Clear
Start : [DATA] execution display.
Return: [SET]
Press the Key to clear the alarm history.

While clearing the data, "DONE" is displayed in the
BB
Alarm History status display. After the data has been successfully
3 Data Clear cleared, "BB" is displayed.
Start : [DATA]
Return: [SET]
Note: Press the Key not to clear the alarm his-
tory. The display returns to the main menu of
)
6-13
6.8 Offset Adjustment of Analog Monitor Output (Fn00C)

This function is used to manually adjust the offsets for the analog monitor outputs (torque reference monitor
output and motor speed monitor output). The offset values are factory-set before shipping. Therefore, the user
need not usually use this function.
(1) Adjustment Example

An example of offset adjustment to the motor speed monitor is shown below.
Analog monitor output

voltage
Offset
adjustment
Motor speed
Item Specifications
Offset Adjustment Range -2.4 V to + 2.4 V
Adjustment Unit 18.9 mV/LSB
Note:
• The adjustment value will not be initialized when parameter settings are initialized using Fn005.
• Make offset adjustment with a measuring instrument connected, so that the analog monitor output is zero. An
example of settings for a zero analog monitor output is shown below.
• While the servomotor is not turned ON, set the monitor signal to the torque reference.
• In speed control, set the monitor signal to the position error.
(2) Preparation
The following condition must be met to adjust the offsets of the analog monitor output.
Use the following procedure to perform the offset adjustment of analog monitor output.
F n0 0 B : Trq Adj utility function.
1 F n0 0 C : Mon Zero Adj
F n0 0 D : Mon Gain Adj Use the or Key to move through the list and
F n0 0 E : Cur AutoAdj select Fn00C.
B B −Zero ADJ−
2
C H 1 = − 0 0 0 0 2 Press the Key. The display changes to the Fn00C
C H 2 = − 0 0 0 0 1
U n 0 0 2 = 0 0 0 000
execution display.
U n 0 0 0 = 0 0 0 000
6-14
6.8 Offset Adjustment of Analog Monitor Output (Fn00C)
(cont’d)
B B −Zero ADJ− Press the or Key to adjust the offset of CH1

C H 1 = − 0 0 0 0 5
3 C H 2 = − 0 0 0 0 1
(torque reference monitor).
U n 0 0 2 = 0 0 0 000 Adjust the offset so that the measurement instrument
U n 0 0 0 = 0 0 0 000 reading is as close to 0 V as possible.
B B −Zero ADJ−
After the offset adjustment of CH1 has completed,
C H 1 = − 0 0 0 0 5 adjust the offset of CH2 (motor rotating speed moni-
4 C H 2 = − 0 0 0 0 1 tor).
U n 0 0 2 = 0 0 0 000
U n 0 0 0 = 0 0 0 000 Press the Key. The cursor moves to CH2 side.
Adjust the offset of CH2 in the same way as for CH1.
B B −Zero ADJ−
C H 1 = − 0 0 0 0 5 Press the or Key to adjust the offset of
5 C H 2 = − 0 0 0 0 6 CH2.
U n 0 0 2 = 0 0 0 000
U n 0 0 0 = 0 0 0 000
Adjust the offset so that the measurement instrument
reading is as close to 0 V as possible.
After having completed the offset adjustment both for
B B −Zero ADJ− CH1 and CH2, press the Key.
−
6
C
C
H
H
1
2
=
= −
0
0
0
0
0
0
0
0
5
6
The adjustment results are saved in the SERVO-
U n 0 0 2 = 0 0 0 000 PACK, and the status display shows "DONE" for one
U n 0 0 0 = 0 0 0 000 second. The status display then returns to show "BB"
again.
B B −FUNCTION−
F n0 0 B : Trq Adj Press the Key.
7 F n0 0 C : Mon Zero Adj The display returns to the main menu of the utility
F n0 0 D : Mon Gain Adj
function.
F n0 0 E : Cur AutoAdj
)
6-15
6.9 Gain Adjustment of Analog Monitor Output (Fn00D)

This function is used to manually adjust the gains for the analog monitor outputs (torque reference monitor
output and motor rotating speed monitor output). The gain values are factory-set before shipping. Therefore,
the user need not usually use this function.
(1) Adjustment Example

An example of gain adjustment to the motor rotating speed monitor is shown below.
Analog monitor Rotation

output voltage
1 [V]
Gain adjustment
1000 [min-1]
Motor speed
Item Specifications
Gain-adjustment Range 100±50%
Adjustment Unit 0.4%/LSB
The gain adjustment range is made with a 100% output set as a center value (adjustment range: 50% to 150%).
The following is a setting example.
<Setting the Set Value to -125>

100% + (–125 × 0.4) = 50%
Therefore, the monitor output voltage is 0.5 time as high.
<Setting the Set Value to 125>

100% + (125 × 0.4) = 150%
Therefore, the monitor output voltage is 1.5 times as high.
Note: The adjustment value will not be initialized when parameter settings are initialized using Fn005.
(2) Preparation
The following condition must be met to adjust the gain of the analog monitor output.
6-16
6.9 Gain Adjustment of Analog Monitor Output (Fn00D)

Use the following procedure to perform the gain adjustment of analog monitor output.
F n0 0 C:Mon Zero Adj utility function.
1 F n0 0 D:Mon Gain Adj
F n0 0 E:Cur AutoAdj Use the or Key to move through the list and
F n0 0 F :Cur ManuAdj select Fn00D.
B B −Gain ADJ−
2
C H 1 = − 0 0 0 0 1 Press the Key. The display changes to the Fn00D
C H 2 = − 0 0 0 0 1
U n 0 0 2 = 0 0 0 000
execution display.
U n 0 0 0 = 0 0 0 000
B B −Gain ADJ−
−
3
C H 1 = 0 0 1 2 5
Press the or Key to adjust the gain adjust-
C H 2 = − 0 0 0 0 1
U n 0 0 2 = 0 0 0 000 ment width of CH1 (torque reference monitor).
U n 0 0 0 = 0 0 0 000
B B −Gain ADJ− After the gain adjustment of CH1 has completed,

C H 1 = − 0 0 1 2 5 adjust the gain adjustment width of CH2 (motor rotat-
4 C H 2 = − 0 0 0 0 1 ing speed monitor).
U n 0 0 2 = 0 0 0 000
U n 0 0 0 = 0 0 0 000 Press the Key. The cursor moves to CH2 side.
B B −Gain ADJ− Adjust the gain of CH2 in the same way as for CH1.
C H 1 = − 0 0 1 2 5
5 C H 2 = − 0 0 1 2 5 Press the or Key to adjust the gain adjust-
U n 0 0 2 = 0 0 0 000
ment width of CH2.
U n 0 0 0 = 0 0 0 000
After having completed the adjustment both for CH1

B B −Gain ADJ− and CH2, press the Key.
−
6
C H 1 = 0 0 1 2 5
The adjustment results are saved in the SERVO-
C H 2 = − 0 0 1 2 5
U n 0 0 2 = 0 0 0 000 PACK, and the status display shows "DONE" for one
U n 0 0 0 = 0 0 0 000 second. The status display then returns to show "BB"
again.
B B −FUNCTION−
F n0 0 C:Mon Zero Adj Press the Key.
7 F n0 0 D:Mon Gain Adj The display returns to the main menu of the utility
F n0 0 E:Cur AutoAdj function.
F n0 0 F :Cur ManuAdj
)
6-17
6.10 Automatic Offset-Signal Adjustment of the Motor Current

Detection Signal (Fn00E)
Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by
current offset. The user need not usually use this function.
• Be sure to perform this function while the servomotor power is OFF.

• Execute the automatic offset adjustment if the torque ripple is too big when compared
with those of other SERVOPACKs.
Note: The adjusted value is not initialized by executing the Fn005 function (Initializing Parameter Settings).
(1) Preparation
The following conditions must be met to automatically adjust the offset of the motor current detection signal.
• The SERVOPACK must be in Servo Ready status (Refer to 4.8.4).
F n0 0 D: Mon Gain Adj utility function.
1 F n0 0 E: Cur AutoAdj
F n0 0 F : Cur ManuAdj Use the or Key to move through the list and
F n0 1 0 : Prm Protect select Fn00E.
BB
t−ADJ
2
Auto Offse
Press the Key. The display changes to the Fn00E
of Motor Current
Return: [SET]
Press the Key to start the automatic offset-signal

adjustment of motor current detection.
BB When the adjustment is completed, the status display
Auto Offse t−ADJ shows "DONE" for one second. The status display
3 of Motor Current
then returns to show "BB" again.
Start : [DATA]
Return: [SET] Note: Press the Key to cancel the automatic
adjustment. The display returns to the main
menu of the utility function.
6-18
6.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F)
6.11 Manual Offset-Signal Adjustment of the Motor Current

Detection Signal (Fn00F)
Use this function only if the torque ripple is still high after the automatic offset-signal adjustment of the motor
current detection signal (Fn00E).
If this function is adjusted incorrectly and then executed, characteristics of the servomo-
tor performance could be affected.
Observe the following precautions when performing manual servo tuning.
• Run the servomotor at a speed of approximately 100 min-1.
• Adjust the offset while monitoring the torque reference with the analog monitor until
the ripple of torque reference monitor's waveform is minimized.
• Adjust the phase-U and phase-V offset amounts alternately several times until these
offsets are well balanced.
Note: The adjusted value is not initialized by executing the Fn005 function (Initializing Parameter Settings).
(1) Preparation
The following condition must be met to manually adjust the offset of the motor current detection signal.
• The main circuit power must be ON.
F n0 0 F : Cur ManuAdj utility function.
1 F n0 1 0 : Prm Protect
F n0 1 1 : Motor Info Use the or Key to move through the list and
F n0 1 2 : Soft Ver select Fn00F.
BB
Manual Of fset−ADJ Press the Key.
2 of Mot or Current
ZADJIU =-00009 The display changes to the Fn00F execution display.
)
ZADJI V =-00006
RUN Utility Functions (Fn

Manual Of fset−ADJ
3 of Mot or Current – Send an SV_ON command from the host controller.
ZADJIU =-00009
ZADJIV =-00006
Adjust the phase-U offset.

Press the or Key to adjust the offset
RUN
Manual Of fset−ADJ amount.
4 of Mot or Current Adjust the offset amount by 10 in the direction that
ZADJIU =-00019 the torque ripple is reduced.
6
ZADJIV =-00006
Adjustment range: -512 to +511
(ZADJIU: Offset value of phase-U current)
RUN Adjust the phase-V offset.
Manual Of fset−ADJ
5 of Mot or Current Press the Key. The cursor moves to the phase-V
ZADJIU =-00019 side.
ZADJIV =-00006
6-19
(cont’d)
Press the or Key to adjust the offset

RUN amount.
Manual Of fset−ADJ Adjust the offset amount by 10 in the direction that
6 of Mot or Current
ZADJIU =-00019 the torque ripple is reduced.
ZADJIV =-00016 Adjustment range: -512 to +511
(ZADJIV: Offset value of phase-V current)
Repeat the operations of steps 4 to 6 (phase-U and-V alternately) until adjusting the offset amounts both for
phase-U and -V in both directions cannot reduce the torque ripple any more.
Then, perform the same operation by adjusting by smaller amount.
Press the Key to save the result of adjustment in
RUN
Manual Of fset−ADJ the SERVOPACK.
7 of Mot or Current When the saving is completed, the status display
ZADJIU =-00019 shows "DONE" for one second. The status display
ZADJIV =-00016
then returns to show "RUN" again.
RUN −FUNCTION−
Fn00 F : Cur ManuAdj Press the Key.
8 Fn01 0 : Prm Protect The display returns to the main menu of the utility
Fn01 1 : Motor Info
function.
Fn01 2 : Soft Ver
6-20
6.12 Write Prohibited Setting (Fn010)
6.12 Write Prohibited Setting (Fn010)

This function prevents changing parameters by mistake and sets restrictions on the execution of the utility
function.
Parameter changes and execution of the utility function become restricted in the following manner when Write
prohibited (P.0001) is assigned to the write prohibited setting parameter (Fn010).
• Parameters: Cannot be changed. If you attempt to change it, "NO-OP" will flash on the display and the
screen will return to the main menu.
• Utility Function: Some functions cannot be executed. (Refer to the following table.) If you attempt to exe-
cute these utility functions, "NO-OP" will flash on the display and the screen will return to the main menu.
Parameter Write Prohibited Reference
Function
No. Setting Section
Fn000 Alarm history display Executable 6.2
Fn002 JOG operation Cannot be executed 6.3
Fn003 Origin search Cannot be executed 6.4
Fn004 Program JOG operation Cannot be executed 6.5
Fn005 Initializing parameter settings Cannot be executed 6.6
Fn006 Clearing alarm history Cannot be executed 6.7
Fn008 Absolute encoder multiturn reset and encoder alarm reset Cannot be executed 4.7.4
Fn00C Offset adjustment of analog monitor output Cannot be executed 6.8
Fn00D Gain adjustment of analog monitor output Cannot be executed 6.9
Automatic offset-signal adjustment of the motor current detection
Fn00E Cannot be executed 6.10
signal
Manual offset-signal adjustment of the motor current detection
Fn00F Cannot be executed 6.11
signal
Fn010 Write prohibited setting – 6.12
Fn011 Servomotor model display Executable 6.13
Fn012 Software version display Executable 6.14
Multiturn limit value setting change when a multiturn limit dis-
Fn013 Cannot be executed 4.7.7
agreement alarm occurs
Fn014 Resetting configuration error in option modules Cannot be executed 6.15
Fn01B Vibration detection level initialization Cannot be executed 6.16
Fn01E Display of SERVOPACK and servomotor ID Executable 6.17
)
Fn01F Display of servomotor ID in feedback option module Executable 6.18
Fn020 Origin setting Cannot be executed 6.19 Utility Functions (Fn
Fn030 Software reset Executable 6.20
Fn200 Tuning-less levels setting Cannot be executed 5.2.2
Fn201 Advanced autotuning Cannot be executed 5.3.2
Fn202 Advanced autotuning by reference Cannot be executed 5.4.2
Fn203 One-parameter tuning Cannot be executed 5.5.2
Fn204 Anti-resonance control adjustment function Cannot be executed 5.6.2
Fn205 Vibration suppression function Cannot be executed 5.7.2 6
Fn206 EasyFFT Cannot be executed 6.21
Fn207 Online vibration monitor Cannot be executed 6.22
6-21
(1) Preparation
There are no tasks that must be performed before the execution.

Follow the steps to set enable or disable writing.
Setting values are as follows:
• "P.0000": Write permitted (Releases write prohibited mode.) [Factory setting]
• "P.0001": Write prohibited (Parameters become write prohibited from the next power ON.)
F n0 0 F : Cur ManuAdj utility function.
1 F n0 1 0 : Prm Protect
F n0 1 1 : Motor Info Use the or Key to move through the list and
F n0 1 2 : Soft Ver select Fn010.
BB
2
Parameter Press the Key. The display changes to the Fn010
Write Protect
execution display.
P. 0 0 0 0
BB Press the or Key to select one of the follow-

Parameter
3 Write Protect
ing settings.
P.0000: Write permitted [Factory setting]
P. 0 0 0 1 P.0001: Write prohibited
BB
Press the Key. The setting value is written into
Parameter the SERVOPACK, and the status display changes as
4 Write Protect follows: "BB" to "DONE" to "BB."
Note: Saved settings will be enabled after the SER-
P. 0 0 0 1
VOPACK is restarted.
Note: To make the setting available, change the setting to P.0000 as shown in step 3.
6-22
6.13 Servomotor Model Display (Fn011)
6.13 Servomotor Model Display (Fn011)

This function is used to check the servomotor model, voltage, capacity, encoder type, and encoder resolution.
If the SERVOPACK has been custom-made, you can also check the specification codes of SERVOPACKs.
(1) Preparation


㧮㧮‫ޓޓޓޓ‬㧙㧲㨁㧺㧯㨀㧵㧻㧺㧙 Press the Key to view the main menu for the
㧲㨚㧜㧝㧜㧦㧼㨞㨙‫ޓ‬㧼㨞㨛㨠㨑㨏㨠 utility function.
1 㧲㨚㧜㧝㧝㧦㧹㨛㨠㨛㨞‫ޓ‬㧵㨚㨒㨛
㧲㨚㧜㧝㧞㧦㧿㨛㨒㨠‫ޓ‬㨂㨑㨞 Use the or Key to move through the list and
㧲㨚㧜㧝㧟㧦㧹㨠㨡㨞㨚㧸㨙㧿㨑㨠‫ޓ‬ select Fn011.
Servomotor Model
Code Model
Servomotor
71 SGMVV-B input voltage
73 SGMVV-D
BB −Motorlnfo−
TYPE 71 AC400V
22000W Press the Key. The display changes to the Fn011
2 ENCORDER 01 20bit execution display and shows the information about
the servomotor and encoder being used.
Encoder Type Servomotor
Code Type capacity
00 Incremental Encoder
01 Multiturn absolute value Resolution
Code Resolution
20 20 bit
㧮㧮‫ޓޓޓޓޓ‬㧙㧲㨁㧺㧯㨀㧵㧻㧺㧙
㧲㨚㧜㧝㧜㧦㧼㨞㨙‫ޓ‬㧼㨞㨛㨠㨑㨏㨠
3 Press the Key. The display returns to the main
㧲㨚㧜㧝㧝㧦㧹㨛㨠㨛㨞‫ޓ‬㧵㨚㨒㨛
㧲㨚㧜㧝㧞㧦㧿㨛㨒㨠‫ޓ‬㨂㨑㨞
menu of the utility function.
㧲㨚㧜㧝㧟㧦㧹㨠㨡㨞㨚㧸㨙㧿㨑㨠‫ޓ‬
)
6-23
6.14 Software Version Display (Fn012)

Select Fn012 to check the SERVOPACK and encoder software version numbers.
(1) Preparation

F n0 11:Motor Info utility function.
1 F n0 12:Soft Ver
F n0 13:MturnLmSet Use the or Key to move through the list and
F n0 14:Opt Init select Fn012.
BB −Soft Ver− execution display.
2
DRIVER
The software versions of the SERVOPACK and the
Ver.=0001
ENCODER connected encoder will appear.
Ver.=0003 Note: If the servomotor is not connected, "Not con-
nect" is displayed.
B B −FUNCTION−
3
F
F
n0
n0
11:Motor Info
12:Soft Ver
Press the Key. The display returns to the main
F n0 13:MturnLmSet menu of the utility function.
F n0 14:Opt Init
6-24
6.15 Resetting Configuration Errors in Option Modules (Fn014)
6.15 Resetting Configuration Errors in Option Modules (Fn014)

The SERVOPACK with option module recognizes installation status and types of option modules that are con-
nected to SERVOPACK. If an error is detected, the SERVOPACK issues an alarm. This function clears these
alarms.
Note 1. Alarms related to option module can be cleared only by this function. These alarms cannot be cleared by alarm
reset or turning OFF the main circuit power supply.
2. Before clearing the alarm, perform corrective action for the alarm.
(1) Preparation
The following condition must be met to clear detection alarms of the option module.
F n0 1 3:MturnLmSet utility function.
1 F n0 1 4:Opt Init
F n0 1 B : Viblvl Init Use the or Key to move through the list and
F n0 1 E : SvMotOp ID select Fn014.
BB −Opt Init−
2 Press the Key. The display changes to the Fn014

02:Safety Opt
03:Feedback Opt execution display.
BB −Opt Init−
3 02:Safety Opt
Press the or Key to select an option module
03:Feedback Opt to be cleared.
BB −Opt Init−
4
Feedback Opt
Initialize
Press the Key. The display shown on the left
Start :[DATA] appears.
Return:[SET]
BB −Opt Init−
Press the Key to clear the configuration error of
the option module.
5 02:Safety Opt The error is cleared and the status display shows
)
03:Feedback Opt
"DONE" for one second. The status display then
returns to step 3.
B B −FUNCTION−
F n0 1 3:MturnLmSet
6 F n0 1 4:Opt Init
F n0 1 B : ViblLvl Init menu of the utility function.
F n0 1 E : SvMotOp ID
6-25
6.16 Vibration Detection Level Initialization (Fn01B)

This function detects vibration when servomotor is connected to a machine in operation and automatically
adjusts the vibration detection level (Pn312) to output more exactly the vibration alarm (A.520) and the vibra-
tion warning (A.911).
The vibration detection function detects vibration elements according to the motor speed.

n. 0
Does not detect vibration.
[Factory setting]
Pn310 Outputs the warning (A.911) when vibration is Immediately Setup
n. 1
detected.
n. 2 Outputs the alarm (A.520) when vibration is detected.
If the vibration exceeds the detection level calculated by the following formula, the alarm or warning will be
output according to the setting of vibration detection switch (Pn310).
Rotation -1
Vibration detection level (Pn312 [min ])× Vibration detection sensitivity (Pn311 [%])
Detection level =‫ޓ‬
100
• Use this function if the vibration alarm (A.520) or the vibration warning (A.911) is not output correctly
when a vibration at the factory setting of the vibration detection level (Pn312) is detected. In other cases, it
is not necessary to use this function.
• The vibration alarm or warning detection sensibility differs depending on the machine conditions. In this
case, fine-tune the setting of the vibration detection sensitivity (Pn311) using the above detection level for-
mula as a guide.
Vibration Detection Sensitivity Speed Position 　 Torque

Classification
• The vibration may not be detected because of improper servo gains. Also, not all
kinds of vibrations can be detected. Use the detection result as a guideline.
• Set a proper moment of inertia ratio (Pn103). Improper setting may result in the vibra-
tion alarm, warning misdetection, or non-detection.
• The references that are used to operate your system must be input to execute this
function.
• Execute this function under the operating condition for which the vibration detection
level should be set.
• Execute this function while the motor speed reaches at least 10% of its maximum.
(1) Preparation
The following conditions must be met to initialize the vibration detection level.
RUN −FUNCTION− Press the Key to view the main menu for the
Fn01 4:Opt Init utility function.
1 Fn01 B : Viblvl Init
Fn01 E:SvMotOp ID Use the or Key to move through the list and
Fn01 F:FBOpMot ID select Fn01B.
6-26
6.16 Vibration Detection Level Initialization (Fn01B)
(cont’d)
RUN
2
Vibration Detect
Press the Key. The display changes to the Fn01B
Level Init
Return: [SET]
Press the Key.

RUN
Vibration Detect "Init" is displayed flashing, and the vibration level is
3 Level Init detected and initialized.
Init
Note: Continues initialization until the Key is
pressed again.
RUN
Vibration Detect Press the Key. The display changes from "Init"
4 Level Init to "DONE," for one second and the new setting of
Pn312 becomes enabled.
D㧻㧺㧱
RUN −FUNCTION−
Fn01 4:Opt Init
5 Fn01 B : Viblvl Init
Fn01 E:SvMotOp ID menu of the utility function.
Fn01 F:FBOpMot ID




)
Parameter Name
changes changes
Pn311 Vibration Detection Sensitivity Yes No Utility Functions (Fn
Pn312 Vibration Detection Level No Yes
6-27
6.17 Display of SERVOPACK and Servomotor ID (Fn01E)

This function displays ID information for SERVOPACK, servomotor, encoder, and option module connected
to the SERVOPACK. The ID information of some option modules (SGDV-OFA01A) is not stored in the SER-
VOPACK. "Not available" will be displayed for these option modules.
To use this function, the digital operator (JUSP-OP05A-1-E) or SigmaWin+ is needed.
Refer to Σ-V Series User's Manual, Operation of Digital Operator (No.: SIEP S800000 55) for the operating
procedure of the digital operator.
The following items can be displayed.
ID Items to be Displayed
• SERVOPACK model
• SERVOPACK serial number
• SERVOPACK manufacturing date
SERVOPACK ID
• SERVOPACK input voltage (V)
• Maximum applicable motor capacity (W)
• Maximum applicable motor rated current (Arms)
• Servomotor model
• Servomotor order number
• Servomotor manufacturing date
Servomotor ID
• Servomotor input voltage (V)
• Servomotor capacity (W)
• Servomotor rated current (Arms)
• Encoder model
• Encoder serial number
Encoder ID
• Encoder manufacturing date
• Encoder type/resolution
• Safety Option Module model
Safety Option Module • Safety Option Module serial number
ID* • Safety Option Module manufacturing date
• Safety Option Module ID number
• Feedback Option Module model
Feedback Option • Feedback Option Module serial number (Reserved area)
Module ID* • Feedback Option Module manufacturing date
• Feedback Option Module ID
∗ If the option module is not connected, "Not connect" will be displayed after the module name.
(1) Preparation
6-28
6.17 Display of SERVOPACK and Servomotor ID (Fn01E)

R U N Rotation − F U N C T I O N − Press the Key to view the main menu for the
F n 0 1 B : Viblvl Init utility function.
1 Fn01E:SvMotOp ID
Fn01F:FBOpMot ID Use the or Key to move through the list and
Fn020:S−Orig Set select Fn01E.
M-III Serial number
SERVOPACK model
BB −SvMotOp ID−
Press the Key.
Driver The display changes to the Fn01E execution display.
2 SGDV−750J21A The SERVOPACK ID information is displayed. Use
D00241234590001
1 2 . 0 9 4 0 0 V, 22000W the or Key to scroll left and right and to
view other information.
Manufacturing SERVOPACK SERVOPACK
date input voltage capacity
Servomotor order number

Servomotor model
BB −SvMotOp ID− Press the Key.
Motor
The servomotor ID information is displayed. Use the
3 SGMVV−2BDDB2N
123456−1−BK1 or Key to scroll left and right and to view
1 2 . 0 7 4 0 0 V, 22000W other information.
Manufacturing Servomotor Servomotor
date voltage capacity
Rotation Encoder serial number

Encoder model
BB ‫ޓ‬ −SvMotOp ID− Press the Key.
Encoder The encoder ID information is displayed.
4 UTTIH−B20FN
Q12345−001−BK6 Use the or Key to scroll left and right and to
12. 07 20bit−INC view other information.
Manufacturing Encoder Encoder
date resolution type
RUN −FUNCTION−
Fn01B : Viblvl Init Ro- Press the Key.
5 Fn01E : SvMotOp ID tati The display returns to the main menu of the utility
Fn01F : FBOpMot ID on function.
Fn020 : S−Orig Set
)
6-29
6.18 Display of Servomotor ID in Feedback Option Module (Fn01F)

This function displays ID information for servomotor and encoder in Feedback Option Module connected to
the SERVOPACK. If the option module is not connected, "Not connect" will be displayed after the module
name.
To use this function, the digital operator (JUSP-OP05A-1-E) or SigmaWin+ is needed.
Refer to Σ-V Series User's Manual, Operation of Digital Operator (No.: SIEP S800000 55) for the operating
procedure of the digital operator.
The following items can be displayed.
ID Items to be Displayed
• Servomotor model
• Servomotor order number
Servomotor ID • Servomotor input voltage (V)
• Servomotor capacity (W)
• Servomotor rated current (Arms)
• Encoder model
• Encoder serial number
Encoder ID
• Encoder type/resolution (Two types of resolution display available: Num-
ber of bits and number of pulses/rev.)
(1) Preparation


F n0 1 E:SvMotOp ID utility function.
1 F n0 1 F:FBOpMot ID
F n0 2 0 : S− Orig Set Use the or Key to move through the list and
F n0 3 0 : Soft Reset
select Fn01F.
Servomotor order number
Servomotor model
Press the Key.
BB −FBOpMotID− The display changes to the Fn01F execution display.
2*
Motor
SGMVV−2BDDB2N The servomotor ID information is displayed. Use the
123456−1−BK1 or Key to scroll left and right and to view
4 0 0 V, 22000W
other information.
Input voltage Capacity
Encoder type/resolution
Encoder serial number
Encoder model Press the Key.
The encoder ID information is displayed.
3 BB −FBOpMotID−
Encoder Use the or Key to scroll left and right and to
UTTIH−B20FN
Q12345−001−BK6
view other information.
20bit−INC
B B −FUNCTION−
F n0 1 E:SvMotOp ID Press the Key.
4 F n0 1 F:FBOpMot ID The display returns to the main menu of the utility
0 : S− Orig Set
F n0 2
function.
F n0 3 0 : Soft Reset
∗ When fully-closed loop control is being used, step 2 is not included.
6-30
6.19 Origin Setting (Fn020)
6.19 Origin Setting (Fn020)

When using an external absolute encoder for fully-closed loop control, this function is used to set the current
position of the external absolute encoder as the origin (zero point position).
This function can be used with the following products.

Mitutoyo Corporation
ABS ST780A series
Model: ABS ST78 A/ST78 AL
• After execution of origin setting, the servo ready (/S-RDY) signal will become inactive
because the system position data will have been changed. Always turn the power
supply OFF and then ON again after execution of origin setting.
(1) Preparation
The following conditions must be met to set the origin.
F n0 1 F : FBOpMot ID utility function.
1 F n0 2 0 : S− Orig Set
F n0 3 0 : Soft Reset Use the or Key to move through the list and
F n0 8 0 : Pole Detect select Fn020.
BB
2 Scale Origin Set

execution display.
ORGSET1
BB
3 Scale Origin Set Press the or Key to "ORGSET5".
)
ORGSET5
BB
Press the key to start setting the origin. The mes- Utility Functions (Fn
sage, "Scale Origin Set," flashes while the origin is
4 Scale Origin Set being set. After the origin has been successfully set,
the displayed status changes as follows: "BB" to
"DONE" to "BB".
6-31
6.20 Software Reset (Fn030)

This function enables resetting the SERVOPACK internally from software. This function is used when reset-
ting alarms and changing the settings of parameters that normally require restarting the SERVOPACK. This
function can be used to change those parameters without restarting the SERVOPACK.
• Start software reset operation after the servomotor power is OFF.

• This function resets the SERVOPACK independently of host controller. The SERVO-
PACK carries out the same processing as when the power supply is turned ON and
outputs the ALM signal. The status of other output signals may be forcibly changed.
(1) Preparation
The following condition must be met to perform a software reset.

F n0 2 0 : S− Orig Set utility function.
1 F n0 3 0 : Soft Reset
F n0 8 0 : Pole Detect Use the or Key to move through the list and
F n2 0 0 : TuneLvl Set select Fn030.
BB
2 Press the Key. The display changes to the Fn030

Software Reset
execution display.
RESET1
BB
3 Software Reset Press the or Key to select "RESET5".

RESET5
BB
Press the Key to execute the software reset.
4 Software Reset After the software reset starts, "RESET5" will no
longer be displayed.
After the reset has been successfully completed, the

File First Loading screen which appears when the power is turned ON
5 Please Wait... –
will be displayed. The screen will then show parame-
ters or monitor displays.
B B −FUNCTION−
F n0 2 0 : S− Orig Set Press the Key.
6 F n0 3 0 : Soft Reset The display returns to the main menu of the utility
F n0 8 0 : Pole Detect
function.
F n2 0 0 : TuneLvl Set
6-32
6.21 EasyFFT (Fn206)

EasyFFT sends a frequency waveform reference from the SERVOPACK to the servomotor and slightly rotates
the servomotor several times over a certain period, thus causing machine vibration. The SERVOPACK detects
the resonance frequency from the generated vibration and makes notch filter settings according to the reso-
nance frequency detection. The notch filter is effective for the elimination of high-frequency vibration and
noise.
Execute this function after the servomotor power is turned OFF if operation of the SERVOPACK results in
high-frequency vibration and noise.
WARNING
• The servomotor rotates slightly when EasyFFT is executed. Do not touch the servomotor or machine dur-
ing execution of EasyFFT, otherwise injury may result.
CAUTION
• Use the EasyFFT when the servo gain is low, such as in the initial stage of servo adjustment. If EasyFFT
is executed after increasing the gain, the servo system may vibrate depending on the machine character-
istics or gain balance.
M-III
Periodic
waveform Rotates the shaft slightly
reference
Slight movement
Response
SERVOPACK
In addition to this function, online vibration monitor (Fn207) can be used to detect machine vibration and
)
automatically make notch filter settings.
If a Σ-V large-capacity SERVOPACK is used to make adjustments, it is recommended to use advanced auto- Utility Functions (Fn
tuning. This built-in EasyFFT function is used to maintain interchangeability with previous models. There is
normally no need to use it.
(1) Preparation
The following conditions must be met to perform EasyFFT.
• The main circuit power supply must be ON. 6
• An external reference must not be input.
6-33

F n2 0 5 : V ib Sup utility function.
1 F n2 0 6 : E as y FFT
F n2 0 7 : V -M onitor Use the or Key to move through the list and
F n0 0 0 : A lm History select Fn206.
BB −Easy FFT−
2
Setting Press the Key. The display changes to the Fn206
Input = 015%
execution display.
The cursor is on the setting of "Input." Press

the or Key to set the sweep torque refer-
ence amplitude (Pn456)
BB −Easy FFT−
Setting range: 1 to 800.
Setting Note: When making the initial settings for EasyFFT,
3 Input = 015% do not change the setting for the reference
amplitude. Start with the original value of 15.
Increasing reference amplitude increases the
detection accuracy, but the vibration and noise
from the machine will increase. Increase the
amplitude value little by little.
RUN −Easy FFT−
Ready Press the Key to turn the servomotor power ON.
4 Input = 015% The display “BB” and “Setting” changes to “RUN”
and “Ready.”
Press the (forward run start) Key or

(reverse run start) Key to run the servomotor and start
the frequency measurement. "Measure" is displayed
during the measurement.
Within a quarter turn, the servomotor will move for-
ward and then in reverse several times.
RUN −Easy FFT−
Measure Notes:
5 Input = 015%
• Press the Key to cancel the measurement. The
servomotor stops moving and the power turns OFF.
The detection of the resonance frequency is not
completed.
• The actions of the servomotor are very minute in
this operation. Also at the same time, the servomo-
tor emits a noise. To ensure safety, do not enter the
working envelope of the motor.
When the detection processing is successfully com-
pleted, "Measure" stops flashing and the results and
the notch filter value to be set are displayed. If the
processing was not completed, "No Measure" is dis-
played. To check the results, go to step 8.
< Important >
If two seconds or more are required for the operation
although detection was successfully completed, the
BB −Easy FFT− detection accuracy might be insufficient. Increasing
Result reference amplitude more than 15 increases the detec-
6 Input = 015% tion accuracy, but the vibration and noise from the
Res = 1250 Hz
Filter1 1250 Hz
machine will increase. Increase the amplitude value
little by little.
Notes:
• If a notch filter has been set and is being used, "*"
is displayed on the second line.
• If the first stage notch filter has been set, the sec-
ond stage notch filter value is displayed. If the first
and second stage notch filters have been set, only
the result of frequency detection is displayed.
6-34
(cont’d)
To exit the EasyFFT function at this stage, press
BB −Easy FFT− the Key. The power to the servomotor is turned
Ready OFF and the display returns to the main menu of the
7 Input = 015% utility function.
To remeasure the vibration frequency, press
the Key to return to step 4. Execute steps 5 to 7.
Press the Key after the normal completion of

frequency detection. The notch filter frequencies are
automatically updated to the optimum values.
The status display shows "DONE" and the display
shown on the left appears.
D㧻㧺㧱 −Easy FFT−
If the first stage notch filter frequency has been set
Result (Pn408.0 = 1), the second stage notch filter frequency
8 Input = 015% (Pn 40C) will automatically be updated.
Res = 1250 Hz
Notes:
Filter1 1250 Hz
• If the first stage or the second stage notch filter fre-
quency has already been set (Pn408 = n. 1 1),
the notch filter frequency cannot be set.
• If the frequency detected by this function is not
used, set the notch filter to be invalid (Pn408.0 =
0).
B B −FUNCTION−
F n2 0 5 : V ib Sup Press the Key.
9 F n2 0 6 : E as y FFT The servomotor enters a baseblocked status. The dis-
F n2 0 7 : V -M onitor
F n0 0 0 : A lm History
play returns to the main menu of the utility function.
)
6-35




Parameter Name
changes changes
Pn40A 1st Notch Filter Q Value No No
Pn40D 2nd Notch Filter Q Value No No
Pn456 Sweep Torque Reference Amplitude No No
6-36
6.22 Online Vibration Monitor (Fn207)

If vibration is generated during operation and this function is executed while the servomotor power is still ON,
the machine vibration can sometimes be suppressed by setting a notch filter or torque reference filter for the
vibration frequencies.
When online, vibration frequency caused by machine resonance will be detected and the frequency that has
the highest peak will be displayed on the panel operator. The effective torque reference filter or notch filter
frequency for the vibration frequencies will be automatically selected and the related parameters will be auto-
matically set.
In addition to this function, EasyFFT (Fn206) can be used to detect machine vibration and automatically make
notch filter settings. Use the following flowchart to determine how these functions should be used.
If a Σ-V large-capacity SERVOPACK is used to make adjustments, it is recommended that you use advanced
autotuning. This built-in function is used to maintain interchangeability with previous models. There is nor-
mally no need to use it.
How to use EasyFFT (Fn206) and online vibration monitor (Fn207),

when they are mainly used for servo gain adjustment.
Start
Vibration with No
high-frequency noise
during operation
Yes
Turn OFF the servomotor power,

and execute EasyFFT (Fn206)
Adjust servo gain
No
Vibration
Yes )
With the servomotor power ON,

execute online vibration
monitor (Fn207)
End
6
(1) Preparation
The following conditions must be met to perform online vibration monitoring.
• The servomotor power must be ON.
• The correct moment of inertia (Pn103) must be set.
6-37

RUN −FUNCTION− Press the Key to view the main menu for the
Fn20 6 : Easy FFT utility function.
1 Fn20 7 : V−Monitor
Fn00 0 : Alm History Use the or Key to move through the list and
Fn00 1 : JOG select Fn207.
RUN −V−MONITOR−
2
Measure Press the Key.
F1=−−−−
F2=−−−− The display changes to the Fn207 execution display.
F3=−−−−
Press the Key for at least one second to start

RUN −V−MONITOR−
Measure vibration detection. The Key must be pressed
3 F1=−−−− until "Measure" flashes on the display. After this
F2=−−−−
F3=−−−− message appears, the Key does not have to be
pressed and the detection continues automatically.
When the vibration detection has completed, "Mea-
sure" stops flashing and the detection processing ends
automatically. When the detection processing has
completed normally, the vibrations with three largest
peak values in vibration frequency are displayed for
F1, F2, and F3.
RUN −V−MONITOR− Notes:
Measure
4 F1= 0850 [Hz]
• Press the Key to quit the online vibration
F2= 1600 [Hz] monitor function. The display returns to the main
F3= 0225 [Hz] menu of the utility function.
• A detected frequency can be displayed. For a vibra-
tion with undetectable peak frequency, "----" is dis-
played. If no frequency was detected, "----" is
displayed for F1, F2, and F3.
• If the frequency could not be successfully detected,
"NO MONITOR" is displayed.
After the detection has normally completed, press the
Key. The optimum frequency (time constant) of
DONE −V− MONITOR− notch filter or torque reference filter for F1 is set
5
SETTING DO NE
automatically. At the same time, the parameter Pn409
F1= 0850[Hz ]
F2= 1600[Hz ] is updated for a notch filter, or the parameter Pn401 is
F3= 0225[Hz ] updated for a torque reference filter.
After the setting is successfully completed, "DONE"
flashes.
RUN −FUNCTION−
Fn20 6 : Easy FFT Press the Key.
6 Fn20 7 : V−Monitor The display returns to the main menu of the utility
Fn00 0 : Alm History function.
Fn00 1 : JOG
6-38




Parameter Name
changes changes
Pn40A 1st Notch Filter Q Value No No
Pn40C 2nd Notch Filter Frequency No No
Pn40D 2nd Notch Filter Q Value No No
)
6-39
7
Monitor Displays (Un )
7.1 List of Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7.2 Viewing Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.3 Monitoring Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7.3.1 Interpreting Input Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7.3.2 Input Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7.4 Monitoring Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6

7.4.1 Interpreting Output Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
7.4.2 Output Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
7.5 Monitoring Safety Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

7.5.1 Interpreting Safety Input Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
7.5.2 Safety Input Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
)
Monitor Displays (Un
7-1
7 Monitor Displays (Un )
7.1 List of Monitor Displays

The monitor displays can be used for monitoring the I/O signal status, and SERVOPACK internal status.
Refer to the following table.
Parameter
Description Unit
No.
Un000 Motor rotating speed min-1
Un001 Speed reference min-1
Un002 Internal torque reference (percentage of the rated torque) %
Rotational angle 1 (encoder pulses from the phase-C origin:
Un003 decimal display) encoder pulse∗3
Un004 Rotational angle 2 (from polarity origin (electric angle)) deg

Un005*1 Input signal monitor −
Un006*2 Output signal monitor −
Un007 Input reference pulse speed (valid only in position control) min-1
Un008 Position error amount (valid only in position control) reference unit
Accumulated load ratio (in percentage to the rated torque:
Un009 %
effective torque in cycle of 10 seconds)
Regenerative load ratio (as a percentage of the processable
Un00A regenerative power: regenerative power consumption in cycle %
of 10 seconds)
Power consumed by DB resistance
Un00B (in percentage to the processable power at DB activation: dis- %
played in cycle of 10 seconds)
Un00C Input reference pulse counter reference unit
Un00D Feedback pulse counter encoder pulse*3

Un00E Fully-closed feedback pulse counter external encoder resolution*4
Un012 Total operation time 100 ms
Un013 Feedback pulse counter reference unit
Un014 Effective gain monitor (gain settings 1 = 1, gain settings 2 = 2) −
Un015 Safety I/O signal monitor −
Un020 Motor rated speed min-1
Un021 Motor maximum speed min-1
∗1. For details, refer to 7.3 Monitoring Input Signals.

∗2. For details, refer to 7.4 Monitoring Output Signals.
∗3. For details, refer to 4.4.3 Electronic Gear.
∗4. For details, refer to 8.3.3 Setting Encoder Output Pulses (PAO, PBO, and PCO).
7-2
7.2 Viewing Monitor Displays
7.2 Viewing Monitor Displays

The monitor display can be checked or viewed in the Parameter/Monitor (-PRM/MON-) window of the digital
operator.
The following figure shows four factory settings that are first displayed if viewing monitor displays.
㨁㨚㧜㧜㧜㧩‫ޓ‬㧜㧜㧜㧜㧜 Indicates that the value of Un000
(motor rotating speed) is 0 min-1.
MECHA
To view any items that are not shown, press the or Key to scroll through the list.
Motor rotating speed Un000 = 00000 MECHA
Speed reference Un001 = 00000
Internal torque reference Un002 = 00000
Rotational angle 1 (encoder pulses from the phase-C origin) Un003 = 00000
Rotation angle 2 (from polarity origin (electric angle)) Un004 = 00090

䲒
Feedback pulse counter Un00D = 00000000
)
7-3
7.3.1 Interpreting Input Signal Display Status
7.3 Monitoring Input Signals

The status of input signals can be checked with the input signal monitor (Un005). The procedure for the
method of interpreting the display and a display example are shown below.
7.3.1 Interpreting Input Signal Display Status

The input signal monitor (Un005) can be read in the following way. The upper level indicates OFF, and the
lower level indicates ON. All undefined digits are shown in the lower level (ON).
Un005= MECHA
8 7 6 5 4 3 2 1 digit
Note: The monitor display and the number of digits shown in a large-capacity Σ-V SERVOPACK are different from those
for a standard Σ-V SERVOPACK. Make sure you are reading the displays correctly when checking signal operation.
Display LED Signal Name

Input Terminal Name
Number (Factory Setting)
1 CN1-40 SI0
2 CN1-41 /DEC
3 CN1-42 P-OT
4 CN1-43 N-OT
5 CN1-44 /EXT1
6 CN1-45 /EXT2
7 CN1-46 /EXT3
8 – Reserved
Note: Input signals use the following circuit configuration.
• OFF: Open
• ON: Short-circuited
Example
OFF (open)
7-4
7.3 Monitoring Input Signals
7.3.2 Input Signal Display Example

Input signals are displayed as shown below.
• When the /DEC signal is ON

The second digit
is in the lower level. MECHA
Un005=
8 7 6 5 4 3 2 1 digit
• When the /DEC signal is OFF

The second digit
is in the upper level. MECHA
Un005=
8 7 6 5 4 3 2 1 digit
• When the P-OT signal is activated

The third digit
is in the upper level. MECHA
Un005=
8 7 6 5 4 3 2 1 digit
)
7-5
7.4.1 Interpreting Output Signal Display Status
7.4 Monitoring Output Signals

The status of output signals can be checked with the output signal monitor (Un006). The procedure for the
method of interpreting the display and a display example are shown below.
7.4.1 Interpreting Output Signal Display Status

The output signal monitor (Un006) can be read in the following way. The upper level indicates OFF, and the
lower level indicates ON. All undefined digits are shown in the lower level (ON).
Un006=
MECHA
8 7 6 5 4 3 2 1 digit
Display LED Signal Name

Output Terminal Name
Number (Factory Setting)
1 CN1-31, -32 ALM
2 CN1-25, -26 /BK
3 CN1-27, -28 SO2
4 CN1-29, -30 SO3
5 − Reserved
6 − Reserved
7 − Reserved
8 − Reserved
Note: Output signals use the following circuit configuration.

• OFF: Transistor OFF
• ON: Transistor ON
Example
ON: Transistor ON
7.4.2 Output Signal Display Example

Output signals are displayed as shown below.
• When the ALM signal is OFF

The first digit is
in the upper level.
Un006= MECHA
8 7 6 5 4 3 2 1 digit
7-6
7.5 Monitoring Safety Input Signals
7.5 Monitoring Safety Input Signals

The status of safety input signals can be checked with the safety I/O signal monitor (Un015). The procedure
for the method of interpreting the display and a display example are shown below.
7.5.1 Interpreting Safety Input Signal Display Status

The safety I/O signal monitor (Un015) can be read in the following way. The upper level indicates ON, and
the lower level indicates OFF. All undefined digits are shown in the lower level (OFF).
Un015=
MECHA
8 7 6 5 4 3 2 1 digit
Display LED Number Input Terminal Name Signal Name

1 CN8-3, -4 /HWBB1
2 CN8-5, -6 /HWBB2
3 − Reserved
4 − Reserved
5 − Reserved
6 − Reserved
7 − Reserved
8 − Reserved
Note: Input signals use the following circuit configuration.

• OFF: Open
• ON: Short-circuited
Example
ON (short-circuited)
7.5.2 Safety Input Signal Display Example

Safety input signals are displayed as shown below. )
• When the /HWBB1 signal turns OFF to activate the HWBB function
The first digit is

in the lower level. MECHA
Un015=
8 7 6 5 4 3 2 1 digit
7-7
8
Fully-closed Loop Control
8.1 System Configuration and Connection Example for

SERVOPACK with Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . 8-2
8.1.1 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.1.2 Internal Block Diagram of Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.1.3 Serial Converter Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
8.1.4 Example of Connections to External Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
8.1.5 Encoder Output Pulse Signals from SERVOPACK with an External Encoder
by Renishaw plc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
8.1.6 Precautions When Using an External Incremental Encoder by Magnescale . . . . . . . 8-8
8.2 SERVOPACK and Converter Startup Procedure . . . . . . . . . . . . . . . . . . 8-12

8.3 Parameter Settings for Fully-closed Loop Control . . . . . . . . . . . . . . . . . 8-14
8.3.1 Motor Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15
8.3.2 Sine Wave Pitch (Frequency) for an External Encoder . . . . . . . . . . . . . . . . . . . . . . . 8-17
8.3.3 Setting Encoder Output Pulses (PAO, PBO, and PCO) . . . . . . . . . . . . . . . . . . . . . . 8-17
8.3.4 External Absolute Encoder Data Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . 8-18
8.3.5 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-21
8.3.6 Alarm Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-22
8.3.7 Analog Monitor Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-23
8.3.8 Speed Feedback Method during Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . 8-23 Fully-closed Loop Control
8-1
8 Fully-closed Loop Control
8.1.1 System Configuration
8.1 System Configuration and Connection Example for

SERVOPACK with Fully-closed Loop Control
This section describes the system configuration and connection example for the SERVOPACK with fully-
closed loop control.
8.1.1 System Configuration

The following figure shows an example of the system configuration.
SERVOPACK with Fully-closed Module

M-III
Connection cable for

serial converter unit
Servomotor main
circuit cable
Serial converter unit

‫ޓ‬ Model: JZDP-D00-000-E
External encoder cable
External encoder
(Not included)
Note 1. The figure above shows a connection example of an external encoder. Refer to 1.6 Examples of Servo System
Configurations for details on the power supply and peripheral devices.
2. In fully-closed loop control, rattling or twisting of mechanical parts may cause vibration, delaying the positioning
process.
8-2
8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control
8.1.2 Internal Block Diagram of Fully-closed Loop Control

Internal block diagram of fully-closed loop control is shown below.
With Position Control
SERVOPACK MECHA
MECHATROLINK
move command Elec- Error Position 㧗
Speed
tronic control 㧙 Motor Machine
gear counter loop
loop
Pn22A
Speed Encoder
Speed
feedback conversion
MECHATROLINK
Monitor data 1 Unit conversion External encoder‫ޓ‬
Pn20A Alarm
Electronic gear A.d10
detection
Encoder Speed
output conversion
pulse Serial
Divider conversion
Note: Either an incremental or an absolute encoder can be used. When the absolute encoder is used, set 1 to Pn002.2 (use
the absolute encoder as an incremental encoder).
With Speed Control
SERVOPACK MECHA
MECHATROLINK
move command 㧗 Speed
㧙 loop
Motor Machine
Speed feedback Pn22A Speed

conversion Encoder
MECHATROLINK
monitor data 1 External encoder‫ޓ‬
Electronic gear Unit conversion
Pn20A Alarm A.d10
detection
Encoder Speed
output conversion
pulse Serial
Divider conversion
8-3
8.1.3 Serial Converter Unit
8.1.3 Serial Converter Unit

This section provides the specification of the serial converter unit.
(1) Model: JZDP-D00 - -E

Characteristics and Specifications
Items Specifications
Power Supply Voltage +5.0 V±5%, ripple content 5% max.
Current Consumption ∗1 120 mA Typ. 350 mA max.
Signal Resolution 1/256 pitch (1 cycle) of input 2-phase sine wave pitch
Max. Response Frequency 250 kHz
Electrical Analog Input Signals ∗2 Differential input amplitude: 0.4 V to 1.2 V
Characteristics (cos, sin, Ref) Input signal level: 1.5 V to 3.5 V
Output Signal ∗3 Position data, alarms

Output Method Serial data communications
Balanced type transceiver (SN75LBC176 or the equivalent),
Output Circuit
internal terminating resistor: 120 Ω
Approx. Mass 150 g
Mechanical Vibration Resistance 98 m/s2 max. (10 to 2500 Hz) in three directions
Characteristics
Shock Resistance 980 m/s2, (11 ms) two times in three directions
Surrounding air Temperature 0°C to 55°C
Environmental Storage Temperature -20°C to +80°C
Conditions Humidity 20% to 90%RH (without condensation)
Altitude 1000 m max.
* 1. The current consumption of the external encoder is not included in this value.
The current consumption of the external encoder must be taken into consideration for the current
capacity of host controller that supplies the power.
* 2. Input a value within the specified range. Otherwise, incorrect position information is output, and the
device may be damaged.
* 3. The transmission is enabled 100 to 300 ms after the power turns ON.
8-4
(2) Analog Signal Input Timing

Input the analog signals with the timing shown in the following figure.
The /cos and /sin signals are the differential signals when the cos and sin signals are shifted 180°. The specifi-
cations of the cos, /cos, sin, and /sin signals are identical except for the phases.
The Ref and /Ref signals are input to the comparator. Input a signal that will exceed the hysteresis of the com-
parator (i.e., the broken lines in the following figure).
When they are crossed, the output data will be counted up.
100%
*1
0.2 V to 0.6 V
cos
(A+)
12.5%
12.5%
/cos
cos, /cos, sin, and (A-)
/sin input voltage
range: 1.5 V to 3.5 V
sin
(B+)
/sin
(B-)
*2
12.5% min. 12.5% min.
/Ref 0.05 V
Ref and /Ref input (R-)
voltage range:
Ref
1.5 V to 3.5 V (R+)
75% max. 75% max.

SERVOPACK
Zero Point origin pulse output position
Count-Up Direction
∗1. If the analog signal amplitude declines to approximately 0.35 V because of the differential amplitude, the serial con-
verter unit will output an alarm.
∗2. This is the hysteresis width.
• Never perform insulation resistance and withstand voltage tests.

• When low-voltage analog signals are input to the serial converter unit, noise influence
on the analog signals affects the unit’s ability to output correct position information.
The analog cable must be as short as possible and shielded.
• Use the serial converter unit in a location without gases such as H2S.
• Do not connect or disconnect the unit while power is being supplied, or the unit may
be damaged.
8
• When using multiple axes, use a shielded cable for each axis. Do not use a shielded
cable for multiple axes.
• If you use any external encoder other than a recommended external encoder, evalu-
ate the system in advance before you use it.
8-5
8.1.4 Example of Connections to External Encoders
8.1.4 Example of Connections to External Encoders

(1) External Encoder by Heidenhain
Model: LIDA8, LIF48
SERVOPACK with
Fully-closed Module
Serial converter unit External encoder
JZDP-D003-000-E by Heidenhain
CN31 CN1 CN2
JZSP-CLP70--E Connection cable

by Heidenhain
Model: LIC4100-series Model

SERVOPACK with
Fully-closed Module
Interface unit External encoder
by Heidenhain by Heidenhain
CN31 EIB3391
Connection cable
by Heidenhain
(2) External Encoder by Renishaw plc

SERVOPACK with
Fully-closed Module Serial converter unit
JZDP-D005-000-E External encoder
by Renishaw plc
CN31 CN1 CN2
JZSP-CLP70--E
D-sub 15-pin connector
(3) External Encoder by Mitutoyo Corporation

The serial converter unit is not needed when using the external encoder made by Mitutoyo Corporation.
This external encoder is an absolute encoder.
SERVOPACK with
Fully-closed Module
External encoder
by Mitutoyo Corporation
CN31
JZSP-CLP70--E Connection cable

by Mitutoyo Corporation
(4) External Encoder by Magnescale Co., Ltd.

Model: SR75, SR85, SR77∗1, SR87∗1, RU77∗2
The serial converter unit is not needed when using the external encoder made by Magnescale Co., Ltd.
∗1. The SR77 and SR87 models are external absolute encoder.
∗2. The RU77 is rotational external absolute encoder.
SERVOPACK with
Fully-closed Module
External encoder by
Magnescale Co., Ltd.
CN31
Connection cable
by Magnescale Co., Ltd.
Model: SL700, SL710, SL720, SL730

SERVOPACK with
Fully-closed Module
Head with interpolator External encoder by
PL101-RY Magnescale Co., Ltd.
CN31
JZSP-CMP0--E Connection cable by

8-6
8.1.5 Encoder Output Pulse Signals from SERVOPACK with an External Encoder
by Renishaw plc
The output position of the zero point signal (Ref) will depend on the direction of movement for some models
of external encoders by Renishaw plc.
In such case, the phase-C pulses of the SERVOPACK are output at two positions.
For details on the specifications of the zero-point signals for a external encoder, refer to the manual for the
Renishaw external encoder.
(1) When Passing 1st Zero Point Signal (Ref) in Forward Direction and Returning after
Power ON
Machine position
Phase-C detection position
Power ON Time
Zero point signal

㧔Ref㧕
Phase C
No zero point signal (Ref) is sent from the external encoder. Second pulse is half as wide
However, a phase-C pulse will be sent from the SERVOPACK as the phase-A pulse.
when moving in the reverse direction, because it is the same
position from which a phase-C pulse was sent from the
SERVOPACK when moving in a forward direction.
(2) When Passing 1st Zero Point Signal (Ref) in Reverse Direction and Returning after
Power ON
Machine position

Power ON Time
Zero point signal

㧔Ref㧕
Phase C
No zero point signal (Ref) is sent from the external encoder. Second pulse is half as wide
However, a phase-C pulse will be sent from the SERVOPACK
when moving in the forward direction, because it is the same as the phase-A pulse. 8
position from which a phase-C pulse was sent from the
SERVOPACK when moving in a reverse direction.
8-7
8.1.6 Precautions When Using an External Incremental Encoder by Magnescale

When an external incremental encoder by Magnescale Co., Ltd. is used, the count direction of the encoder
determines if a phase-C pulse (CN1-19, CN1-20) is output and counted.
Note: The count direction (counting up or down) of the encoder determines if a phase-C pulse is output. The output of the
pulse does not depend on the settings of these parameters: Pn000.0 (motor rotational direction ) and Pn002.3 (exter-
nal encoder usage method).
Model Interpolator Scale pitch (μm)

SL710 800
SL720 PL101-RY 800
SL730 800
SR75 80
SR85 80
When Passing 1st Zero Point in Forward Direction and Returning after Power ON
After the power is turned on, the phase-C pulse (CN1-19, CN1-20) is output when the external encoder moves
forward and its detection head first passes the phase-C detection position. After the detection head of the
encoder passes the detection position in a forward direction, the phase-C pulse is output when the head passes
the position regardless of the direction of the encoder’s movement.
Scale count-up direction

Rotation
Power ON Time
Phase-C pulse output
The phase-C pulse is also output when the detection head of the encoder passes
this point in reverse, because the SERVOPACK has recorded the position
where the phase-C pulse was originally output when first passing the position in the forward direction.
8-8
When Passing 1st Zero Point in Reverse Direction and Returning after Power ON
After the power is turned on, the phase-C pulse (CN1-19, CN1-20) is not output when the external encoder
moves reverse and its head first passes the phase-C detection position. The phase-C pulse is output for the first
time when the external encoder moves forward and its head passes the detection position. After the detection
head of the encoder first passes the detection position in the forward direction, the phase-C pulse is output
when the head passes the position regardless of the direction of the encoder’s movement.
Scale count-up direction Rotation
Power ON Time
The phase-C pulse is not output The phase-C pulse is also output when passing this point in reverse,
when passing the detection position because the SERVOPACK has recorded the position where the phase-C pulse was
in reverse direction first. originally output when first passing the position in the forward direction.
8-9
When Using an External Encoder with Multiple Zero Points and Passing 1st Zero Point in
Forward Direction and Returning after Power ON
When using an external encoder with multiple zero points, the same logic as that explained earlier for an
encoder with only one zero point applies to each zero point.
See When Passing 1st Zero Point in Forward Direction and Returning after Power ON.
Scale count-up
direction
Zero point 1 detection position
Time
Power ON

Zero point 1 Zero point 1 Zero point 2 Zero point 2
The phase-C pulse is also output when passing this point Even after zero point 1 has first been passed
in reverse, because the SERVOPACK has recorded in the forward direction, the phase-C pulse is not
the position where the phase-C pulse was originally output output here because zero point 2 is passed
when first passing the position in the forward direction. in reverse direction.
When Using an External Encoder with Multiple Zero Points and Passing 1st Zero Point in
Reverse Direction and Returning after Power ON
When using an external encoder with multiple zero points, the same logic as that explained earlier for an
encoder with only one zero point applies to each zero point.
See When Passing 1st Zero Point in Reverse Direction and Returning after Power ON.
Scale count-up
direction
Time
Power ON
Zero point 1 Zero point 2 Zero point 3 Zero point 3
Phase-C pulse is not output when passing

a zero point in reverse direction.
To output the phase-C pulse when a detection point is passed in reverse, set the following parameter to 1.

n. 0
Outputs phase-C pulse only in forward direction.
[Factory Setting]
Outputs phase-C pulse in forward and reverse
n. 1
direction.
8-10
• Setting of Pn081.0
Do not change the factory setting if the zero point position of the existing equipment
must remain as is.
• When Pn081.0 = 1, the width of the phase-C pulse output is narrower than that of
the phase-A pulse in some cases.
• As shown in the following figure, there is a one-eighth scale pitch difference in posi-
tions between the two settings (Pn081.0 = 1 and Pn081.0 = 0) for the phase-C
pulse output, the zero point return command, and the phase-C detection by phase-
C latch function.
Moves to forward
1 scale pitch
Pn081.0 =0
Zero point
1/8scale pitch
Pn081.0 =1
Zero point
8-11
8.2 SERVOPACK and Converter Startup Procedure

First check that the SERVOPACK and converter operate correctly with semi-closed loop control, then check
that they operate correctly with fully-closed loop control.
The following describes the startup procedure for the SERVOPACK in fully-closed loop control.
Parameters Requiring
Procedure Description Operation Controller
Settings
Check operation of the whole Set the parameters so that the SER- • Basic Function Select Switch
sequence in semi-closed loop VOPACK operates correctly in 0 (Pn000)
control and without any load. semi-closed loop control (Pn002.3 • Application Function Select
= 0) without any load and check Switch 1 (Pn001)
Items to Check the following points. • External Encoder Usage
• Power supply circuit wiring • Is there an error with the SER- (Pn002.3)
• Servomotor wiring VOPACK or converter? • Electronic Gear Ratio
• Encoder wiring • Does the JOG operation operate (Numerator) (Pn20E)
• Wiring of I/O signal lines from correctly when operating the • Electronic Gear Ratio
the host controller SERVOPACK in standalone (Denominator) (Pn210) SERVOPACK or
1
• Servomotor rotation direction, mode? • Input Signal Selection host controller
speed, and number of rotations • Do the I/O signals turn ON/OFF (Pn50A, Pn50B, Pn511)
• Operation of safety mecha- correctly? • Output Signal Selection
nisms, such as the brakes and • Does the servomotor turn ON (Pn50E, Pn50F, Pn510)
the overtravel mechanism when the SV_ON command is
sent from the host controller?
• Does the servomotor operate
correctly when the position ref-
erence is input by the host con-
troller?
Check operation of the system Connect the servomotor to the • Moment of inertia ratio
connected with the machine and machine. (Pn103)
servomotor in semi-closed loop Set the moment of inertia ratio
control mode. (Pn103) using the advanced auto-
tuning function.
Items to Check Check that the machine operates in
2 Host controller
• Initial responsiveness of the the correct direction, distance, and
system connected with the speed as directed by the host con-
machine troller.
• Movement direction, distance,
and speed of the machine spec-
ified by the host controller
Check the external encoder. Set parameters related to the fully- • External Encoder Usage
closed loop control and move the (Pn002.3)
Item to Check machine with your hand without • Number of External Scale
• Are signals from the external turning ON the power supply to the Pitch (Pn20A)
encoder received correctly? servomotor. Check the following • Electronic Gear Ratio
status with the digital operator or (Numerator) (Pn20E)
SigmaWin+. • Electronic Gear Ratio
• Does the fully-closed feedback (Denominator) (Pn210)
pulse counter (Un00E) count up • Encoder Output Resolution
when the servomotor moves in (Pn281)
the forward direction? • Excessive Error Level
• Is the distance the machine Between Servomotor and
moved about visually the same Load Positions (Pn51B)
3 −
as the amount counted by the • Positioning Completed
fully-closed feedback pulse Width (Pn522)
counter (Un00E)? • Multiplier per One Fully-
Note: The unit for fully-closed closed Rotation (Pn52A)
feedback pulse counter
(Un00E) is one pulse, which
is equivalent to the external
encoder sine wave pitch
divided by the number of
divisions*.
∗ Refer to 8.3.5 Electronic Gear
for details on the number of
divisions.
8-12
8.2 SERVOPACK and Converter Startup Procedure
(cont’d)
Parameters Requiring
Procedure Description Operation Controller
Settings
Perform a program JOG opera- Perform a program JOG operation • Program JOG related param-
tion. and check that the distance that the eters (Pn530 to Pn536)
servomotor moved is the same as
Items to Check the distance that is set in Pn531.
4 SERVOPACK
• Does the fully-closed loop Note: Start from a low speed and
control operate correctly when gradually increase the speed.
operating the SERVOPACK in
standalone mode?
Operate the SERVOPACK and
converter. Input the position reference and
check that the SERVOPACK and
5 Items to Check converter operate correctly. − Host controller
• Does the fully-closed loop Note: Start from a low speed and
control operate correctly gradually increase the speed.
including the host controller?
8-13
8.3 Parameter Settings for Fully-closed Loop Control

This section describes the parameter settings for fully-closed loop control.
Position Speed Torque

Set Parameters Setting Contents Reference
Control Control Control
Pn000.0 Motor rotation direction
8.3.1
Pn002.3 External encoder usage method
Number of pitches for the external
Pn20A 8.3.2
encoder
Number of encoder output pulses
Pn281 (PAO, PBO, and PCO) from the 8.3.3
SERVOPACK
External absolute encoder data
− 8.3.4
reception sequence
Pn20E, Pn210 Electronic gear ratio − − 8.3.5
Excessive error level between servo-
Pn51B − −
motor and load positions
8.3.6
Multiplier per one fully-closed rota-
Pn52A − −
tion
Pn006/Pn007 Analog monitor signal 8.3.7
Speed feedback method during fully-
Pn22A − − 8.3.8
closed loop control
Note: When using an external absolute encoder, this external encoder works as an absolute encoder even if Pn002.2 is set
to 1.
When
Enabled
n. 0
Uses the absolute encoder as an absolute encoder.
Pn002 [Factory setting] After restart Setup
n. 1 Uses the absolute encoder as an incremental encoder.
8-14
8.3.1 Motor Rotation Direction

The motor rotation direction can be set. To perform fully-closed loop control, it is necessary to set the motor
rotation direction with both Pn000.0 (motor rotation direction) and Pn002.3 (external encoder usage).
(1) Setting Parameter Pn000.0

The standard setting for forward rotation is counterclockwise (CCW) as viewed from the load end of the ser-
vomotor.
Forward/ Applicable
Parameter Reverse Direction of Motor Rotation and Encoder Output Pulse Overtravel
Reference (OT)
Motor speed
+ Torque reference
Forward
PAO P-OT
Reference Time
PBO Phase B
n. 0 CCW
Motor speed advanced
Sets CCW as forward
direction.
[Factory setting] + Motor speed
Torque reference Encoder output pulse
Reverse
Time PAO
Phase A N-OT
Reference advanced
PBO
Motor speed
CW
Pn000
Motor speed
Forward
P-OT
Reference Time
PAO
n. 1 PBO Phase B
Sets CW as forward CW Motor speed advanced
direction.
(Reverse Rotation + Motor speed Encoder output pulse
Mode) Torque reference
Phase A
Reverse PAO
advanced N-OT
Reference Time
PBO
CCW
Motor speed
Note: SigmaWin+ trace waveforms are shown in the above table.
(2) Setting Parameter Pn002.3

When
Enabled
n.0
[Factory setting] Do not use external encoder.*
Uses external encoder in standard rotation direc-

n.1
External Encoder tion.
Usage
n.2 Reserved (Do not set.)
n.3 Uses external encoder in reverse rotation direction.
n.4 Reserved (Do not set.)
∗ The mode will be switched to semi-closed position control if Pn002 is set to n.0 .
8-15
8.3.1 Motor Rotation Direction
(3) Relation between Motor Rotation Direction and External Encoder Pulse Phases
Refer to the table below.
Pn002.3 (External Encoder Usage)

Parameter
1 3
Reference Forward Reverse Forward Reverse
direction reference reference reference reference
Motor rotation
CCW CW CCW CW
direction
0
External encoder
cos lead sin lead sin lead cos lead
output
Pn000.0 Phase B Phase A Phase B Phase A
(Motor lead lead lead lead
rotation Reference Forward Reverse Forward Reverse
direction) direction reference reference reference reference
Motor rotation
CW CCW CW CCW
direction
1
External encoder
sin lead cos lead cos lead sin lead
output
Phase B Phase A Phase B Phase A
lead lead lead lead
• Set Pn002 to n.1 (forward rotation with forward reference) if the output of the external encoder is cos
lead and the motor is turning counterclockwise; set Pn002 to n.3 (reverse rotation with forward refer-
ence) if it is sin lead. When Pn000 is set to n. 0 and Pn002 to n.1 , manually turn the motor shaft
counterclockwise. If the fully-closed feedback pulse counter (Un00E) counts up, set Pn002 to n.1 . If
the Un00E counts down, set Pn002 to n.3 .
• The output pulses are phase-B advanced if the motor is turning forward regardless of the setting in Pn000.0.
8-16
8.3.2 Sine Wave Pitch (Frequency) for an External Encoder

Set the number of external encoder pitches per motor rotation to Pn20A.
Pn20A is the speed conversion coefficient when the external encoder is used as speed feedback.
(1) Setting Example

Specifications
External encoder sine wave pitch: 20 μm
Ball screw lead: 30 mm
If the external encoder is connected directly to the motor, the set value will be 1500 (30 mm/0.02 mm = 1500).
Note 1. If there is a fraction, round off the digits below the decimal point.
2. If the number of external encoder pitches per motor rotation is not an integer, there is some error in the speed
loop. This is not relevant for the position loop however, therefore it does not interfere with the position accuracy.

Number of External Scale Pitch Position Classifica-
Pn20A tion
4 to 1048576 1 pitch/rev 32768 After restart Setup
8.3.3 Setting Encoder Output Pulses (PAO, PBO, and PCO)

Set the position resolution to Pn281. Set the number of phase A and phase B edges.
(1) Setting Example

Specifications
External encoder sine wave pitch: 20 μm
Ball screw lead: 30 mm
Speed: 1600 mm/s
If the output of a single pulse (multiplied by 4) is 1 μm, the set value will be 20.
If the output of a single pulse (multiplied by 4) is 0.5 μm, the set value will be 40.
The encoder output pulse will have the following waveform if the set value is 20.
Phase A
Rotation
Phase B Fully-closed Loop Control
Sine wave pitch
"↑" shows the edge position. In this example, the set value is 20 therefore the number of ↑ is 20.
Note: The upper limit of the encoder signal output frequency (multiplied by 4) is 6.4 Mpps. Do not set a value that would
cause the output to exceed 6.4 Mpps. If the output exceeds the upper limit, the overspeed of encoder output pulse
rate alarm (A.511) will be output.
Example:
The frequency is as follows if the set value is 20 and the speed is 1600 mm/s:
1600 mm/s
0.001 mm
= 1600000 = 1.6 Mpps 8
Because 1.6 Mpps is less than 6.4 Mpps, this value can be used.
8-17
8.3.4 External Absolute Encoder Data Reception Sequence

Encoder Output Resolution Position Classifica-
Pn281 tion
1 to 4096 1 edge/pitch 20 After restart Setup
Note: The maximum setting for the encoder output resolution is 4096. When the number of divisions on the external
encoder is more than 4096, the data shown in 8.3.5 External Encoder Sine Wave Pitch and Number of Divisions is
no longer applicable.
(3) Phase-C Pulse Output Specifications

The pulse width of phase C (origin pulse) varies according to the encoder output resolution (Pn281), and will
become the same as the pulse width of phase A.
Output timing for the phase-C pulse is one of the following.
• In synchronization with the phase-A rising edge

• In synchronization with the phase-A falling edge
• In synchronization with the phase-B rising edge
• In synchronization with the phase-B falling edge
Phase C of the rotational external absolute encoder is output only at the encoder’s first
point of origin after the power is supplied. Phase C of the external encoder is not output
every rotation.

The sequence in which the SERVOPACK receives outputs from the external absolute encoder and transmits
them to host controller in fully-closed loop control is shown below.
(1) Outline of Absolute Signals

The serial data, pulses, etc., of the external absolute encoder that are output from the SERVOPACK are output
from the PAO, PBO, and PCO signals as shown below.
Host
controller SERVOPACK with Fully-closed Module MECHA
CN1 CN31
PAO Serial
data External
Dividing Serial data→ encoder
PBO circuit pulse conversion
(Pn281)
PCO
Signal Name Status Contents

Serial data
At initialization
PAO Initial incremental pulses
At initialization Initial incremental pulses
PBO
PCO Always Origin pulses
Note: When host controller receives the data from the external absolute encoder, do not perform counter reset using the
output of PCO signal.
8-18
(2) Absolute Data Transmission Sequence and Contents

1. Send the Turn Sensor ON (SENS_ON) command from the host controller.
2. After 100 ms, set the system to serial data reception-waiting-state. Clear the incremental pulse up/down
counter to zero.
3. Receive eight characters of serial data.
4. The system enters a normal incremental operation state about 400 ms after the last serial data is received.
SENS_ON
(Turn Sensor ON) M-III
Serial data
Initial Incremental pulses
PAO Undefined incremental
pulses
(Phase A) (Phase A)
Initial Incremental pulses
PBO Undefined incremental
pulses
60 ms min. (Phase B) (Phase B)

90 ms typ.
50 ms About 15 ms 400 ms max.
1 to 3 ms
Serial data:
The current position pulses divided by Pn281 are output in serial data.
One serial data is a value equivalent to 1048576 pulses.
Initial incremental pulses:

The current position pulses divided by Pn281 are output in pulses. The number of output pulses is between 0
to 1048576, and the output speed is approximately 1.48 µs per pulse.
Reference position (at setup) Current position

Rotation
Coordinate 0 1 2 3
value
0 1 (MS) 2 3 (Mo)
Values of PO
Mo and Ms Mo × R
PE
MS × R PS PM
Final absolute data PM is calculated by following formula.
PE = MO × R + PO
PM = PE – MS × R – PS
Signal Meaning
PE Current position of external encoder
MO Serial data of current position

PO Number of initial incremental pulses of current position
MS Serial data of reference position
PS Number of initial incremental pulses of reference position
PM Current value required for the user’s system
R 1048576
Note: If host controller receives the data from the external absolute encoder, do not perform counter reset using the output
of PCO signal.
8
8-19
(3) Serial Data Specifications

The serial data is output from the PAO signal.
Data Transfer Start-stop Synchronization (ASYNC)

Method
Baud rate 9600 bps
Start bits 1 bit
Stop bits 1 bit
Parity Even
Character code ASCII 7-bit code
Data format 8 characters, as shown below.
"0" to "9"
"+" or " - " serial data
"P" in five digits "CR"
0 00 0 0 1 0 1 0 1
Data Stop bit
Start bit Even parity
Note: 1. Data is "P+00000" (CR) or "P-00000" (CR) when the position is zero.
2. The serial data range is "-32768" to "+32767". When this range is exceeded, the data
changes from "+32767" to "-32678" or from "-32768" to "+32767." When changing
multiturn limit, the range changes. For details, refer to 4.7.6 Multiturn Limit Setting.
(4) Transferring Alarm Contents

If an external absolute encoder is used, the contents of alarms detected by the SERVOPACK are transmitted in
serial data to the host controller from the PAO output when the Turn Sensor OFF command (SENS_OFF) is
received.
Note: The SENS_OFF command cannot be received while the servomotor power is ON.
Output example of alarm contents are as shown below.
Turns Sensor
OFF ON OFF
(SENS_OFF) Error detection
M-III
Panel Display or
Overspeed
Incremental pulse Serial Data

Enlarged view
PAO Output Serial Data Format
" A" " L" " M" "5" "1" " . " "CR "
Upper 2 digits
8-20

Refer to 4.4.3 Electronic Gear for the purpose of setting the electronic gear.
The following formula is used to calculate the electronic gear ratio in fully-closed loop control.
Travel distance per reference unit × Number of divisions
Electronic gear ratio B = Pn20E =
A Pn210 External encoder sine wave pitch Rotation
Note: Set Pn20E (numerator B) and Pn210 (denominator A) to integral values.
B
The setting range is defined by 0.001 ≤ ≤ 4000.
A
The following table shows the various external encoder sin wave pitches and the number of divisions.
External Encoder Sine Wave Pitch and Number of Divisions

Calculate the electronic gear ratio with the values in the following table.
Model of Relay
Type of Number
External Encoder Sine Wave Device between
External Manufacturer of Resolution
Model Pitch [μm] SERVOPACK and
Encoder Divisions
External Encoder
LIDA48 20 JZDP-D003--E∗1 256 0.078 μm
Heidenhain LIDA18 40 JZDP-D003--E∗1 256 0.156 μm
LIF48 4 JZDP-D003--E∗1 256 0.016 μm
Renishaw plc RGH22B 20 JZDP-D005--E∗1 256 0.078 μm
Incremental SR75-LF*2 80 – 8192 0.0098 μm

SR75-MF 80 – 1024 0.078 μm
SR85-LF*2 80 – 8192 0.0098 μm
SR85-MF 80 – 1024 0.078 μm
SL700*2，SL710*2，
800 PL101-RY*3 8192 0.0977 μm
SL720*2，SL730*2
Heidenhain LIC4100 20.48 EIB3391Y*4 4096 0.005 μm
ST781A/ST781AL 256 – 512 0.5 μm
ST782A/ST782AL 256 – 512 0.5 μm
ST783/ST783AL 51.2 – 512 0.1 μm
Mitutoyo Corporation
ST784/ST784AL 51.2 – 512 0.1 μm
ST788A/ST788AL 51.2 – 512 0.1 μm
*5 25.6 – 512 0.05 μm
Absolute ST789A/ST789AL
SR77-LF*2 80 – 8192 0.0098 μm
SR77-MF 80 – 1024 0.078 μm

SR87-LF*2 80 – 8192 0.0098 μm
SR87-MF 80 – 1024 0.078 μm
RU77-4096ADF*6 – – 256 20 bits
RU77-4096AFFT01*6 – – 1024 22 bits
∗1. Models for serial converter units.

∗2. When using the encoder pulse output with these external encoders, the setting range of Pn281 is restricted. For
details, refer to 8.3.3 Setting Encoder Output Pulses (PAO, PBO, and PCO).
∗3. Model for sensor head with interpolator. 8
∗4. Model for interface unit by Heidenhain.
∗5. For details on this external encoder, contact Mitutoyo.
∗6. Model for rotational external encoder.
Refer to the manuals for the external encoder and serial converter unit for details on the sine wave pitch and
the number of divisions of the external encoder.
8-21
8.3.6 Alarm Detection
Setting Example
If the servomotor moves 0.2 μm for every pulse of position reference, the external encoder sine wave pitch is
20 μm, and the number of divisions is 256, the electronic gear ratio will be as follow.
0.2 × 256
Electronic gear ratio B = Pn20E = =
512
Rotation
A Pn210 20 200
Therefore, set 512 for Pn20E (numerator B) and 200 for Pn210 (denominator A).
8.3.6 Alarm Detection

The setting of alarm detection (Pn51B/Pn52A) is shown below.
(1) Excessive Error Level between Servomotor and Load Positions (Pn51B)
This setting detects the difference between the feedback position of the motor encoder and the feedback load
position of the external encoder in fully-closed loop control. If the detected difference is above the set level,
the motor-load position error overflow alarm (A.d10) will be output.
Excessive Error Level between Servomotor and

Load Positions Position Classifica-
Pn51B tion
Note: When Pn51B is set to 0, the motor-load position error overflow alarm (A.d10) is not detected.
(2) Multiplier per One Fully-closed Rotation (Pn52A)

The coefficient of the error between the external encoder and the motor per motor rotation can be set. This
function can be used to prevent the motor from running out of control due to damage to the external encoder or
to detect slippage of the belt.
Setting Example
Increase the value if the belt slips or is twisted excessively.
If the set value is 0, the external encoder value will be read as it is.
If the factory setting of 20 is used, the second rotation will start with the error for the first motor rotation mul-
tiplied by 0.8. (Refer to the following figure.)
Error between motor and external encoder
Big Pn52A=0
Pn52A=20
Small Pn52A=100
Number of motor rotations
Less than 1st 2nd 3rd Rotation

one rotation rotation rotation rotation
Related Parameter
Multiplier per One Fully-closed Rotation Position Classifica-

Pn52A tion
8-22
8.3.7 Analog Monitor Signal

The position error between servomotor and load can be monitored with the analog monitor.
When
Enabled
Position error between servomotor and load
Analog Monitor 1
Pn006 n. 07 [0.01 V/1 reference unit]
Signal Selection
Factory setting: n. 02
Immediately Setup
Position error between servomotor and load
Analog Monitor 2
Pn007 n. 07 [0.01 V/1 reference unit]
Signal Selection
Factory setting: n. 00
8.3.8 Speed Feedback Method during Fully-closed Loop Control

SERVOPACK
MECHATROLINK
Speed
reference
Elec- Error Position 㧗
Position tronic Speed Motor Machine
counter control loop 㧙 loop
reference gear
Pn22A
Speed feedback
Speed
conversion ENC
External encoder‫ޓ‬
MECHATROLINK Alarm
Unit conversion detection A.d10
monitor data 1
Pn20A
Electronic
gear
Encoder output Speed conversion
pulse Divider Serial
conversion
MECHA
Use Pn22A.3 to select the speed feedback method during fully-closed loop control: Normally, set Pn22A.3 to
0 (Uses motor encoder speed.).

n.0
Uses motor encoder speed.
Pn22A [Factory setting] After restart Setup
n.1 Uses external encoder speed.
Note: This parameter cannot be used when Pn002.3 is set to 0.

8-23
9
Troubleshooting
9.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9.1.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.1.2 Troubleshooting of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
9.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-24

9.2.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-24
9.2.2 Troubleshooting of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-26
9.3 Monitoring Communication Data on Occurrence of an Alarm

or Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-31
9.4 Troubleshooting Malfunction Based on Operation and
Conditions of the Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-32
Troubleshooting
9-1
9 Troubleshooting
9.1.1 List of Alarms
9.1 Alarm Displays

The following sections describe troubleshooting in response to alarm displays.
The alarm name, alarm meaning, alarm stopping method, and alarm reset capability are listed in order of the
alarm numbers in 9.1.1 List of Alarms.
The causes of alarms and troubleshooting methods are provided in 9.1.2 Troubleshooting of Alarms.

This section provides list of alarms.
Servomotor Stopping Method

If an alarm occurs, the servomotor can be stopped by doing either of the following operations.
Gr.1: The servomotor is stopped according to the setting in Pn001.0 if an alarm occurs. Pn001.0 is factory-set
to stop the servomotor by applying the DB.
Gr.2: The servomotor is stopped according to the setting in Pn00B.1 if an alarm occurs. Pn00B.1 is factory-set
to stop the servomotor by setting the speed reference to "0." The servomotor under torque control will
always use the Gr.1 method to stop. By setting Pn00B.1 to 1, the servomotor stops using the same
method as Gr.1. When coordinating a number of servomotors, use this stopping method to prevent
machine damage that may result due to differences in the stop method.
Alarm Reset
Available: Removing the cause of alarm and then executing the alarm reset can clear the alarm.
N/A: Executing the alarm reset cannot clear the alarm.
Servomotor
Alarm Alarm
Alarm Name Meaning Stopping
Number Reset
Method
Parameter Checksum
A.020 The data of the parameter in the SERVOPACK is incorrect. Gr.1 N/A
Error 1
A.021 Parameter Format Error 1 The data of the parameter in the SERVOPACK is incorrect. Gr.1 N/A
A.022 System Checksum Error 1 The data of the parameter in the SERVOPACK is incorrect. Gr.1 N/A
A.030 Main Circuit Detector Error Detection data for main circuit is incorrect. Gr.1 Available
A.040 Parameter Setting Error 1 The parameter setting is outside the setting range. Gr.1 N/A
Encoder Output Pulse The encoder output pulse (Pn212) is outside the setting range or
A.041 Gr.1 N/A
Setting Error does not satisfy the setting conditions.
Parameter Combination
A.042 Combination of some parameters exceeds the setting range. Gr.1 N/A
Error
Semi-closed/Fully-closed
The settings of the option module and Pn00B.3, Pn002.3 do not
A.044 Loop Control Parameter Gr.1 N/A
match.
Setting Error
A.04A Parameter Setting Error 2 Bank member/bank data setting is incorrect. Gr.1 N/A
The SERVOPACK and the servomotor capacities do not match each
A.050 Combination Error Gr.1 Available
other.
A.051 Unsupported Device Alarm The device unsupported was connected. Gr.1 N/A
Cancelled Servo ON The servo ON command (SV_ON) was sent from the host control-
A.0b0 Gr.1 Available
Command Alarm ler after executing a utility function that turns ON servomotor.
Overcurrent or Heat Sink An overcurrent flowed through the IGBT or the heat sink of the
A.100 Gr.1 N/A
Overheated SERVOPACK was overheated.
A.300 Regeneration Error Regenerative circuit or regenerative resistor is faulty. Gr.1 Available
A.320 Regenerative Overload Regenerative energy exceeds regenerative resistor capacity. Gr.2 Available
Main Circuit Power • Setting of AC input/DC input is incorrect.
A.330 Gr.1 Available
Supply Wiring Error • Power supply wiring is incorrect.
9-2
9.1 Alarm Displays
(cont’d)
Servomotor
Alarm Alarm
Number Reset
Method
A.400 Overvoltage Main circuit DC voltage is excessively high. Gr.1 Available
A.410 Undervoltage Main circuit DC voltage is excessively low. Gr.2 Available
One of the following was detected by the converter.
• An operation error occurred when using the limit relay for inrush
current
A.42A Converter error • PN voltage error Gr.1 Available
• Regeneration operation error
• The converter’s heat sink overheated
• An operation error occurred when using the converter and fan
Main-Circuit
A.450 The capacitor of the main circuit has deteriorated or is faulty. Gr.1 N/A
Capacitor Overvoltage
A.510 Overspeed The servomotor speed is above the maximum rotational speed. Gr.1 Available
Overspeed of Encoder The pulse output speed upper limit of the set encoder output pulse
Output Pulse Rate (Pn212) is exceeded.
A.520 Vibration Alarm Incorrect vibration at the motor speed was detected. Gr.1 Available
A.521 Autotuning Alarm Vibration was detected while performing tuning-less function. Gr.1 Available
The servomotor was operating for several seconds to several tens of
A.710 Overload: High Load Gr.2 Available
seconds under a torque largely exceeding ratings.
The servomotor was operating continuously under a torque exceed-
A.720 Overload: Low Load Gr.1 Available
ing ratings.
A.730 When the dynamic brake was applied, rotational energy exceeded
Dynamic Brake Overload Gr.1 Available
A.731 the capacity of dynamic brake resistor.
Overload of Surge
A.740 The main circuit power was frequently turned ON and OFF. Gr.1 Available
Current Limit Resistor
A.7A0 Heat Sink Overheated The heat sink of the SERVOPACK or converter exceeded 100°C. Gr.2 Available
Built-in Fan in
A.7AB The fan inside the SERVOPACK stopped. Gr.1 Available
SERVOPACK Stopped
The power supplies to the encoder all failed and position data was
A.810 Encoder Backup Error Gr.1 N/A
lost.
A.820 Encoder Checksum Error The checksum results of encoder memory is incorrect. Gr.1 N/A
Absolute Encoder Battery The battery voltage was lower than the specified value after the
Error control power supply was turned ON.
A.840 Encoder Data Error Data in the encoder is incorrect. Gr.1 N/A
The encoder was rotating at high speed when the power was turned
A.850 Encoder Overspeed Gr.1 N/A
ON.
A.860 Encoder Overheated The internal temperature of encoder is too high. Gr.1 N/A
A.8A0 External Encoder Error External encoder is faulty. Gr.1 Available
External Encoder Error of
A.8A1 Serial converter unit is faulty. Gr.1 Available
Module
A.8A2 External encoder is faulty. Gr.1 Available
Sensor
Troubleshooting

A.8A3 The position data of external encoder is faulty. Gr.1 Available
Position
External Encoder Over-
A.8A5 The overspeed from the external encoder occurred. Gr.1 Available
speed
External Encoder Over-
A.8A6 The overheat from the external encoder occurred. Gr.1 Available
heated
A.A SERVOPACK: Command
− − − 9
*1 Option Module Alarms
∗1. These alarms occur in SERVOPACKs with command option modules.
For details, refer to the manual for the command option module that is connected.
9-3
9 Troubleshooting
(cont’d)
Servomotor
Alarm Alarm
Number Reset
Method
A.b31 Current Detection Error 1 The current detection circuit for phase U is faulty. Gr.1 N/A
A.b32 Current Detection Error 2 The current detection circuit for phase V is faulty. Gr.1 N/A
A.b33 Current Detection Error 3 The detection circuit for the current is faulty. Gr.1 N/A
MECHATROLINK
A.b6A Communications ASIC error occurred in the MECHATROLINK communications. Gr.1 N/A
ASIC Error 1
MECHATROLINK
A.b6b Communications ASIC error occurred in the MECHATROLINK communications. Gr.2 N/A
ASIC Error 2
A.bF0 System Alarm 0 "Internal program error 0" of the SERVOPACK occurred. Gr.1 N/A
A.C10 Servo Overrun Detected The servomotor ran out of control. Gr.1 Available
Absolute Encoder Clear
The multiturn for the absolute encoder was not properly cleared or
A.C80 Error and Multiturn Limit Gr.1 N/A
set.
Setting Error
Encoder Communications Communications between the SERVOPACK and the encoder is not
A.C90 Gr.1 N/A
Error possible.
Encoder Communications
A.C91 An encoder position data calculation error occurred. Gr.1 N/A
Position Data Error
Encoder Communications An error occurs in the communications timer between the encoder
A.C92 Gr.1 N/A
Timer Error and the SERVOPACK.
A.CA0 Encoder Parameter Error Encoder parameters are faulty. Gr.1 N/A
A.Cb0 Encoder Echoback Error Contents of communications with encoder are incorrect. Gr.1 N/A
Multiturn Limit Different multiturn limits have been set in the encoder and the SER-
A.CC0 Gr.1 N/A
Disagreement VOPACK.
Feedback Option Module
A.CF1 Communications Error Reception from the Feedback Option Module is faulty. Gr.1 N/A
(Reception error)
Timer for communications with the Feedback Option Module is
A.CF2 Communications Error Gr.1 N/A
faulty.
(Timer stop)
Position error exceeded the value of excessive position error alarm
A.d00 Position Error Overflow Gr.1 Available
level (Pn520) when the servomotor power is ON.
This alarm occurs if the servomotor power is turned ON when the
Position Error Overflow
A.d01 position error is greater than the set value of Pn526 while the servo- Gr.1 Available
Alarm at Servo ON
motor power is OFF.
When the position errors remain in the error counter, Pn529 limits
Position Error Overflow the speed if the servomotor power is turned ON. If Pn529 limits the
A.d02 Alarm by Speed Limit at speed in such a state, this alarm occurs when position references are Gr.2 Available
Servo ON input and the number of position errors exceeds the value set for the
excessive position error alarm level (Pn520).
Motor-load Position Error During fully-closed loop control, the position error between motor
A.d10 Gr.2 Available
Overflow and load is excessive.
MECHATROLINK
Synchronization error during MECHATROLINK communications
A.E02 Internal Synchronization Gr.1 Available
with the SERVOPACK.
Error 1
MECHATROLINK
The setting of the MECHATROLINK transmission cycle is out of
A.E40 Transmission Cycle Gr.2 Available
the allowable range.
Setting Error
9-4
9.1 Alarm Displays
(cont’d)
Servomotor
Alarm Alarm
Number Reset
Method
MECHATROLINK
The setting of the MECHATROLINK communications data size is
A.E41 Communications Data Gr.2 Available
incorrect.
Size Setting Error
MECHATROLINK Station
A.E42 The setting of the MECHATROLINK station address is incorrect. Gr.2 N/A
Address Setting Error
MECHATROLINK A synchronization error occurs during MECHATROLINK commu-
A.E50 Gr.2 Available
Synchronization Error nications.
MECHATROLINK A synchronization failure occurs in MECHATROLINK communi-
Synchronization Failed cations.
MECHATROLINK
A communications error occurs continuously during MECHA-
A.E60 Communications Error Gr.2 Available
TROLINK communications.
(Reception error)
MECHATROLINK
Transmission Cycle Error The transmission cycle fluctuates during MECHATROLINK com-
(Synchronization interval munications.
error)
MECHATROLINK
Communications error occurs continuously during MECHA-
A.E62 Communications Error Gr.2 Available
TROLINK communications.
(FCS error)
MECHATROLINK
Synchronization frames are not received continuously during
A.E63 Synchronization Frame Gr.2 Available
MECHATROLINK communications.
Not Received Alarm
Safety Option Module
A.E71 Detection of the safety option module failed. Gr.1 N/A
Detection Failure
A.E72 Detection of the Feedback Option Module failed. Gr.1 N/A
Detection Failure
Unsupported Safety
A.E74 An unsupported safety option module was connected. Gr.1 N/A
Option Module
Unsupported Feedback
A.E75 An unsupported feedback option module was connected. Gr.1 N/A
Option Module
SERVOPACK: Safety
A.E81*2 Module Alarm – – –
DRV Alarm 2
A.EA2 A SERVOPACK DRV alarm 0 occurs. Gr.2 Available
(SERVOPACK WDC error)
Safety Function Signal
A.Eb1 The safety function signal input timing is faulty. Gr.1 N/A
Input Timing Error
A.Eb SERVOPACK: Safety
– – –
*2 Module Alarms
A.EC SERVOPACK: Safety
– – –
*2 Module Alarms
Command Execution A timeout error occurred when using a MECHATROLINK com-
A.Ed1 Gr.2 Available
Timeout mand.
Main Circuit Cable Open With the main circuit power supply ON, voltage was low for more
A.F10 Gr.2 Available
Phase than 1 second in phase R, S, or T.
Troubleshooting
Dynamic Brake Contactor

A.F30 An error occurred in the operation of the dynamic brake contactor. Gr.2 Available
Error
FL-1*3 − N/A
System Alarm Internal program error occurred in the SERVOPACK
FL-2*3 − N/A
∗2. These alarms occur in SERVOPACKs with safety modules.
For details, refer to Σ-V Series User’s Manual, Safety Module (No.: SIEP C720829 06). 9
∗3. These alarms are not stored in the alarm history and are displayed only in the panel display.
9-5
9 Troubleshooting
(cont’d)
Servomotor
Alarm Alarm
Number Reset
Method
Digital Operator
CPF00 − N/A
Transmission Error 1 Digital operator (JUSP-OP05A-1-E) fails to communicate with the
Digital Operator SERVOPACK (e.g., CPU error).
CPF01 − N/A
Transmission Error 2
A.− − Not an error Normal operation status − −
9-6
9.1 Alarm Displays
9.1.2 Troubleshooting of Alarms

If an error occurs in servo drives, an alarm display such as A. and CPF will appear on the panel dis-
play.
Refer to the following table to identify the cause of an alarm and the action to be taken.
Contact your Yaskawa representative if the problem cannot be solved by the described corrective action.
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
Set the power supply voltage within
The power supply voltage sud-
Measure the power supply voltage. the specified range, and set Fn005
denly dropped.
to initialize the parameter.
The power supply went OFF
Check the circumstances when the Set Fn005 to initialize the parameter
while changing a parameter set-
power supply went OFF. and then set the parameter again.
ting.
The SERVOPACK may be faulty.
The number of times that parame- Check to see if the parameters were Replace the SERVOPACK.
ters were written exceeded the frequently changed through the host
A.020: Reconsider the method of writing
limit. controller.
Parameter Checksum parameters.
Error 1 Malfunction caused by noise Turn the power supply ON and OFF
(The parameter data in from the AC power supply or several times. If the alarm still Take countermeasures against
the SERVOPACK is grounding line, static electricity occurs, there may be noise interfer- noise.
incorrect.) noise, etc. ence.
Gas, water drops, or cutting oil
entered the SERVOPACK and The SERVOPACK may be faulty.
Check the installation conditions.
caused failure of the internal Replace the SERVOPACK.
components.
Turn the power supply ON and OFF
A fault occurred in the SERVO- several times. If the alarm still The SERVOPACK may be faulty.
PACK. occurs, the SERVOPACK may be Replace the SERVOPACK.
faulty.
Write the parameter of another
A.021: The software version of SERVO- Check Fn012 to see if the set soft-
SERVOPACK of the same model
Parameter Format PACK that caused the alarm is ware version agrees with that of the
with the same software version.
Error 1 older than that of the written SERVOPACK. If not, an alarm may
Then turn the power OFF and then
(The parameter data in parameter. occur.
ON again.
the SERVOPACK is
incorrect.) A fault occurred in the SERVO- The SERVOPACK may be faulty.
−
PACK. Replace the SERVOPACK.
The power supply voltage sud- The SERVOPACK may be faulty.
Measure the power supply voltage.
A.022: denly dropped. Replace the SERVOPACK.
System Checksum The power supply went OFF Check the circumstances when the The SERVOPACK may be faulty.
Error 1 while setting an utility function. power supply went OFF. Replace the SERVOPACK.
(The parameter data in Turn the power supply ON and OFF
the SERVOPACK is A fault occurred in the SERVO- several times. If the alarm still The SERVOPACK may be faulty.
incorrect.) PACK. occurs, the SERVOPACK may be Replace the SERVOPACK.
faulty.
A.030: The SERVOPACK or converter
A fault occurred in the SERVO-
Main Circuit Detector − may be faulty. Replace the SERVO-
PACK or converter.
Error PACK or converter.
Troubleshooting
The SERVOPACK capacity, con-

Check the combination of SERVO-
verter capacity, and the servomo- Select the proper combination of
PACK, converter, and servomotor
tor capacity do not match each capacities.
capacities.
A.040: other.
Parameter Setting A fault occurred in the SERVO- The SERVOPACK may be faulty.
Error 1 −
(The parameter setting
was out of the setting The parameter setting is out of Check the setting ranges of the Set the parameter to a value within
range.) the setting range. parameters that have been changed. the setting range. 9
Check the electronic gear ratio. The Set the electronic gear ratio in the
The electronic gear ratio is out of ratio must satisfy:
range: 0.001< (Pn20E/Pn210)
the setting range.
0.001< (Pn20E/Pn210) < 4000. < 4000.
9-7
9 Troubleshooting
(cont’d)
Alarm Number:
(Alarm Description)
The encoder output pulse (Pn212)
A.041:
is out of the setting range and
Encoder Output Pulse Check the parameter Pn212. Set Pn212 to a correct value.
does not satisfy the setting condi-
Setting Error tions.
The speed of program JOG oper-
ation (Fn004) is lower than the
setting range after having Check if the detection conditions*1 Decrease the setting of the elec-
changed the electronic gear ratio are satisfied. tronic gear ratio (Pn20E/Pn210).
(Pn20E/Pn210) or the servomo-
tor.
The speed of program JOG oper-
A.042: ation (Fn004) is lower than the
Parameter setting range after having Check if the detection conditions*1 Increase the setting of the program
Combination Error changed the setting of the pro- are satisfied. JOG movement speed (Pn533).
gram JOG movement speed
(Pn533).
The moving speed of advanced
autotuning is lower than the set-
ting range after having changed Check if the detection conditions*1 Decrease the setting of the elec-
are satisfied. tronic gear ratio (Pn20E/Pn210).
the electronic gear ratio (Pn20E/
Pn210) or the servomotor.
A.044:
Semi-closed/Fully- The setting of the fully-closed The setting of fully-closed module
closed Loop Control module does not match with that Check the settings of Pn002.3. must be compatible with the setting
Parameter Setting of Pn002.3. of Pn002.3.
Error
For a 4-byte parameter bank, no Change the number of bytes for
registration in two consecutive – bank members to an appropriate
A.04A: bytes for two bank members. value.
Parameter Setting
Error 2 The total amount of bank data
Reduce the total amount of bank
exceeds 64. (Pn900 × Pn901 > –
data to 64 or less.
64)
Check the capacities to see if they
The SERVOPACK and servomo- satisfy the following condition: Select the proper combination of
tor capacities do not match each 1 SERVOPACK and servomotor
A.050: Servomotor capacity
other. ≤ ≤4 capacities.
Combination Error 4 SERVOPACK capacity
(The SERVOPACK and Replace the servomotor and see if
servomotor capacities do An encoder fault occurred. the alarm occurs again.
Replace the servomotor (encoder).
not correspond.)
The SERVOPACK or converter
− may be faulty. Replace the SERVO-
PACK or converter.
PACK or converter.
An unsupported serial converter
A.051:
unit, encoder, or external encoder Check the product specifications, Select the correct combination of
Unsupported Device is connected to the SERVO- and select the correct model. units.
Alarm PACK.
After executing the utility func-
A.0b0: tion to turn ON the power to the Turn the SERVOPACK power sup-
Cancelled Servo ON motor, the servo ON command − ply OFF and then ON again or exe-
Command Alarm (SV_ON) was sent from the host cute a software reset.
controller.
∗1. Detection conditions
If one of the following conditions detected, an alarm occurs.
-1 Encoder resolution Pn20E
• Pn533 [min ] × ≤
6 × 105 Pn210
-1 Encoder resolution Pn20E
• Max Motor Speed [min ] × 12
≥
About 3.66 × 10 Pn210
9-8
9.1 Alarm Displays
(cont’d)
Alarm Number:
(Alarm Description)
Incorrect wiring or contact fault Check the wiring. Refer to 3.1
Correct the wiring.
of main circuit cables. Main Circuit Wiring.
Check for short-circuits across the
servomotor terminal phases U, V,
Short-circuit or ground fault of and W, or between the grounding The cable may be short-circuited.
main circuit cables. and servomotor terminal phases U, Replace the cable.
V, or W. Refer to 3.1 Main Circuit
Wiring.
servomotor terminal phases U, V,
Short-circuit or ground fault and W, or between the grounding The servomotor may be faulty.
inside the servomotor. and servomotor terminal phases U, Replace the servomotor.
V, or W. Refer to 3.1 Main Circuit
Wiring.
servomotor connection terminals U,
Short-circuit or ground fault V, and W on the SERVOPACK, or The SERVOPACK may be faulty.
inside the SERVOPACK. between the grounding and terminal Replace the SERVOPACK.
U, V, or W. Refer to 3.1 Main Cir-
cuit Wiring.
Check the power consumed by DB
The dynamic brake (DB: Emer-
resistance (Un00B) to see how Change the SERVOPACK model,
A.100: gency stop executed from the
many times the DB has been used. operating conditions, or the mecha-
Overcurrent or Heat SERVOPACK) was frequently
Or, check the alarm history display nism so that the DB does not need
Sink Overheated activated, or the DB overload
Fn000 to see if the DB overload to be used so frequently.
(An overcurrent flowed alarm occurred.
alarm A.730 or A.731 was reported.
through the IGBT or
heat sink of SERVO- A heavy load was applied while Check to see if the operating condi- Reduce the load applied to the ser-
PACK overheated.) the servomotor was stopped or tions are outside servo drive specifi- vomotor or increase the operating
running at a low speed. cations. speed.
Take countermeasures for noise,
Improve the wiring or installation
such as correct wiring of the FG.
Malfunction caused by noise environment, such as by reducing
Use an FG wire size equivalent to
interference. noise, and check to see if the alarm
the main circuit wire size of the
recurs.
SERVOPACK and converter.
The setting of Pn515.2 (Dynamic
Brake Answer Signal 1 (/
Check the setting of Pn515.2 and Set Pn515.2 to agree with the con-
DBANS1) Input Signal Mapping)
the contacts of the dynamic brake tacts of the dynamic brake contac-
does not agree with the contacts
contactor. tor.
of the dynamic brake contactor
that is connected.
Current flowed to the dynamic
brake resistor when power to the The dynamic brake contactor may
Check the contactor to see if it is
servomotor was ON due to weld- have failed. Replace the dynamic
welded.
ing or other failure of the brake contactor.
dynamic brake contacts.
Turn the power supply OFF and
then ON again. If the alarm still
− occurs, the SERVOPACK or con-
PACK.
verter may be faulty. Replace the
Troubleshooting
SERVOPACK or converter.
9-9
9 Troubleshooting
(cont’d)
Alarm Number:
(Alarm Description)
An external regenerative resistor Check the external regenerative Connect the external regenerative
unit is not connected. resistor unit connection. resistor unit.
The regenerative resistor unit is
Check the regenerative resistor unit Correctly connect the regenerative
incorrectly wired, or is removed
connection. resistor unit.
or disconnected.
The connection of the I/O signals
A.300: (CN901) between the SERVO- Check the connection of CN901. Correctly connect CN901.
Regeneration Error PACK and converter is faulty.
While the main circuit power sup-
ply is OFF, turn the control power
supply OFF and then ON again. If
− the alarm still occurs, the SERVO-
PACK or converter.
PACK or converter may be faulty.
Replace the SERVOPACK or con-
verter.
The power supply voltage Set the power supply voltage within
exceeds the specified limit. the specified range.
Insufficient regenerative resis- Change the regenerative resistance,
tance, regenerative resistor Check the operating condition or
regenerative resistor capacity.
the capacity using the capacity
capacity. Reconsider the operating conditions
selection Software SigmaJunma-
Or, regenerative power has been using the capacity selection soft-
Size+, etc.
continuously flowing back. ware SigmaJunmaSize+, etc.
Regenerative power continu-
Reconsider the system including
ously flowed back because nega- Check the load applied to the servo-
servo, machine, and operating con-
tive load was continuously motor during operation.
ditions.
applied.
A.320:
Regenerative The setting of parameter Pn600 is Check the regenerative resistor unit
Overload smaller than the regenerative connection and the value of the Set the Pn600 to a correct value.
resistor's capacity. Pn600.
Change the regenerative resistance
The regenerative resistance is too to a correct value or use an external
Check the regenerative resistance.
high. regenerative resistor of appropriate
capacity.
(CN901) between the SERVO- Check the connection of CN901. Correctly connect CN901.
PACK and converter is faulty.
PACK or converter.
PACK or converter.
The regenerative resistor unit was
Measure the resistance of the regen-
disconnected when the power Replace the regenerative resistor
erative resistor unit using a measur-
supply voltage to the SERVO- unit.
ing instrument.
PACK and converter was high.
Check the power supply to see if it
DC power was supplied. Use an AC power supply.
is a AC power supply.
A.330:
Main Circuit Power An regenerative resistor unit is Check the regenerative resistor unit Connect the regenerative resistor
Supply Wiring Error not connected. connection. unit.
(Detected when the The 1 and 2 terminals of the Check the 1 and 2 terminals on Correctly connect the 1 and 2
power to the main circuit converter are open. the converter. terminals on the converter.
is turned ON.)
PACK or converter.
PACK or converter.
9-10
9.1 Alarm Displays
(cont’d)
Alarm Number:
(Alarm Description)
The AC power supply voltage
exeeded:
• 290 VAC for 200-VAC SER- Set AC power supply voltage within
VOPACKs. the specified range.
• 580 VAC for 400-VAC SER-
VOPACKs.
Improve the power supply condi-
tions by installing a surge absorber,
The power supply is unstable, or etc. Then, turn the power supply
was influenced by a lightning Measure the power supply voltage. OFF and ON again. If the alarm still
surge. occurs, the SERVOPACK or con-
Voltage for AC power supply was Check the power supply voltage and
Set AC power supply voltage within
too high during acceleration or the speed and torque during opera-
the specified range.
deceleration. tion.
A.400: The regenerative resistance is too Select a regenerative resistance

Check the operating conditions and
high for the actual operating con- value appropriate for the operating
Overvoltage the regenerative resistance.
ditions. conditions and load.
(Detected in the SER-
VOPACK main circuit The moment of inertia ratio Confirm that the moment of inertia Increase the deceleration time, or
power supply section.) exceeded the allowable value. ratio is within the allowable range. reduce the load.
Check for a Regeneration Error
alarm (A.300) and check the
CHARGE indicator on the con- The converter may be faulty.
The fuse in the converter’s regen-
verter to see if it remains lit for
eration circuit is blown out. Replace the converter.
more than a few seconds immedi-
ately after the main circuit power
supply is turned OFF.
Turn the control power OFF and
then ON again while the main cir-
cuit power supply is OFF. If the
− alarm still occurs, the SERVO-
PACK or converter.
PACK or converter may be faulty.
Replace the SERVOPACK or con-
verter.
The AC power supply voltage
dropped to:
• 120 V or less for 200-VAC Set the power supply voltage within
SERVOPACKs. the specified range.
• 240 V or less for 400-VAC
SERVOPACKs.
The power supply voltage
Measure the power supply voltage. Increase the power supply capacity.
A.410: dropped during operation.
Undervoltage When the instantaneous power cut
Occurrence of instantaneous
(Detected in the SER- Measure the power supply voltage. hold time (Pn509) is set, decrease
power interruption.
Troubleshooting
VOPACK main circuit the setting.

power supply section.) Replace the converter, connect a
The converter fuse is blown out. − reactor, and run the SERVOPACK
and converter.
The 1 and 2 terminals of the Check the 1 and 2 terminals on Correctly connect the 1 and 2
converter are open. the converter. terminals on the converter.
PACK or converter.
− may be faulty. Replace the SERVO- 9
PACK or converter.
9-11
9 Troubleshooting
(cont’d)
Alarm Number:
(Alarm Description)
Remove foreign matter or debris
The Converter fan stopped (The from the converter. If the alarm still
Check for foreign matter or debris
FAN STOP indicator on the con- occurs, the SERVOPACK or con-
inside the converter.
verter is lit.). verter may be faulty. Replace the
An error was detected in the mag-
If the power supply voltage is cor-
netic contactor inside the con-
Check to see if you can hear the rect but no sound is heard when the
verter. (The CHRG-ERR
magnetic contactor operate when power supply is turned ON, the con-
indicator on the converter lights
the power supply is turned ON. verter may be faulty. Replace the
when the power supply is turned
converter.
ON.)
Overheating was detected in the
Check the ambient temperature, Review the ambient temperature,
heat sink in the converter (The
check for an overload, and check load conditions, and installation
OVERHEAT indicator on the
the installation method. conditions.
converter is lit.).
A.42A: If the output voltage is not consis-
Converter error Measure the power supply voltage tent with the power supply voltage,
The DC output voltage from the and the output voltage. the converter may be faulty.
converter is not correct. (The Replace the converter.
CHRG-ERR indicator on the con-
verter is lit.) Measure the power supply voltage If the voltage waveform is not sta-
waveform when the power supply is ble, take suitable measures to make
turned ON and OFF. it stable.
The timing of inputting the con- Check the timing of inputting the Input the control power supply
trol power supply to the SERVO- control power supply to the SER- simultaneously to the SERVO-
PACK and converter is incorrect. VOPACK and converter. PACK and converter.
The wiring between the SERVO-
Correctly connect the SERVO-
PACK and converter is incorrect Check the wiring.
PACK and converter to each other.
or the connection is faulty.
A fault occurred in the converter. − Replace the converter.
Check to see if this alarm occurs
The fuse in the SERVOPACK is The SERVOPACK may be faulty.
A.450: when the main circuit power supply
blown out. Replace the SERVOPACK.
Main-Circuit is turned ON.
Capacitor Overvoltage A fault occurred in the SERVO- Replace the SERVOPACK or con-
−
PACK or converter. verter.
The order of phases U, V, and W
Confirm that the servomotor is cor-
in the servomotor wiring is incor- Check the motor wiring.
rectly wired.
rect.
A reference value exceeding the
Reduce the reference value or adjust
A.510: overspeed detection level was Check the input value.
the gain.
Overspeed input.
(The servomotor speed Reduce the speed reference input
exceeds the maximum.) The motor speed exceeded the
Check the motor speed waveform. gain, adjust the servo gain, or recon-
maximum.
sider the operating conditions.
PACK or converter.
PACK or converter.
The encoder output pulse fre- Check the encoder output pulse set- Decrease the setting of the encoder
quency exceeded the limit. ting. output pulse (Pn212).
A.511:
Overspeed of Encoder The encoder output pulse output
Output Pulse Rate frequency exceeded the limit Check the encoder output pulse out-
Decrease the motor speed.
because the motor speed was too put setting and motor speed.
high.
9-12
9.1 Alarm Displays
(cont’d)
Alarm Number:
(Alarm Description)
Check for abnormal noise from the
Abnormal vibration was detected servomotor, and check the speed Reduce the motor speed or reduce
at the motor speed. and torque waveforms during oper- the speed loop gain (Pn100).
A.520: ation.
Vibration Alarm The moment of inertia ratio
(Pn103) value is greater than the Set the moment of inertia ratio
Check the moment of inertia ratio.
actual value or is greatly (Pn103) to an appropriate value.
changed.
Reduce the load so that the moment
A.521: of inertia ratio falls within the
The servomotor vibrated consid-
Autotuning Alarm allowable value, or raise the load
erably while performing tuning- Check the motor speed waveform.
(Vibration was detected level using the tuning-less levels
less function.
while executing the one- setting (Fn200) or reduce the rigid-
parameter tuning, Easy- ity level.
FFT, or tuning-less func- The servomotor vibrated consid- Check the operation procedure of
tion.) erably during one-parameter tun- Check the motor speed waveform. corresponding function and take a
ing or EasyFFT. corrective action.
Incorrect wiring or contact fault Confirm that the servomotor and
Check the wiring.
of servomotor and encoder. encoder are correctly wired.
Check the servomotor overload Reconsider the load conditions and
Operation beyond the overload
characteristics and executed run operating conditions. Or, increase
A.710: protection characteristics.
command. the motor capacity.
A.720:
Overload Excessive load was applied dur-
A.710: High Load ing operation because the servo- Check the executed operation refer-
Remove the mechanical problems.
A.720: Low Load motor was not driven due to ence and motor speed.
mechanical problems.
PACK or converter.
PACK or converter.
Take measures to ensure the servo-
The servomotor rotates because
Check the operation status. motor will not rotate because of
of external force.
external force.
Reconsider the following:
• Reduce the motor reference
The rotating energy at a DB stop Check the power consumed by DB speed.
exceeds the DB resistance capac- resistance (Un00B) to see how • Reduce the moment of inertia
ity. many times the DB has been used. ratio.
A.730: • Reduce the number of times of
A.731: the DB stop operation.
Dynamic Brake To not use the dynamic brake, set
The setting of Pn001.0 (Servo-
Overload Pn001.0 to 2. (The dynamic brake
motor Power OFF or Alarm Gr.1 Check the setting of Pn001.0.
(An excessive power will not be used and the motor will
Stop Mode) is not correct.
consumption of dynamic coast to a stop.)
brake was detected.) The setting of Pn601 does not
agree with the dynamic brake Check the setting of Pn601. Set Pn601 correctly.
resistance that is connected.
Check the wiring between the
Correctly wire and securely connect
Troubleshooting
The connection of the dynamic dynamic brake unit and DU, DV,
the dynamic brake unit with DU,
brake unit is faulty. DW, and CN115 is correct and
DV, DW, and CN115.
securely connected.
A fault occurred in the SERVO- The SERVOPACK may be faulty.
−
9-13
9 Troubleshooting
(cont’d)
Alarm Number:
(Alarm Description)
The inrush current limit resistor
A.740: operation frequency at the main
Reduce the frequency of turning the
Overload of Surge circuit power supply ON/OFF −
main circuit power supply ON/OFF.
Current Limit Resistor operation exceeds the allowable
(The main circuit power range.
is turned ON/OFF too The SERVOPACK or converter
frequently.) A fault occurred in the SERVO-
PACK or converter.
PACK or converter.
Decrease the surrounding air tem-
The surrounding air temperature Check the surrounding air tempera-
perature by improving the installa-
is too high. ture using a thermostat.
tion conditions of the SERVOPACK.
The overload alarm has been Check the alarm history display
Change the method for resetting the
reset by turning OFF the power (Fn000) to see if the overload alarm
alarm.
too many times. was reported.
A.7A0:
Check the accumulated load ratio
Heat Sink Overheated
Excessive load or operation (Un009) to see the load during oper-
(Detected when the Reconsider the load and operating
beyond the regenerative energy ation, and the regenerative load
SERVOPACK’s heat conditions.
processing capacity. ratio (Un00A) to see the regenera-
sink temperature tive energy processing capacity.
exceeds 100°C.)
Incorrect installation orientation
of the SERVOPACK or/and Check the installation conditions of Install the SERVOPACK correctly
insufficient space around the the SERVOPACK. as specified.
SERVOPACK.
−
Remove foreign matter or debris
A.7AB:
from the SERVOPACK. If the
Built-in Fan in The fan inside the SERVOPACK Check for foreign matter or debris
alarm still occurs, the SERVO-
SERVOPACK stopped. inside the SERVOPACK.
PACK may be faulty. Replace the
Stopped SERVOPACK.
Alarm occurred when the power
Check to see if the power was
to the absolute encoder was ini- Set up the encoder (Fn008).
turned ON initially.
tially turned ON.
The encoder cable disconnected, Check to see if the power was Confirm the connection and set up
and connected again. turned ON initially. the encoder (Fn008).
A.810:
Encoder Backup Error The power from both the control
Replace the battery or take similar
power supply (+5 V) from the
(Only when an absolute Check the encoder connector bat- measures to supply power to the
SERVOPACK and the battery
encoder is connected.) tery or the connector contact status. encoder, and set up the encoder
power supply is not being sup-
(Detected on the encoder (Fn008).
plied.
side.)
If the alarm cannot be reset by set-
An absolute encoder fault
− ting up the encoder again, replace
occurred.
the servomotor.
−
• Absolute encoder
Set up the encoder again using
Fn008. If the alarm still occurs,
the servomotor may be faulty.
A.820: Replace the servomotor.
Encoder Checksum An encoder fault occurred. − • Absolute encoder that shows val-
Error ues for a single rotation or incre-
(Detected on the encoder mental encoder
side.) The servomotor may be faulty.
Replace the servomotor.

−
9-14
9.1 Alarm Displays
(cont’d)
Alarm Number:
(Alarm Description)
A.830: The battery connection is incor-

Check the battery connection. Reconnect the battery.
rect.
Absolute Encoder
Battery Error The battery voltage is lower than
Measure the battery voltage. Replace the battery.
(The absolute encoder the specified value 2.7 V.
battery voltage is lower A fault occurred in the SERVO- The SERVOPACK may be faulty.
than the specified value.) −
An encoder malfunctioned. −
occurs, the servomotor may be
A.840: faulty. Replace the servomotor.
Encoder Data Error
(Detected on the encoder Correct the wiring around the
side.) encoder by separating the encoder
Malfunction of encoder because
− cable from the servomotor main cir-
of noise interference, etc.
cuit cable or by checking the
grounding and other wiring.
The servomotor speed is higher Check the motor rotating speed Reduce the servomotor speed to a
than 200 min-1 when the control (Un000) to confirm the servomotor value less than 200 min-1, and turn
A.850: power supply was turned ON. speed when the power is turned ON. ON the control power supply.
Encoder Overspeed Turn the power supply OFF and
(Detected when the con- then ON again. If the alarm still
trol power supply was An encoder fault occurred. −
turned ON.) faulty. Replace the servomotor.
(Detected on the encoder
side.)
A fault occurred in the SERVO- then ON again. If the alarm still
−
PACK. occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.
The ambient operating tempera-
Measure the ambient operating tem- The ambient operating temperature
ture around the servomotor is too
perature around the servomotor. must be 40°C or less.
high.
The motor load is greater than the Check the accumulated load ratio The motor load must be within the
A.860: rated load. (Un009) to see the load. specified range.
Encoder Overheated
(Only when an absolute Turn the power supply OFF and
encoder is connected.) then ON again. If the alarm still
An encoder fault occurred. −
(Detected on the encoder occurs, the servomotor may be
side.) faulty. Replace the servomotor.
−
Before setting the zero point posi-
Setting the zero point position of The servomotor must be stopped
tion, use the fully-closed feedback
A.8A0: external absolute encoder failed while setting the zero point posi-
pulse counter (Un00E) to confirm
External Encoder because the servomotor rotated. tion.
that the servomotor is not rotating.
Error
An external encoder fault
− Replace the external encoder.
occurred.
An external encoder fault
A.8A1: − Replace the external encoder.
occurred.
External Encoder
Troubleshooting
Error of Module A serial converter unit fault

− Replace the serial converter unit.
occurred.
A.8A2:
External Encoder An external encoder fault
− Replace the external encoder.
Error of Sensor occurred.
(Incremental)
A.8A3: The external absolute encoder may
External Encoder An external absolute encoder
−
be faulty. Refer to the encoder man- 9
Error of Position fault occurred. ufacturer’s instruction manual for
(Absolute) corrective actions.
9-15
9 Troubleshooting
(cont’d)
Alarm Number:
(Alarm Description)
A.8A5:
The overspeed from the external Check the maximum speed of the Keep the external encoder below its
External Encoder encoder occurred. external encoder. maximum speed.
Overspeed
A.8A6:
The overheat from the external
External Encoder − Replace the external encoder.
encoder occurred.
Overheated
A.b31:
The current detection circuit for then ON again. If the alarm still
Current Detection −
phase U is faulty. occurs, the SERVOPACK may be
Error 1 faulty. Replace the SERVOPACK.
A.b32:
The current detection circuit for then ON again. If the alarm still
Current Detection −
phase V is faulty. occurs, the SERVOPACK may be
The detection circuit for the cur- then ON again. If the alarm still
A.b33: −
rent is faulty. occurs, the SERVOPACK may be
Current Detection faulty. Replace the SERVOPACK.
Error 3
The servomotor main circuit Check for disconnection of the ser-
Correct the servomotor wiring.
cable is disconnected. vomotor main circuit cable.
A.b6A: Turn the power supply OFF and
SERVOPACK MECHA-
MECHATROLINK then ON again. If the alarm still
TROLINK communication sec- −
Communications ASIC tion fault. occurs, the SERVOPACK may be
Take measures against noise. Check
the MECHATROLINK communi-
MECHATROLINK data recep-
cations cable and FG wiring and
tion error occurred due to noise −
A.b6b: take measures such as adding ferrite
interference.
MECHATROLINK core on the MECHATROLINK
Communications ASIC communications cable.
Error 2 Turn the power supply OFF and
SERVOPACK MECHA-
TROLINK communication sec- −
occurs, the SERVOPACK may be
tion fault.
A.bF0: A fault occurred in the SERVO- then ON again. If the alarm still
−
System Alarm 0 PACK. occurs, the SERVOPACK may be
−
−
A.bF3: A fault occurred in the SERVO-
−
−
9-16
9.1 Alarm Displays
(cont’d)
Alarm Number:
(Alarm Description)
The order of phases U, V, and W
Confirm that the servomotor is cor-
in the servomotor wiring is incor- Check the motor wiring.
rectly wired.
rect.
A.C10: If the alarm still occurs after turning

the power OFF and then ON again,
Servo Overrun
An encoder fault occurred. − even though the servomotor is cor-
Detected
rectly wired, the servomotor may be
(Detected when the faulty. Replace the servomotor.
servomotor power is
ON.) Turn the power supply OFF and
− occurs, the SERVOPACK or con-
PACK or converter.
A.C80: An encoder fault occurred. −
Absolute Encoder faulty. Replace the servomotor.
Clear Error and
Multi-turn Limit Set- Turn the power supply OFF and
ting Error A fault occurred in the SERVO- then ON again. If the alarm still
−
Contact fault of connector or
Check the connector contact status Re-insert the connector and confirm
incorrect wiring for encoder
for encoder cable. that the encoder is correctly wired.
cable.
Cable disconnection for encoder
Use the cable with the specified rat-
cable or short-circuit. Check the encoder cable.
ing.
Or, incorrect cable impedance.
Corrosion caused by improper
temperature, humidity, or gas, Improve the operating environmen-
short-circuit caused by intrusion tal conditions, and replace the cable.
Check the operating environment.
A.C90: of water drops or cutting oil, or If the alarm still occurs, replace the
connector contact fault caused by SERVOPACK.
Encoder
vibration.
Communications Error
Correct the wiring around the
encoder by separating the encoder
Malfunction caused by noise
− cable from the servomotor main cir-
interference.
cuit cable or by checking the
grounding and other wiring.
Connect the servomotor to another
SERVOPACK, and turn ON the
− control power. If no alarm occurs,
PACK.
the SERVOPACK may be faulty.
Replace the SERVOPACK.
Noise interference occurred on
the I/O signal line because the Check the encoder cable and con- Confirm that there is no problem
encoder cable is bent and the nector. with the cable layout.
sheath is damaged.
A.C91:
The encoder cable is bundled
Troubleshooting
Encoder Check the cable layout for encoder Confirm that there is no surge volt-
with a high-current line or near a
Communications cable. age on the cable.
high-current line.
Position Data Error
The FG potential varies because
of influence from machines on Check the cable layout for encoder Properly ground the machines to
the servomotor side, such as the cable. separate from the encoder FG.
welder.
9-17
9 Troubleshooting
(cont’d)
Alarm Number:
(Alarm Description)
Noise interference occurred on
Take countermeasures against noise
the I/O signal line from the −
for the encoder wiring.
encoder.
Excessive vibration and shocks Reduce the machine vibration or
were applied to the encoder. correctly install the servomotor.
A.C92:
Encoder Turn the power supply OFF and
Communications then ON again. If the alarm still
Timer Error occurs, the servomotor may be
faulty. Replace the servomotor.
−
A.CA0: faulty. Replace the servomotor.
Encoder Parameter
Error Turn the power supply OFF and
−
The wiring and contact for
Check the wiring. Correct the wiring.
encoder cable are incorrect.
Use tinned annealed copper
Noise interference occurred due shielded twisted-pair or screened
to incorrect cable specifications − unshielded twisted-pair cable with a
of encoder cable.
core of at least 0.12 mm2.
Noise interference occurred
The wiring distance must be 50 m
because the wiring distance for −
max.
the encoder cable is too long.
The FG potential varies because
A.Cb0: of influence from machines on Check the cable layout for encoder Properly ground the machines to
Encoder Echoback the servomotor side, such as the cable. separate from encoder FG.
Error welder.
Excessive vibration and shocks Reduce the machine vibration or
were applied to the encoder. correctly install the servomotor.
faulty. Replace the servomotor.
−
The multiturn limit value of the
encoder is different from that of
Check the value of the Pn205 of the Execute Fn013 at the occurrence of
the SERVOPACK. Or, the multi-
A.CC0: SERVOPACK. alarm.
turn limit value of the SERVO-
Multiturn Limit PACK has been changed.
Disagreement
−
9-18
9.1 Alarm Displays
(cont’d)
Alarm Number:
(Alarm Description)
Wiring of cable between serial
converter unit and SERVOPACK Check the external encoder wiring. Correct the cable wiring.
is incorrect or contact is faulty.
The specified cable is not used
A.CF1: Confirm the external encoder wir-
between serial converter unit and Use the specified cable.
Feedback Option ing specifications.
SERVOPACK.
Module
Communications Error Cable between serial converter
(Reception error) unit and SERVOPACK is too Measure the length of this cable. Use 20-m cable max.
long.
Sheath of cable between serial
converter unit and SERVOPACK Check the cable for damage. Replace the cable.
is broken.
Correct the wiring around serial
Noise interferes with the cable
converter unit, e.g., separating I/O
A.CF2: between serial converter unit and −
signal line from main circuit cable
SERVOPACK.
Feedback Option or grounding.
Module
A serial converter unit fault
Communications Error − Replace the serial converter unit.
occurred.
(Timer stop)
− Replace the SERVOPACK.
PACK.
Confirm that there is no contact
The servomotor U, V, and W wir- Check the servomotor main circuit
fault in the motor wiring or encoder
ings is faulty. cable connection.
wiring.
Reduce the position reference speed
The position reference speed is Reduce the reference speed, and or acceleration of position refer-
too high. operate the SERVOPACK. ence. Or, reconsider the electronic
gear ratio.
A.d00: Reduce the reference acceleration

of the position reference using a
Position Error
MECHATROLINK command, or
Overflow
The acceleration of the position Reduce the reference acceleration, smooth the acceleration of the posi-
(Position error exceeded reference is too high. and operate the SERVOPACK. tion reference by selecting the posi-
the value set in the tion reference filter (ACCFIL)
excessive position error using a MECHATROLINK com-
alarm level (Pn520).) mand.
Setting of the excessive position Check the alarm level (Pn520) to
error alarm level (Pn520) is low see if it is set to an appropriate Set the Pn520 to proper value.
against the operating condition. value.
−
This alarm occurs if the servomo-
A.d01:
tor power is turned ON when the Check the position error amount
Position Error Correct the excessive position error
position error is greater than the (Un008) while the servomotor
Overflow Alarm at alarm level at servo ON (Pn526).
set value of Pn526 while the ser- power is OFF.
Servo ON
vomotor power is OFF.
Troubleshooting
When the position errors remain

in the error counter, Pn529 limits
the speed if the servomotor power
A.d02:
is ON. If Pn529 limits the speed Correct the excessive position error
Position Error in such a state, this alarm occurs alarm level (Pn520).
Overflow Alarm by −
when position references are Or, adjust the speed limit level at
Speed Limit at Servo
input and the number of position servo ON (Pn529).
ON
errors exceeds the value set for
the excessive position error alarm 9
level (Pn520).
9-19
9 Troubleshooting
(cont’d)
Alarm Number:
(Alarm Description)
Install the external encoder in the
Motor rotation direction and Check the servomotor rotation opposite direction, or change the
external encoder installation direction and the external encoder setting of the external encoder
A.d10: direction are opposite. installation direction. usage method (Pn002.3) to reverse
Motor-load Position the direction.
Error Overflow
Mounting of the load (e.g., stage)
Check the external encoder
and external encoder joint instal- Check the mechanical joints.
mechanical connection.
lation are incorrect.
MECHATROLINK transmission Remove the cause of transmission
A.E02: −
cycle fluctuated. cycle fluctuation at host controller.
MECHATROLINK
Internal Turn the power supply OFF and
Synchronization A fault occurred in the SERVO- then ON again. If the alarm still
−
Error 1 PACK. occurs, the SERVOPACK may be
A.E40:
Setting of MECHATROLINK
MECHATROLINK Check the MECHATROLINK Set the transmission cycle to the
transmission cycle is out of speci-
Transmission Cycle transmission cycle setting. proper value.
fications range.
Setting Error
A.E41:
The number of transmission bytes Check the MECHATROLINK com- Reset the setting of the DIP switch
MECHATROLINK set by the DIP switch S3 is incor- munications data size of the host S3 to change the number of trans-
Communications Data rect. controller. mission bytes to the proper value.
Size Setting Error
Check the setting for the station
Check the rotary switches, S1 and address of the host controller, and
The station address is out of the S2, to see if the station address is reset the setting of the rotary
allowable setting range. within the allowable range from 03 switches, S1 and S2 to change the
A.E42: to EF. address to the proper value between
MECHATROLINK 03 and EF.
Station Address Check the setting for the station
Setting Error address of the host controller, and
Two or more stations on the com- Check that two or more stations on
reset the setting of the rotary
munications network have the the communications network have
switches, S1 and S2 to change the
same address. the same address.
address to the proper value between
03 and EF.
WDT data of host controller was Check the WDT data updating for Update the WDT data at the host
not updated correctly. the host controller. controller correctly.
A.E50:
MECHATROLINK Turn the power supply OFF and
Synchronization Error A fault occurred in the SERVO- then ON again. If the alarm still
−
WDT data of host controller was
not updated correctly at the syn-
Check the WDT data updating for Update the WDT data at the host
chronization communications
A.E51: the host controller. controller correctly.
start, and synchronization com-
MECHATROLINK munications could not start.
Synchronization
Failed Turn the power supply OFF and
−
9-20
9.1 Alarm Displays
(cont’d)
Alarm Number:
(Alarm Description)
Correct the MECHATROLINK wir-
MECHATROLINK wiring is Check the MECHATROLINK wiring.
incorrect. ings.
Connect the terminator correctly.
A.E60: the MECHATROLINK communi-
MECHATROLINK tion error occurred due to noise −
take measures such as adding ferrite
Communications error interference.
core on the MECHATROLINK
(Reception error) communications cable.
−
A.E61: MECHATROLINK transmission Check the MECHATROLINK Remove the cause of transmission
MECHATROLINK cycle fluctuated. transmission cycle setting. cycle fluctuation at host controller.
Transmission Cycle Turn the power supply OFF and
Error A fault occurred in the SERVO- then ON again. If the alarm still
(Synchronization −
interval error) faulty. Replace the SERVOPACK.
MECHATROLINK wiring is Check the MECHATROLINK wir- Correct the MECHATROLINK wir-
incorrect. ings. ing.
the MECHATROLINK communi-
A.E62: MECHATROLINK data recep-
tion error occurred due to noise −
MECHATROLINK take measures such as adding ferrite
interference.
Communications error core on the MECHATROLINK
(FCS error) communications cable.
−
MECHATROLINK wiring is Check the MECHATROLINK wir- Correct the MECHATROLINK wir-
incorrect. ings. ing.
A.E63: the MECHATROLINK communi-
MECHATROLINK tion error occurred due to noise −
take measures such as adding ferrite
Synchronization interference.
core on the MECHATROLINK
Frame Not Received communications cable.
Alarm
−
The connection between the Check the connection between the
Correctly connect the safety option
SERVOPACK and the safety SERVOPACK and the safety option
module.
option module is faulty. module.
Execute Fn014 (Resetting configu-
Troubleshooting
ration error of option module) with

A.E71: The safety option module was
– using the digital operator or Sig-
Safety Option Module disconnected.
maWin+ and turn the power supply
Detection Failure OFF and then ON again.
A safety option module fault
– Replace the safety option module.
occurred.
– Replace the SERVOPACK.
PACK.
9
9-21
9 Troubleshooting
(cont’d)
Alarm Number:
(Alarm Description)
The connection between the Check the connection between the
Correctly connect the Feedback
SERVOPACK and the Feedback SERVOPACK and the Feedback
Option Module.
Option Module is Faulty. Option Module.
Execute resetting configuration
A.E72: The Feedback Option Module error in option modules (Fn014) and
Feedback Option −
was disconnected. turn the power supply OFF and then
Module Detection ON again.
Failure
A Feedback Option Module fault Replace the Feedback Option Mod-
−
occurred. ule.
PACK.
A safety option module fault
A.E74: − Replace the safety option module.
occurred.
Unsupported Safety
Option Module A unsupported safety option Refer to the catalog of the con- Connect a compatible safety option
module was connected. nected safety option module. module.
A feedback option module fault Replace the feedback option mod-
A.E75: −
occurred. ule.
Unsupported
Feedback Option Refer to the catalog of the con-
A unsupported feedback option Connect a compatible feedback
Module nected feedback option module or
module was connected. option module.
the manual of the SERVOPACK.
MECHATROLINK transmission Check the MECHATROLINK Remove the cause of transmission
A.EA2: cycle fluctuated. transmission cycle setting. cycle fluctuation at host controller.
DRV Alarm 2 Turn the power supply OFF and
(SERVOPACK WDT A fault occurred in the SERVO- then ON again. If the alarm still
error) −
The output signal circuits or devices
for /HWBB1 and
A.Eb1: The lag between activations of /HWBB2 or the SERVOPACK
Measure the time lag between the /
the input signals /HWBB1 and input signal circuits may be faulty.
Safety Function Signal HWBB1 and
/HWBB2 for the HWBB function Alternatively, the input signal
Input Timing Error /HWBB2 signals.
is ten second or more. cables may be disconnected. Check
if any of these items are faulty or
have been disconnected.
Execute the SV_ON or SENS_ON
Check the motor status when the
command only when the motor is
command is executed.
A.Ed1: A timeout error occurred when not running.
Command Execution using an MECHATROLINK For fully-closed loop control, check
Timeout command. Execute the SENS_ON command
the status of the external encoder
only when an external encoder is
after an output is made to execute
connected.
the command.
The three-phase power supply Confirm that the power supply is
Check the power supply wiring.
A.F10: wiring is incorrect. correctly wired.
Main Circuit Cable The three-phase power supply is Measure the voltage at each phase Balance the power supply by chang-
Open Phase unbalanced. of the three-phase power supply. ing phases.
(With the main circuit
power supply ON, volt- The connection of the I/O signals
age was low for more (CN901) between the SERVO- Check the connection of CN901. Correctly connect CN901.
than 1 second in an R, S, PACK and converter is faulty.
or T phase.) Turn the power supply OFF and
(Detected when the main then ON again. If the alarm still
power supply was turned − occurs, the SERVOPACK or con-
PACK or converter.
ON.) verter may be faulty. Replace the
9-22
9.1 Alarm Displays
(cont’d)
Alarm Number:
(Alarm Description)
The contactor is faulty in the Check the contacts to see if they are The contactor may be faulty.
dynamic brake circuit. welded or not. Replace the contactor.
Incorrect wiring of the dynamic Check the wiring of the dynamic Correctly wire the dynamic brake
A.F30:
brake answer signal. brake answer signal. answer signal.
Dynamic Brake
Contactor Error Turn the power supply OFF and
−
FL-1*2: Turn the power supply OFF and
System Alarm A fault occurred in the SERVO- then ON again. If the alarm still
−
FL-2*2:
System Alarm
The contact between the digital
Insert securely the connector or
CPF00: operator and the SERVOPACK is Check the connector contact.
replace the cable.
Digital Operator faulty.
Transmission Error 1 Malfunction caused by noise Keep the digital operator or the
−
interference. cable away from noise sources.
Disconnect the digital operator and
then re-connect it. If the alarm still
A digital operator fault occurred. −
occurs, the digital operator may be
CPF01: faulty. Replace the digital operator.
Digital Operator
Transmission Error 2 Turn the power supply OFF and
−
∗2. These alarms are not stored in the alarm history and are displayed only in the panel display.
Troubleshooting
9-23
9 Troubleshooting
9.2.1 List of Warnings
9.2 Warning Displays

The following sections describe troubleshooting in response to warning displays.
The warning name and warning meaning output are listed in order of the warning numbers in 9.2.1 List of
Warnings.
The causes of warnings and troubleshooting methods are provided in 9.2.2 Troubleshooting of Warnings.
9.2.1 List of Warnings

This section provides list of warnings.
Warning
Warning Name Meaning Reset
Number
A.900*1 Position Error Overflow Position error exceeded the parameter setting (Pn520×Pn51E/100). Required
Position Error Overflow When the servomotor power is ON, the position error exceeded the parameter
A.901*1 Alarm at Servo ON setting (Pn526×Pn528/100).
Required
This warning occurs before the overload alarms (A.710 or A.720) occur. If the
A.910*1 Overload
warning is ignored and operation continues, an overload alarm may occur.
Required
Abnormal vibration at the motor speed was detected. The detection level is the
A.911*1 Vibration same as A.520. Set whether to output an alarm or warning by the vibration Required
detection switch (Pn310).
This warning occurs before the regenerative overload alarm (A.320) occurs. If
A.920*1 Regenerative Overload the warning is ignored and operation continues, a regenerative overload alarm Required
may occur.
This warning occurs before dynamic brake overload alarm (A.731) occurs. If
A.921*1 Dynamic Brake Overload the warning is ignored and operation continues, a dynamic brake overload Required
alarm may occur.
Absolute Encoder Battery
A.930*1 Error
This warning occurs when the voltage of absolute encoder’s battery is lowered. Required
Data Setting Warning 1 Automatic

A.94A*2 Incorrect command parameter number was set.
(Parameter Number Error) reset *4
A.94B*2 Command input data is out of range.
(Out of Range) reset *4
A.94C*2 Calculation error was detected.
(Calculation Error) reset*4
A.94D*2 Data size does not match.
(Parameter Size) reset*4
Data Setting Warning 5
A.94E*2 (Latch Mode Error)
Latch mode error is detected. Required
Command Warning 1 Command was sent although the conditions for sending a command were not Automatic
A.95A*2 (Unsatisfying Command) satisfied. reset *4
Command Warning 2 Automatic
A.95B*2 (Non-supported Unsupported command was sent.
Command) reset *4

A.95D*2 Command, especially latch command, interferes.
(Command Interference) reset *4
A.95E*2 Subcommand and main command interfere.
(Subcommand Disable) reset *4
A.95F*2 Undefined command was sent.
(Undefined Command) reset *4
MECHATROLINK
A.960*2 Communications Warning
Communications error occurred during MECHATROLINK communications. Required
MECHATROLINK
A.962*2 Communications Warning Communications error occurred during MECHATROLINK communications. Required
(FCS Error)
9-24
(cont’d)
Warning
Warning Name Meaning Reset
Number
MECHATROLINK
*2 Communications Warning The synchronization frame was not received during MECHATROLINK com-
A.963 Required
(Synchronization Frame munications.
Not Received)
This warning occurs before undervoltage alarm (A.410) occurs. If the warning
A.971*3 Undervoltage
is ignored and operation continues, an undervoltage alarm may occur.
Required

A.97A*2 A command that cannot be executed in the current phase was sent.
(Phase Error) reset *4
Data Clamp The set command data was clamped to a minimum or maximum value out of Automatic
A.97B*2 (Out of Range) the allowable setting range. reset *4
A.9A0*1 Overtravel Overtravel is detected while the servomotor power is ON. Required
∗1. Use Pn008.2 to activate or not the warning detection.

∗4. If using the commands for the MECHATROLINK-III standard servo profile, the warning will automatically be
cleared after the correct command is received.
If using the commands for the MECHATROLINK-II-compatible profile, send a Clear Warning or Alarm command
(ALM_CLR) to clear the warning.
Troubleshooting
9-25
9 Troubleshooting
9.2.2 Troubleshooting of Warnings

Refer to the following table to identity the cause of a warning and the action to be taken. Contact your
Yaskawa representative if the problem cannot be solved by the described corrective action.
Warning Num-
ber: Warning
Cause Investigative Actions Corrective Actions
Name (Warning
Description)
The servomotor U, V, Check the servomotor main circuit Confirm that there is no contact fault
and W wirings is faulty. cable connection. in the motor wiring or encoder wiring.
The SERVOPACK gain Increase the servo gain by using the

Check the SERVOPACK gain.
is too low. function such as advanced autotuning.
Reduce the reference acceleration of

the position reference using a
The acceleration of the MECHATROLINK command, or
Reduce the reference acceleration, and
position reference is too smooth the acceleration of the position
A.900: operate the SERVOPACK.
high. reference by selecting the position ref-
Position Error erence filter (ACCFIL) using a
Overflow MECHATROLINK command.
Setting of the excessive
position error alarm
Check the alarm level (Pn520) to see
level (Pn520) is low Set the Pn520 to proper value.
if it is set to an appropriate value.
against the operating
condition.
Turn the power supply OFF and then

A fault occurred in the ON again. If the alarm still occurs, the
−
SERVOPACK. SERVOPACK may be faulty. Replace
the SERVOPACK.
When the servomotor

A.901:
power is ON, the posi- Set an appropriate value for the exces-
Position Error
tion error exceeded the − sive position error warning level at
Overflow Alarm
parameter setting servo ON (Pn528).
at Servo ON
(Pn526×Pn528/100).
Incorrect wiring or con-

Confirm that the servomotor and
tact fault of servomotor Check the wiring.
encoder are correctly wired.
and encoder.
Operation beyond the Reconsider the load conditions and

Check the motor overload characteris-
overload protection operating conditions. Or, increase the
A.910: tics and executed run command.
characteristics. motor capacity.
Overload
(Warning before Excessive load was
alarm A.710 or applied during opera-
A.720 occurs) tion because the servo- Check the executed operation refer-
Remove the mechanical problems.
motor was not driven ence and motor speed.
due to mechanical prob-
lems.
A fault occurred in the The SERVOPACK may be faulty.

−
SERVOPACK. Replace the SERVOPACK.
Abnormal vibration was Check for abnormal noise from the Reduce the motor speed or reduce the
detected at the motor servomotor, and check the speed and servo gain by using the function such
speed. torque waveforms during operation. as one-parameter tuning.
A.911: The moment of inertia
Vibration ratio (Pn103) value is
Set the moment of inertia ratio
greater than the actual Check the moment of inertia ratio.
(Pn103) to an appropriate value.
value or is greatly
changed.
9-26
(cont’d)
Warning Num-
ber: Warning
Name (Warning
Description)
The power supply volt-
Set the power supply voltage within
age exceeds the speci- Measure the power supply voltage.
the specified range.
fied limit.
Insufficient regenera-
tive resistance, regener- Change the regenerative resistance,
A.920: ative resistor capacity, regenerative resistor capacity, SER-
Check the operating condition or the
Regenerative SERVOPACK capacity, VOPACK capacity, or converter
capacity using the capacity selection
Overload or converter capacity. capacity. Reconsider the operating
Software SigmaJunmaSize+, etc.
(Warning before Or, regenerative power conditions using the capacity selection
the alarm A.320 has been continuously software SigmaJunmaSize+, etc.
occurs) flowing back.
Regenerative power
continuously flowed Reconsider the system including servo
Check the load to the servomotor dur-
back because negative drives, machine, and operating condi-
ing operation.
load was continuously tions.
applied.
The servomotor rotates Take measures to ensure the servomo-
because of external Check the operation status. tor will not rotate because of external
force. force.
A.921: Reconsider the following:
Dynamic Brake
The rotating energy at a Check the power consumed by DB • Reduce the motor reference speed.
Overload
DB stop exceeds the DB resistance (Un00B) to see how many • Reduce the moment of inertia ratio.
(Warning before resistance capacity. times the DB has been used.
the alarm A.731 • Reduce the number of times of the
occurs) DB stop operation.
A fault occurred in the The SERVOPACK or converter may

SERVOPACK or con- − be faulty. Replace the SERVOPACK
verter. or converter.
A.930: The battery connection
Check the battery connection. Reconnect the battery.
Absolute is incorrect.
Encoder Battery
Error The battery voltage is
lower than the specified Measure the battery voltage. Replace the battery.
(The absolute value 2.7 V.
encoder battery
voltage is lower
than the specified
value.) A fault occurred in the The SERVOPACK may be faulty.
−
∗ Only when an SERVOPACK. Replace the SERVOPACK.
absolute encoder
is connected.
A.94A Refer to 9.3 Monitoring Communica-
Data Setting tion Data on Occurrence of an Alarm
Disabled parameter
Warning 1 or Warning to determine which Use the correct parameter number.
number was used.
(Parameter Num- command was the cause of the
ber Error) warning.
A.94B Refer to 9.3 Monitoring Communica-

Attempted to send val- tion Data on Occurrence of an Alarm
Troubleshooting
Data Setting Set the value of the parameter within

ues outside the range to or Warning to determine which
Warning 2 the allowable range.
the command data. command was the cause of the
(Out of Range) warning.
A.94C Refer to 9.3 Monitoring Communica-
Data Setting tion Data on Occurrence of an Alarm
Calculation result of set Set the value of the parameter within
Warning 3 or Warning to determine which
value is incorrect. the allowable range.
(Calculation Er- command was the cause of the
ror) warning. 9
9-27
9 Troubleshooting
(cont’d)
Warning Num-
ber: Warning
Name (Warning
Description)
A.94D Refer to 9.3 Monitoring Communica-

tion Data on Occurrence of an Alarm
Data Setting Parameter size set in
or Warning to determine which Use the correct parameter size.
Warning 4 command is incorrect.
command was the cause of the
(Parameter Size) warning.
Change the setting value of Pn850 or
A.94E Refer to 9.3 Monitoring Communica- the LT_MOD data for the
Data Setting tion Data on Occurrence of an Alarm LTMOD_ON command sent by the
Latch mode error is
Warning 5 or Warning to determine which host controller to the proper value.
detected.
(Latch mode command was the cause of the
(When using the MECHATROLINK-
error) warning.
II-compatible profile.)
A.95A Refer to 9.3 Monitoring Communica-
Command tion Data on Occurrence of an Alarm
Command sending con- Send a command after command
dition is not satisfied. sending condition is satisfied.
(Unsatisfying command was the cause of the
Command) warning.
A.95B Refer to 9.3 Monitoring Communica-
SERVOPACK received
Warning 2 or Warning to determine which Do not sent an unsupported command.
unsupported command.
(Non-supported command was the cause of the
Command) warning.
A.95D Refer to 9.3 Monitoring Communica-
Command sending con-
dition for latch-related Send a command after command
commands is not satis- sending condition is satisfied.
(Command Inter- command was the cause of the
fied.
ference) warning.
A.95E Refer to 9.3 Monitoring Communica-
Command Subcommand sending tion Data on Occurrence of an Alarm
Send a command after command
Warning 5 condition is not satis- or Warning to determine which
sending condition is satisfied.
(Subcommand fied. command was the cause of the
Disable) warning.
A.95F Refer to 9.3 Monitoring Communica-
Undefined command
Warning 6 or Warning to determine which Do not use an undefined command.
was sent.
(Undefined Com- command was the cause of the
mand) warning.
MECHATROLINK Correct the MECHATROLINK wir-

Confirm the wiring.
wiring is incorrect. ing.

A.960 MECHATROLINK the MECHATROLINK communica-
MECHATROLINK data reception error tions cable and FG wiring and take
Confirm the installation conditions.
Communications occurred due to noise measures such as adding ferrite core
Warning interference. on the MECHATROLINK communi-
cations cable.
A fault occurred in the A fault occurred in the SERVOPACK.

–
9-28
(cont’d)
Warning Num-
ber: Warning
Name (Warning
Description)

MECHATROLINK ing.
Confirm the wiring.
wiring is incorrect. Or, connect a terminal to the terminal
station.
A.962 Take measures against noise. Check

MECHATROLINK the MECHATROLINK communica-
MECHATROLINK
data reception error tions cable and FG wiring and take
Communications Confirm the installation conditions.
occurred due to noise measures such as adding ferrite core
Warning interference. on the MECHATROLINK communi-
(FCS Error) cations cable.

–

MECHATROLINK ing.
Confirm the wiring.
wiring is incorrect. Or, connect a terminal to the terminal
station.
A.963
MECHATROLINK
MECHATROLINK the MECHATROLINK communica-
Communications data reception error tions cable and FG wiring and take
Warning Confirm the installation conditions.
occurred due to noise measures such as adding ferrite core
(Synchronization interference. on the MECHATROLINK communi-
Frame Not cations cable.
Received)

–
The AC power supply

voltage dropped to:
• 140 V or less for 200- Set the power supply voltage within
VAC SERVOPACKs. the specified range.
• 280 V or less for 400-
VAC SERVOPACKs.
The power supply volt-
A.971:
age dropped during Measure the power supply voltage. Increase the power supply capacity.
Undervoltage operation.
Occurrence of instanta- When the instantaneous power cut
neous power interrup- Measure the power supply voltage. hold time (Pn509) is set, decrease the
tion. setting.
A fault occurred in the The SERVOPACK or converter may
SERVOPACK or con- − be faulty. Replace the SERVOPACK
verter. or converter.
Troubleshooting
A.97A
A command that cannot
Command Send a command after command
be executed in the cur- –
Warning 7 sending condition is satisfied.
rent phase was sent.
(Phase Error)
The set command data
A.97B was clamped to a mini-
Set the value of the command data
Data Clamp mum or maximum –
within the allowable range.
(Out Of Range) value out of the allow- 9
able setting range.
9-29
9 Troubleshooting
(cont’d)
Warning Num-
ber: Warning
Name (Warning
Description)
Refer to 9.4 Troubleshooting Malfunc-
tion Based on Operation and Condi-
tions of the Servomotor. Even if
overtravel signals were not shown by
the input signal monitor (Un005),
A.9A0: momentary overtravel may have been
When the servomotor Check the input signal monitor detected. Take the following precau-
Overtravel
power is ON, over- (Un005) to check the status of the tions.
(Overtravel status travel status is detected. overtravel signals.
is detected.) • Do not specify movements that
would cause overtravel from the
host controller.
• Check the wiring of the overtravel
signals.
• Take countermeasures for noise.
9-30
9.3 Monitoring Communication Data on Occurrence of an Alarm or Warning
9.3 Monitoring Communication Data on Occurrence of an Alarm or

Warning
The command data received on occurrence of an alarm or warning, such as a data setting warning (A.94 ) or
a command warning (A.95 ) can be monitored using the following parameters. The following is an example
of the data when an alarm/warning has occurred in the normal state.
Command Data Monitor at Alarm/Warning Occurrence: Pn890 to Pn8A6

Response Data Monitor at Alarm/Warning Occurrence: Pn8A8 to Pn8BE
Command Data Storage at

Command Alarm/Warning Occurrence
Byte Order
CMD RSP Example: Pn8A8 = 87 65 43 21
0 Pn890.1 to 0 Pn8A8.1 to 0
1 Pn890.3 to 2 Pn8A8.3 to 2
2 Pn890.5 to 4 Pn8A8.5 to 4
3 Pn890.7 to 6 Pn8A8.7 to 6
4 to 7 Pn892 Pn8AA
8 to 11 Pn894 Pn8AC
12 to 15 Pn896 Pn8AE
16 to 19 Pn898 Pn8B0
20 to 23 Pn89A Pn8B2
24 to 27 Pn89C Pn8B4
28 to 31 Pn89E Pn8B6
32 to 35 Pn8A0 Pn8B8
36 to 39 Pn8A2 Pn8BA
40 to 43 Pn8A4 Pn8BC
44 to 47 Pn8A6 Pn8BE
Note 1. Data is stored in little endian byte order and displayed in the hexadecimal format.
2. For details on commands, refer to Σ-V Series User’s Manual, MECHATROLINK-III Standard Servo Pro-
file Commands (No.: SIEP S800000 63)
Troubleshooting
9-31
9 Troubleshooting
9.4 Troubleshooting Malfunction Based on Operation and

Conditions of the Servomotor
Troubleshooting for the malfunctions based on the operation and conditions of the servomotor is provided in
this section.
Be sure to turn OFF the servo system before troubleshooting items shown in bold lines in the table.
Problem Probable Cause Investigative Actions Corrective Actions

The control power supply is not Check voltage between control Correct the wiring so that the con-
ON. power terminals. trol power supply turns ON.
The main circuit power supply is Check the voltage between main Correct the wiring so that the main
not ON. circuit power terminals. circuit power supply turns ON.
Wiring of I/O signal connector CN1 Check if the connector CN1 is prop- Correct the connector CN1 connec-
is faulty or disconnected. erly inserted and connected. tion.
Wiring for servomotor main circuit
cable or encoder cable is discon- Check the wiring. Correct the wiring.
nected.
Run under no load and check the Reduce load or replace with larger
Overloaded
load status. capacity servomotor.
Encoder type differs from parame- Check the settings for parameter Set parameter Pn002.2 to the
ter setting (Pn002.2). Pn002.2. encoder type being used.
Settings for the input signal selec-
Check the settings for parameters Correct the settings for parameter
tions (Pn50A, Pn50B and Pn511) is
Pn50A, Pn50B and Pn511. Pn50A, Pn50B and Pn511.
Servomotor Does incorrect.
Not Start
Check the command sent from the
SV_ON command is not sent. Send the SV_ON command.
host controller.
Check the command sent from the Send the command in the correct
SENS_ON command is not sent.
host controller. SERVOPACK sequence.
The forward run prohibited (P-OT)
Turn P-OT or N-OT input signal
and reverse run prohibited (N-OT) Check P-OT or N-OT input signal.
ON.
input signals are turned OFF.
Set the /HWBB1 and /HWBB2
input signal to ON.
The safety input signal (/HWBB1 or Check the /HWBB1 and /HWBB2 When not using the safety function,
/HWBB2) remains OFF. input signal. mount the safety function jumper
connector (provided as an acces-
sory) on the CN8.
The brake is not released. Check the operation of the brake. Release the brake.
A fault occurred in the SERVO- Replace the SERVOPACK or con-
−
PACK or converter. verter.
Servomotor Servomotor wiring is incorrect. Check the wiring. Correct the wiring.
Moves
Instantaneously, Encoder wiring is incorrect. Check the wiring. Correct the wiring.
and then Stops
Check connections of power line
Servomotor Wiring connection to servomotor is Tighten any loose terminals or con-
(phases U, V, and W) and encoder
Speed Unstable defective. nectors and correct the wiring.
connectors.
Servomotor A fault occurred in the SERVO-
Rotates Without − Replace the SERVOPACK.
Reference Input PACK.
9-32
9.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor
(cont’d)
Check the setting for parameter Correct the setting for parameter
Improper Pn001.0 setting
Pn001.0. Pn001.0.
Check if excessive moment of iner- Replace the dynamic brake unit or
DB resistor disconnected tia, motor overspeed, or DB fre- change the external dynamic brake
quently activated occurred. circuit. And reduce the load.
Dynamic Brake
Does Not Operate A defective component is in the
dynamic brake circuit inside SER-
DB drive circuit fault −
VOPACK. Replace the SERVO-
PACK.
Wiring of the dynamic brake unit is
Check the wiring. Correct the wiring.
incorrect.
Troubleshooting
9-33
9 Troubleshooting
(cont’d)
Reduce the load so that the moment
of inertia ratio becomes within the
The servomotor largely vibrated
allowable value, or increase the
during execution of tuning-less Check the motor speed waveform.
load level or lower the tuning level
function.
for the tuning-less levels setting
(Fn200).
Check if there are any loose mount-
Mounting is not secured. Tighten the mounting screws.
ing screws.
Check if there is misalignment of
Align the couplings.
couplings.
Mounting is not secured.
Check if there are unbalanced cou-
Balance the couplings.
plings.
Check for noise and vibration
Bearings are defective. Replace the servomotor.
around the bearings.
Check for any foreign matter, dam-
Vibration source at the driven
age, or deformations on the machin- Contact the machine manufacturer.
machine.
ery's movable parts.
The I/O signal cable must be tinned
annealed copper shielded twisted-
Noise interference due to incorrect pair or screened unshielded twisted- Use the specified I/O signal cable.
I/O signal cable specifications.
pair cable with a core of 0.12 mm2
min.
Noise interference due to length of Check the length of the I/O signal The I/O signal cable length must be
I/O signal cable. cable. no more than 3 m.
Abnormal Noise
The encoder cable must be tinned
from Servomotor
Noise interference due to incorrect annealed copper shielded twisted-
cable specifications of encoder pair or screened unshielded twisted- Use the specified encoder cable.
cable. pair cable with a core of 0.12 mm2
min.
The encoder cable must be no more
Noise interference due to length of Check the length of the encoder than 50 m.
encoder cable. cable.
Noise interference due to damaged Check if the encoder cable is bent Replace the encoder cable and cor-
encoder cable. and the sheath is damaged. rect the cable layout.
• Correct the cable layout so that
Check if the encoder cable is bun-
Excessive noise to the encoder no surge is applied.
dled with a high-current line or near
cable. • Use a double-shielded encoder
a high-current line.
cable.
The FG potential varies because of
Check if the machines are correctly Properly ground the machines to
influence from machines on the ser-
grounded. separate from the encoder FG.
vomotor side, such as the welder.
Check if there is noise interference
SERVOPACK pulse counting error Take measures against noise in the
on the I/O signal line from the
due to noise interference encoder wiring.
encoder.
Check if vibration from the machine
Reduce vibration from the machine,
Excessive vibration and shock to occurred or servomotor installation
or secure the servomotor installa-
the encoder is incorrect (mounting surface accu-
tion.
racy, fixing, alignment, etc.).
An encoder fault occurred. − Replace the servomotor.
9-34
(cont’d)
Check to see if the servo gains have
Unbalanced servo gains Execute the advanced autotuning.
been correctly adjusted.
Speed loop gain value (Pn100) too Check the speed loop gain (Pn100). Reduce the speed loop gain
high. Factory setting: Kv = 40.0 Hz (Pn100).
Servomotor Check the position loop gain
Vibrates at Position loop gain value (Pn102) (Pn102). Reduce the position loop gain
Frequency of too high. (Pn102).
Factory setting: Kp = 40.0/s
Approx. 200 to
400 Hz. Check the speed loop integral time
Incorrect speed loop integral time Correct the speed loop integral time
constant (Pn101).
constant (Pn101) constant (Pn101).
Factory setting: Ti = 20.0 ms
Incorrect moment of inertia ratio Check the moment of inertia ratio Correct the moment of inertia ratio
(Pn103) (Pn103). (Pn103).
Check to see if the servo gains have
Unbalanced servo gains Execute the advanced autotuning.
been correctly adjusted.
Speed loop gain value (Pn100) too Check the speed loop gain (Pn100). Reduce the speed loop gain
high Factory setting: Kv = 40.0 Hz (Pn100).
Check the position loop gain
Position loop gain value (Pn102) Reduce the position loop gain
High Motor Speed too high (Pn102).
(Pn102).
Overshoot on Factory setting: Kp = 40.0/s
Starting and Check the speed loop integral time
Stopping Incorrect speed loop integral time Correct the speed loop integral time
constant (Pn101).
constant (Pn101) constant (Pn101).
Factory setting: Ti = 20.0 ms
Incorrect moment of inertia ratio Check the moment of inertia ratio Correct the moment of inertia ratio
data (Pn103) (Pn103). (Pn103).
Check the torque reference wave-
The torque reference is saturated. Use a mode switch.
form.
Troubleshooting
9-35
9 Troubleshooting
(cont’d)
Noise interference due to incorrect annealed copper shielded twisted-
cable specifications of encoder pair or screened unshielded twisted- Use the specified encoder cable.
cable. pair cable with a core of 0.12 mm2
min.
Noise interference due to damaged Check if the encoder cable is bent Replace the encoder cable and cor-
encoder cable. and the sheath is damaged. rect the cable layout.
• Correct the cable layout so that
Check if the encoder cable is bun-
Excessive noise to the encoder no surge is applied.
Absolute dled with a high-current line or near
cable. • Use a double-shielded encoder
Encoder Position a high-current line.
cable.
Difference Error
(The position FG potential varies because of Ground machines correctly, and
Check if the machines are correctly
saved in the host influence of machines such as weld- prevent diversion to the FG on the
grounded.
controller when ers at the servomotor. encoder side.
the power was Check if there is noise interference
turned OFF is SERVOPACK pulse counting error Take measures against noise in the
on the I/O signal line from the
different from the due to noise interference encoder wiring.
encoder.
position when the
power was next Reduce vibration from the machine,
Excessive vibration and shock to occurred or servomotor installation
turned ON.) or secure the servomotor installa-
the encoder is incorrect (mounting surface accu-
tion.
An encoder fault occurred. − Replace the servomotor.
PACK.
Check the error detection section of Correct the error detection section
the host controller. of the host controller.
Check if the host controller is exe- Execute a multiturn data parity
Host controller multiturn data read-
cuting data parity checks. check.
ing error
Check noise in the cable between Take measures against noise, and
the SERVOPACK and the host con- again execute a multiturn data par-
troller. ity check.
9-36
(cont’d)
Check the external power supply Correct the external power supply
(+24 V) voltage for the input signal. (+24 V) voltage.
Check if the overtravel limit switch
Correct the overtravel limit switch.
Forward or reverse run prohibited operates properly.
signal is input. Check if the overtravel limit switch Correct the overtravel limit switch
is wired correctly. wiring.
Check the settings for parameters Correct the settings for parameters
Pn50A and Pn50B. Pn50A and Pn50B.
Check the fluctuation of the exter-
Stabilize the external power supply
nal power supply (+24 V) voltage
(+24 V) voltage.
for the input signal.
Forward or reverse run prohibited Check if the overtravel limit switch
Correct the overtravel limit switch.
signal malfunctioning. operates correctly.
Overtravel (OT)
Check if the overtravel limit switch
Correct the overtravel limit switch
wiring is correct. (check for dam-
wiring.
aged cables or loose screws.)
Incorrect forward or reverse run Check if the P-OT signal is allo- If another signal is allocated in
prohibited signal (P-OT/N-OT) cated in Pn50A.3. Pn50A.3, allocate P-OT.
allocation (parameters Pn50A.3, Check if the N-OT signal is allo- If another signal is allocated in
Pn50B.0) cated in Pn50B.0. Pn50B.0, allocate N-OT.
Check the settings for parameters
Select a servomotor stop method
Pn001.0 and Pn001.1 when the ser-
other than "coast to stop."
Incorrect servomotor stop method vomotor power is OFF.
selection Check the settings for parameters
Select a servomotor stop method
Pn001.0 and Pn001.1 when in
other than "coast to stop."
torque control.
Improper limit switch position and Install the limit switch at the
Improper Stop −
dog length appropriate position.
Position by
Overtravel (OT) The overtravel limit switch position
Install the overtravel limit switch at
Signal is too short for the coasting −
the appropriate position.
distance.
Troubleshooting
9-37
9 Troubleshooting
(cont’d)
Noise interference due to incorrect pair or screened unshielded twisted- Use the specified encoder cable.
encoder cable specifications
min.
Noise influence due to damaged Check if the encoder cable is bent Replace the encoder cable and mod-
encoder cable. and the sheath is damaged. ify the cable layout.
• Change the cable layout so that
Check if the encoder cable is bun- no surge is applied.
Excessive noise to encoder cable. dled with a high-current line or near
• Use a double-shielded encoder
a high-current line.
cable.
The FG potential varies because of
Check if the machines are correctly Properly ground the machines
influence from machines on the ser-
grounded. encoder FG.
vomotor side such as the welder.
SERVOPACK pulse count error due Check if the I/O signal line from the Take measures against noise in the
Position Error to noise encoder is influenced by noise. encoder wiring.
(Without Alarm)
Excessive vibration and shock to occurred or servomotor installation Reduce the machine vibration or
the encoder is incorrect (mounting surface accu- mount the servomotor securely.
Check if a position error occurs at
Unsecured coupling between Secure the coupling between the
the coupling between machine and
machine and servomotor machine and servomotor.
servomotor.
The I/O signal cable must be tinned
Noise interference due to improper pair or screened unshielded twisted- Use input signal cable with the
I/O signal cable specifications specified specifications.
min.
Noise interference due to length of The I/O signal cable length must be
Check the I/O signal cable length.
I/O signal cable no more than 3 m.
An encoder fault occurred. (The
− Replace the servomotor.
pulse count does not change.)
PACK.
Ambient operating temperature too Measure the servomotor ambient Reduce the ambient operating tem-
high operating temperature. perature to 40°C or less.
Servomotor surface dirty Visually check the surface. Clean dust and oil from the surface.
If an overload occurs, reduce the
load or replace the SERVOPACK,
Servomotor overloaded Check the load status with monitor.
converter, and servomotor with
Servomotor
models with higher capacities.
Overheated
A fault occurred in the fan. Check if the fan is rotating or not. Replace the servomotor.
Check if the fan is rotating back-
Incorrect wiring of the fan. ward. Correct the wiring.
Check the wiring.
The brake is not released. Check the operation of the brake. Release the brake.
9-38
10
Appendix
10.1 List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2

10.1.1 Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10.1.2 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3
10.1.3 MECHATROLINK-III Common Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-37
10.2 List of Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-47

10.3 Parameter Recording Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-48
Appendix
10
10-1
10 Appendix
10.1.1 Utility Functions
10.1 List of Parameters

10.1.1 Utility Functions
The following list shows the available utility functions.
Parameter Reference
Function
No. Section
Fn000 Alarm history display 6.2
Fn002 JOG operation 6.3
Fn003 Origin search 6.4
Fn004 Program JOG operation 6.5
Fn005 Initializing parameter settings 6.6
Fn006 Clearing alarm history 6.7
Fn008 Absolute encoder multiturn reset and encoder alarm reset 4.7.4
Fn00C Offset adjustment of analog monitor output 6.8
Fn00D Gain adjustment of analog monitor output 6.9
Fn00E Automatic offset-signal adjustment of the motor current detection signal 6.10
Fn00F Manual offset-signal adjustment of the motor current detection signal 6.11
Fn010 Write prohibited setting 6.12
Fn011 Servomotor model display 6.13
Fn012 Software version display 6.14
Fn013 Multiturn limit value setting change when a multiturn limit disagreement alarm occurs 4.7.7
Fn014 Resetting configuration error in option modules 6.15
Fn01B Vibration detection level initialization 6.16
Fn01E Display of SERVOPACK and servomotor ID 6.17
Fn01F Display of servomotor ID in feedback option module 6.18
Fn020 Origin setting 6.19
Fn030 Software reset 6.20
Fn200 Tuning-less levels setting 5.2.2
Fn201 Advanced autotuning 5.3.2
Fn202 Advanced autotuning by reference 5.4.2
Fn203 One-parameter tuning 5.5.2
Fn204 Anti-resonance control adjustment function 5.6.2
Fn205 Vibration suppression function 5.7.2
Fn206 EasyFFT 6.21
Fn207 Online vibration monitor 6.22
Note: Execute the utility function with either a digital operator or SigmaWin+. If they are used together, "no_oP" or "NO-
OP" will be displayed when the utility function is executed.
10-2
10.1.2 Parameters
Parameter Setting Factory When Classi- Reference

Size Name Units Profile
No. Range Setting Enabled fication Section
Basic Function Select Switch 0000 to
2 − 0000 After restart Setup − −
0 00B3
4th 3rd 2nd 1st
digit digit digit digit
n.
Reference
Direction Selection Section
0 Sets CCW as forward direction.
Pn000 1 Sets CW as forward direction. (Reverse Rotation Mode) 4.3.1
2 to 3 Reserved (Do not set.)
Reserved (Do not change.)
Application Function Select

2 0000 to 1122 − 0000 After restart Setup − −
Switch 1
4th 3rd 2nd 1st

n.
Reference
Servomotor Power OFF or Alarm Gr.1 Stop Mode Section
0 Stops the servomotor by applying DB (dynamic brake).
1 Stops the servomotor by applying DB and then releases DB. 4.3.5
2 Makes the servomotor coast to a stop state without using the DB.
Pn001
Reference
Overtravel (OT) Stop Mode Section
0 Stops in accordance with the setting of Pn001.0.
1 Sets the torque of Pn406 to the maximum value, decelerates the servomotor to a stop,
and then sets it to servolock state. 4.3.2
2 Sets the torque of Pn406 to the maximum value, decelerates the servomotor to a stop,
and then sets it to coasting state.

Appendix
10
10-3
10 Appendix
10.1.2 Parameters
(cont’d)
Switch 2
4th 3rd 2nd 1st

n.
Reference
MECHATROLINK Command Position and Speed Control Option Section
0 Reserved (Do not set.)
1 TLIM operates as the torque limit values.
*1
Reference
Torque Control Option Section
Pn002 *1
1 VLIM operates as the speed limit value.
Reference
Absolute Encoder Usage Section
0 Uses absolute encoder as an absolute encoder.
4.7
1 Uses absolute encoder as an incremental encoder.
Reference
External Encoder Usage Section
0 Do not use external encoder.*
1 Uses external encoder in standard rotation direction.
2 Reserved (Do not set.) 8.3.1
3 Uses external encoder in reverse rotation direction.
∗The mode will be switched to semi-closed position control if Pn002.3 is set to 0.
∗1. For details, refer to Σ-V Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands (No.: SIEP
S800000 63).
10-4
(cont’d)
2 0000 to 005F − 0002 Immediately Setup − 5.1.3
Switch 6
4th 3rd 2nd 1st

n.
Analog Monitor 1 Signal Selection
00 Motor rotating speed (1 V/1000 min-1)
01 Speed reference (1 V/1000 min-1)
02 Torque reference (1 V/100% rated torque)
03 Position error (0.05 V/1 reference unit)
04 Position amplifier error (after electronic gears) (0.05 V/1 encoder pulse unit)
05 Position reference speed (1 V/1000 min-1)
Pn006
07 Motor-load position error (0.01 V/1 reference unit)
08 Positioning completion (positioning completed: 5 V, positioning not completed: 0 V)
09 Speed feedforward (1 V/1000 min-1)
0A Torque feedforward (1 V/100% rated torque)
0B Active gain (1st gain: 1 V, 2nd gain: 2 V)
0C Completion of position reference (completed: 5 V, not completed: 0 V)
0D External encoder speed (1 V/1000 min-1: Values at motor shaft)

2 0000 to 005F − 0000 Immediately Setup − 5.1.3
Switch 7
4th 3rd 2nd 1st
n.
Analog Monitor 2 Signal Selection
00 Motor rotating speed (1 V/1000 min-1)
01 Speed reference (1 V/1000 min-1)
02 Torque reference (1 V/100% rated torque)
03 Position error (0.05 V/1 reference unit)
04 Position amplifier error (after electronic gears) (0.05 V/1 encoder pulse unit)
05 Position reference speed (1 V/1000 min-1)
Pn007 06 Reserved (Do not set.)
07 Motor-load position error (0.01 V/1 reference unit)
08 Positioning completion (positioning completed: 5 V, positioning not completed: 0 V)
09 Speed feedforward (1 V/1000 min-1)
0A Torque feedforward (1 V/100% rated torque)
0B Active gain (1st gain: 1 V, 2nd gain: 2 V)
0C Completion of position reference (completed: 5 V not completed: 0 V)
0D External encoder speed (1 V/1000 min-1: Values at motor shaft)
Appendix
10
10-5
10 Appendix
10.1.2 Parameters
(cont’d)
Switch 8
4th 3rd 2nd 1st
n.
Reference
Lowered Battery Voltage Alarm/Warning Selection Section
0 Outputs alarm (A.830) for lowered battery voltage.
4.7.3
1 Outputs warning (A.930) for lowered battery voltage.
Reference
Pn008 Function Selection for Undervoltage Section
0 Does not detect undervoltage.
1 Detects warning and limits torque by host controller. 4.3.7
2 Detects warning and limits torque by Pn424 and Pn425. (Only in the SERVOPACK)
Reference
Warning Detection Selection Section
0 Detects warning.
9.2.1
1 Does not detect warning (except for A.971).

2 0000 to 0111 − 0010 After restart Tuning − −
Switch 9
4th 3rd 2nd 1st
n.
Reference
Current Control Method Selection Section
Pn009 0 Current control method 1
5.8.3
1 Current control method 2
Reference
Speed Detection Method Selection Section
0 Speed detection 1
5.8.5
1 Speed detection 2
10-6
(cont’d)
Switch B
4th 3rd 2nd 1st
n.
Reference
Parameter Display Selection Section
0 Setup parameters
2.4.1
1 All parameters
Pn00B
Reference
Alarm Gr.2 Stop Method Selection Section
0 Stops the motor by setting the speed reference to "0".
4.3.5
1 Same setting as Pn001.0 (Stops the motor by applying DB or by coasting).
Application Function Select 4.5,

2 0000 to 0111 − 0000 After restart Setup −
Switch C 4.5.1
4th 3rd 2nd 1st
n.
Selection of Test without a Motor
0 Disables test without a motor.
1 Enables test without a motor.
Pn00C Encoder Resolution for Test without a Motor

0 13 bits
1 20 bits
Encoder Type for Test without a Motor

0 Incremental encoder
1 Absolute encoder
Reserved (Do not change.) Appendix
10
10-7
10 Appendix
10.1.2 Parameters
(cont’d)
2 0000 to 1011 − 0000 Immediately Setup − –
Switch D
4th 3rd 2nd 1st
n.
Reference
Dynamic Brake Signal Selection Section
0 Enables the control of an NO contactor
Pn00D (The dynamic brake is activated when current is supplied to the contactor coil.)
3.9.3
1 Enables the control of an NC contactor
(The dynamic brake is activated when current is not supplied to the contactor coil.)
Reference
Overtravel Warning Detection Selection Section
0 Does not detect overtravel warning.
4.3.2
1 Detects overtravel warning.

2 0000 to 1111 − 0000 After restart Setup − 8.1.5
Switch 81
4th 3rd 2nd 1st

n.
Phase-C Pulse Output Selection

Pn081 0 Outputs phase-C pulse only in forward direction.
1 Outputs phase-C pulse in forward and reverse direction.
Pn100 2 Speed Loop Gain 10 to 20000 0.1 Hz 400 Immediately Tuning − 5.8.1
Speed Loop Integral Time
Pn101 2 15 to 51200 0.01 ms 2000 Immediately Tuning − 5.8.1
Constant
Pn102 2 Position Loop Gain 10 to 20000 0.1/s 400 Immediately Tuning − 5.8.1
Pn103 2 Moment of Inertia Ratio 0 to 20000 1% 100 Immediately Tuning − 5.8.1
Pn104 2 2nd Speed Loop Gain 10 to 20000 0.1 Hz 400 Immediately Tuning − 5.8.1
2nd Speed Loop Integral
Time Constant
Pn106 2 2nd Position Loop Gain 10 to 20000 0.1/s 400 Immediately Tuning − 5.8.1
Pn109 2 Feedforward Gain 0 to 100 1% 0 Immediately Tuning − 5.9.1
Feedforward Filter Time
Pn10A 2 0 to 6400 0.01 ms 0 Immediately Tuning − 5.9.1
Constant
10-8
(cont’d)
Application Function for
2 0000 to 5334 − 0000 − − − −
Gain Select Switch
4th 3rd 2nd 1st
n.
When Reference
Mode Switch Selection Classification
Section
Enabled
0 Uses internal torque reference as the condition
(Level setting: Pn10C).
1 Uses speed reference as the condition (Level
setting: Pn10D).
2 Uses acceleration as the condition (Level setting: Immediately Setup 5.9.2
Pn10E).
Pn10B 3 Uses position error as the condition (Level setting:
Pn10F).
4 No mode switch function available.
When Reference
Speed Loop Control Method Classification
Section
Enabled
0 PI control
1 I-P control After restart Setup −
2 to 3 Reserved (Do not set.)
Mode Switch (torque refer-

Pn10C 2 0 to 800 1% 200 Immediately Tuning − 5.9.2
ence)
Mode Switch (speed refer-
Pn10D 2
ence)
0 to 10000 1 min-1 0 Immediately Tuning − 5.9.2
Pn10E 2 Mode Switch (acceleration) 0 to 30000 1 min-1/ s 0 Immediately Tuning − 5.9.2

1
Pn10F 2 Mode Switch (position error) 0 to 10000 reference 0 Immediately Tuning − 5.9.2
unit
Position Integral Time
Pn11F 2 0 to 50000 0.1 ms 0 Immediately Tuning − 5.8.7
Constant
Pn121 2 Friction Compensation Gain 10 to 1000 1% 100 Immediately Tuning − 5.8.2
2nd Gain for Friction
Pn122 2 10 to 1000 1% 100 Immediately Tuning − 5.8.2
Compensation
Coefficient
Friction Compensation -10000 to
Pn124 2 0.1 Hz 0 Immediately Tuning − 5.8.2
Frequency Correction 10000
Friction Compensation Gain
Correction
Pn131 2 Gain Switching Time 1 0 to 65535 1 ms 0 Immediately Tuning − 5.8.1
Pn132 2 Gain Switching Time 2 0 to 65535 1 ms 0 Immediately Tuning − 5.8.1
Appendix
Gain Switching Waiting Time

Pn135 2 0 to 65535 1 ms 0 Immediately Tuning − 5.8.1
1
Gain Switching Waiting Time
Pn136 2 0 to 65535 1 ms 0 Immediately Tuning − 5.8.1
2
10
10-9
10 Appendix
10.1.2 Parameters
(cont’d)
Automatic Gain Changeover
2 0000 to 0052 − 0000 Immediately Tuning − 5.8.1
Related Switch 1
4th 3rd 2nd 1st
n.
Gain Switching Selection Switch
0 Manual gain switching
Changes gain manually using G-SEL of the servo command output signals (SVCMD_IO).
2 Automatic gain switching pattern 1
Changes automatically 1st gain to 2nd gain when the switching condition A is satisfied.
Changes automatically 2nd gain to 1st gain when the switching condition A is not satisfied.
Pn139
Gain Switching Condition A
0 Positioning completion signal (/COIN) ON
1 Positioning completion signal (/COIN) OFF
2 Positioning near signal (/NEAR) ON
3 Positioning near signal (/NEAR) OFF
4 Position reference filter output = 0 and position reference input OFF
5 Position reference input ON
Pn13D 2 Current Gain Level 100 to 2000 1% 2000 Immediately Tuning − 5.8.4
Model Following Control
2 0000 to 1121 − 0100 Immediately Tuning − −
Related Switch
4th 3rd 2nd 1st
n.
Model Following Control Selection
0 Does not use model following control.
1 Uses model following control.
Vibration Suppression Selection

0 Does not perform vibration suppression.
Pn140 1 Performs vibration suppression over the specified frequency.
2 Performs vibration suppression over two different kinds of frequencies.
Reference
Vibration Suppression Adjustment Selection Section
0 Does not adjust vibration suppression automatically using utility function. 5.3.1, 5.4.1,
1 Adjusts vibration suppression automatically using utility function. 5.5.1, 5.7.1
Reference
Selection of Speed Feedforward (VFF) / Torque Feedforward (TFF) Section
0 Does not use model following control and speed/torque feedforward together.
5.3.1, 5.4.1
1 Uses model following control and speed/torque feedforward together.

Pn141 2 10 to 20000 0.1/s 500 Immediately Tuning − −
Gain
Pn142 2 500 to 2000 0.1% 1000 Immediately Tuning − −
Gain Compensation
10-10
(cont’d)
Pn143 2 Bias 0 to 10000 0.1% 1000 Immediately Tuning − −
(Forward Direction)
Pn144 2 Bias 0 to 10000 0.1% 1000 Immediately Tuning − −
(Reverse Direction)
Vibration Suppression 1
Pn145 2 10 to 2500 0.1 Hz 500 Immediately Tuning − −
Frequency A
Pn146 2 10 to 2500 0.1 Hz 700 Immediately Tuning − −
Frequency B
Pn147 2 Speed Feedforward 0 to 10000 0.1% 1000 Immediately Tuning − −
Compensation
2nd Model Following Control
Pn148 2 10 to 20000 0.1/s 500 Immediately Tuning − −
Gain
2nd Model Following Control
Pn149 2 500 to 2000 0.1% 1000 Immediately Tuning − −
Gain Compensation
Pn14A 2 10 to 2000 0.1 Hz 800 Immediately Tuning − −
Frequency
Pn14B 2 10 to 1000 1% 100 Immediately Tuning − −
Compensation
2 Control Related Switch 0000 to 0011 － 0011 After restart Tuning − –
4th 3rd 2nd 1st

n.
Reference
Model Following Control Type Selection Section
0 Model Following Control 1 5.3.1,
1 5.4.1,
Model Following Control 2
5.5.1
Pn14F
Reference
Tuning-less Type Selection Section
0 Tuning-less type 1
5.2.2
1 Tuning-less type 2

Appendix
10
10-11
10 Appendix
10.1.2 Parameters
(cont’d)
5.3.1,
Anti-Resonance Control 5.4.1,
2 0000 to 0011 − 0010 Immediately Tuning −
Related Switch 5.5.1,
5.7.1
4th 3rd 2nd 1st
n.
Anti-Resonance Control Selection
0 Does not use anti-resonance control.
Pn160 1 Uses anti-resonance control.
Anti-Resonance Control Adjustment Selection

0 Does not adjust anti-resonance control automatically using utility function.
1 Adjusts anti-resonance control automatically using utility function.
Pn161 2 Anti-Resonance Frequency 10 to 20000 0.1 Hz 1000 Immediately Tuning − −

Anti-Resonance Gain
Pn162 2 1 to 1000 1% 100 Immediately Tuning − −
Compensation
Anti-Resonance Damping
Pn163 2 0 to 300 1% 0 Immediately Tuning − −
Gain
Anti-Resonance Filter Time -1000 to
Pn164 2 0.01 ms 0 Immediately Tuning − −
Constant 1 Compensation 1000
Anti-Resonance Filter Time -1000 to
Pn165 2 0.01 ms 0 Immediately Tuning − −
Constant 2 Compensation 1000
Tuning-less Function Related
2 0000 to 2411 − 1401 − – − –
Switch
4th 3rd 2nd 1st
n.
When Reference
Tuning-less Function Selection Classification
Section
Enabled
0 Disables tuning-less function.
After restart Setup 5.2
1 Enables tuning-less function.
When Reference
Control Method during Speed Control Classification
Section
Pn170 Enabled
0 Uses as speed control.
Uses as speed control and uses the host controller for After restart Setup 5.2
1
position control.
When Reference
Rigidity Level Classification
Section
Enabled
0 to 4 Sets rigidity level. Immediately Setup 5.2
When Reference
Load Level Classification
Section
Enabled
0 to 2 Sets load level. Immediately Setup 5.2
Pn205 2 Multiturn Limit Setting 0 to 65535 1 rev 65535 After restart Setup − 4.7.6
10-12
(cont’d)
Position Control Function
Switch
4th 3rd 2nd 1st
n.
Pn207 Reserved (Do not change.)
Reference
/COIN Output Timing Section
0 Outputs when the position error absolute value is the same or less than the
positioning completed width (Pn522).
positioning completed width (Pn522), and the reference after position reference 4.8.6
filtering is 0.
positioning completed width (Pn522), and the position reference input is 0.
Number of External Scale 1

Pn20A 4 4 to 1048576 32768 After restart Setup − 8.3
Pitch pitch/rev
Electronic Gear Ratio 1 to
Pn20E 4 1 1 After restart Setup − 4.4.3
(Numerator) 1073741824
Electronic Gear Ratio 1 to
Pn210 4 1 1 After restart Setup − 4.4.3
(Denominator) 1073741824
16 to
Pn212 4 Encoder Output Pulses 1 P/rev 2048 After restart Setup − 4.4.5
1073741824
Fully-closed Control
Selection Switch
4th 3rd 2nd 1st
n.
Pn22A Reserved (Do not change.)
Reference
Speed Feedback Selection at Fully-closed Control Section
0 Uses motor encoder speed.
8.3.8
1 Uses external encoder speed.
Appendix
10
10-13
10 Appendix
10.1.2 Parameters
(cont’d)
Position Control Expanded
2 0000 to 0001 – 0000 After reset Setup – 5.8.6
Function Switch
4th 3rd 2nd 1st
n.
Backlash Compensation Direction
0 Compensates with a reference in the forward direction.
Pn230
1 Compensates with a reference in the reverse direction.
0.1
Backlash Compensation -500000 to
Pn231 4 reference 0 Immediately Setup – 5.8.6
Value 500000
unit
Backlash Compensation Time
Pn233 2 0 to 65536 0.01 ms 0 Immediately Setup – 5.8.6
Constant
1 edge/
Pn281 2 Encoder Output Resolution 1 to 4096 20 After restart Setup − 8.3.3
pitch
Pn304 2 JOG Speed 0 to 10000 1 min-1 500 Immediately Setup − 6.3
Pn305 2 Soft Start Acceleration Time 0 to 10000 1 ms 0 Immediately Setup − −
Pn306 2 Soft Start Deceleration Time 0 to 10000 1 ms 0 Immediately Setup − −
2 Vibration Detection Switch 0000 to 0002 − 0000 Immediately Setup − −
4th 3rd 2nd 1st
n.
Reference
Vibration Detection Selection Section
0 Does not detect vibration.
Pn310 1 Outputs warning (A.911) when vibration is detected. 6.16
2 Outputs alarm (A.520) when vibration is detected.
Vibration Detection
Pn311 2 50 to 500 1% 100 Immediately Tuning − 6.16
Sensibility
Pn312 2 Vibration Detection Level 0 to 5000 1 min-1 50 Immediately Tuning − 6.16
Moment of Inertia Calculat-
Pn324 2 0 to 20000 1% 300 Immediately Setup − 5.3.2
ing Start Level
Torque Reference Filter Time
Constant
Pn402 2 Forward Torque Limit 0 to 800 1% 800 Immediately Setup − 4.6.1
Pn403 2 Reverse Torque Limit 0 to 800 1% 800 Immediately Setup − 4.6.1

Forward External Torque
Limit
10-14
(cont’d)
Reverse External Torque
Limit
Pn406 2 Emergency Stop Torque 0 to 800 1% 800 Immediately Setup − 4.3.2
Speed Limit during Torque
Pn407 2
Control
0 to 10000 1 min-1 10000 Immediately Setup − 4.8.8
Torque Related
2 0000 to 1111 − 0000 − − − −
Function Switch
4th 3rd 2nd 1st
n.
When Reference
1st Step Notch Filter Selection Classification
Section
Enabled
0 N/A
Immediately Setup 5.9.3
1 Uses 1st step notch filter for torque reference.
When Reference
Speed Limit Selection Classification
Section
Enabled
0 Uses the smaller of the maximum motor speed and
Pn408 the value of Pn407 as the speed limit value.
After restart Setup 4.8.8
1 Uses the smaller of the overspeed detection speed
and the value of Pn407 as the speed limit value.
When Reference
2nd Step Notch Filter Selection Classification
Section
Enabled
0 N/A
1 Uses 2nd step notch filter for torque reference.
When Reference
Friction Compensation Function Selection Classification
Section
Enabled
0 Disables friction compensation function.
1 Enables friction compensation function.
Pn409 2 1st Notch Filter Frequency 50 to 5000 1 Hz 5000 Immediately Tuning − 5.9.3
Pn40A 2 1st Notch Filter Q Value 50 to 1000 0.01 70 Immediately Tuning − 5.9.3
Pn40B 2 1st Notch Filter Depth 0 to 1000 0.001 0 Immediately Tuning − 5.9.3
Pn40C 2 2nd Notch Filter Frequency 50 to 5000 1 Hz 5000 Immediately Tuning − 5.9.3
Pn40D 2 2nd Notch Filter Q Value 50 to 1000 0.01 70 Immediately Tuning − 5.9.3
Pn40E 2 2nd Notch Filter Depth 0 to 1000 0.001 0 Immediately Tuning − 5.9.3
2nd Step 2nd Torque Refer-
Pn40F 2 100 to 5000 1 Hz 5000 Immediately Tuning − 5.9.3
ence Filter Frequency
2nd Step 2nd Torque Refer-
Pn410 2 50 to 100 0.01 50 Immediately Tuning − 5.9.3
ence Filter Q Value
1st Step 2nd Torque Refer-
Pn412 2 ence Filter Time 0 to 65535 0.01 ms 100 Immediately Tuning − 5.8.1
Constant
Pn415 2 Reserved (Do not change.) − − 0 − − − −
Pn423 2 Reserved (Do not change.) − − 0000 − − − −
Appendix
Torque Limit at Main Circuit

Voltage Drop
Release Time for Torque
Pn425 2 Limit at Main Circuit Voltage 0 to 1000 1 ms 100 Immediately Setup − 4.3.7
Drop
Sweep Torque Reference
10
Pn456 2 1 to 800 1% 15 Immediately Tuning − 6.21
Amplitude
10-15
10 Appendix
10.1.2 Parameters
(cont’d)
5.2.1
Notch Filter Adjustment
2 0000 to 0101 − 0101 Immediately Tuning − 5.3.1
Switch
5.5.1
4th 3rd 2nd 1st
n.
Notch Filter Adjustment Selection 1
0 Does not adjust 1st step notch filter automatically using utility function.
Pn460 1 Adjust 1st step notch filter automatically using utility function.
Notch Filter Adjustment Selection 2

0 Does not adjust 2nd step notch filter automatically using utility function.
1 Adjust 2nd step notch filter automatically using utility function.
Pn501 2 Zero Clamp Level 0 to 10000 1 min-1 10 Immediately Setup − −

Pn502 2 Rotation Detection Level 1 to 10000 1 min-1 20 Immediately Setup − 4.8.3
Speed Coincidence Signal
Pn503 2
Output Width
Brake Reference - Servo OFF

Pn506 2 0 to 50 10 ms 0 Immediately Setup − 4.3.4
Delay Time
Brake Reference Output
Pn507 2
Speed Level
Waiting Time for Brake

Signal When Motor Running
Instantaneous Power Cut
Hold time
10-16
(cont’d)
0000 to
2 Input Signal Selection 1 − 2881 After restart Setup − −
FFF1
4th 3rd 2nd 1st
n.
Reference
P-OT Signal Mapping (Forward run prohibited when OFF (open)) Section
0 Forward run allowed when CN1-40 input signal is ON (closed).
Pn50A 2 Forward run allowed when CN1-42 input signal is ON (closed).
7 Forward run prohibited.
4.3.2
8 Forward run allowed.
9 Forward run allowed when CN1-40 input signal is OFF (open).
A Forward run allowed when CN1-41 input signal is OFF (open).
B Forward run allowed when CN1-42 input signal is OFF (open).
C Forward run allowed when CN1-43 input signal is OFF (open).
D Forward run allowed when CN1-44 input signal is OFF (open).
E Forward run allowed when CN1-45 input signal is OFF (open).
F Forward run allowed when CN1-46 input signal is OFF (open).
Appendix
10
10-17
10 Appendix
10.1.2 Parameters
(cont’d)
0000 to
2 Input Signal Selection 2 – 8883 After restart Setup − –
FFFF
4th 3rd 2nd 1st

n.
Reference
N-OT Signal Mapping (Reverse run prohibited when OFF (open)) Section
0 Reverse run allowed when CN1-40 input signal is ON (closed).
3 Reverse run allowed when CN1-43 input signal is ON (closed) .
7 Reverse run prohibited.
4.3.2
8 Reverse run allowed.
9 Reverse run allowed when CN1-40 input signal is OFF (open).
A Reverse run allowed when CN1-41 input signal is OFF (open).
B Reverse run allowed when CN1-42 input signal is OFF (open).
C Reverse run allowed when CN1-43 input signal is OFF (open).
D Reverse run allowed when CN1-44 input signal is OFF (open).
E Reverse run allowed when CN1-45 input signal is OFF (open).
F Reverse run allowed when CN1-46 input signal is OFF (open).
Pn50B
Reference
/P-CL Signal Mapping (Torque Limit when ON (closed)) Section
0 Active when CN1-40 input signal is ON (closed).
7 Always active (fixed).
4.6.2
8 Not active (fixed).
9 Active when CN1-40 input signal is OFF (open).
A Active when CN1-41 input signal is OFF (open).
B Active when CN1-42 input signal is OFF (open).
C Active when CN1-43 input signal is OFF (open).
D Active when CN1-44 input signal is OFF (open).
E Active when CN1-45 input signal is OFF (open).
F Active when CN1-46 input signal is OFF (open).
Reference
/N-CL Signal Mapping (Torque Limit when ON (closed)) Section
0 to F Same as /P-CL signal mapping 4.6.2
10-18
(cont’d)
2 Output Signal Selection 1 0000 to 3333 − 0000 After restart Setup − −
4th 3rd 2nd 1st
n.
Reference
Positioning Completion Signal Mapping (/COIN) Section
0 Disabled (the above signal is not used.)
1 Outputs the signal from CN1-25, -26 output terminal.
4.8.6
Pn50E
Reference
Speed Coincidence Detection Signal Mapping (/V-CMP) Section
0 to 3 Same as /COIN Signal Mapping. 4.8.5
Reference
Servomotor Rotation Detection Signal Mapping (/TGON) Section
Reference
Servo Ready Signal Mapping (/S-RDY) Section

4th 3rd 2nd 1st
n.
Reference
Torque Limit Detection Signal Mapping (/CLT) Section
4.6.3
Pn50F
Reference
Speed Limit Detection Signal Mapping (/VLT) Section
0 to 3 Same as /CLT Signal Mapping. 4.8.8
Reference
Brake Signal Mapping (/BK) Section
Reference
Warning Signal Mapping (/WARN) Section
Appendix
10
10-19
10 Appendix
10.1.2 Parameters
(cont’d)
4th 3rd 2nd 1st
n.
Reference
Near Signal Mapping (/NEAR) Section
Pn510 4.8.7
10-20
(cont’d)
0000 to
2 Input Signal Selection 5 − 6541 After restart Setup − 3.4.1
FFFF
4th 3rd 2nd 1st
n.
Homing Deceleration Switch Signal Mapping (/DEC)
9 Active when CN1-40 input signal is OFF (open).
A Active when CN1-41 input signal is OFF (open).
B Active when CN1-42 input signal is OFF (open).
C Active when CN1-43 input signal is OFF (open).
D Active when CN1-44 input signal is OFF (open).
Pn511 E Active when CN1-45 input signal is OFF (open).
F Active when CN1-46 input signal is OFF (open).
External Latch Signal Mapping (/EXT1)

D Active when CN1-10 signal is OFF (open).
E Active when CN1-11 signal is OFF (open).
F Active when CN1-12 signal is OFF (open).
0 to 3
Not active (fixed).
9 to C
External Latch 2 Signal Mapping (/EXT2)

4 to 8
Same as /EXT1 signal mapping.
D to F
External Latch 3 Signal Mapping (/EXT3)

4 to 8
Same as /EXT1 signal mapping.
D to F
Appendix
10
10-21
10 Appendix
10.1.2 Parameters
(cont’d)
2 Output Signal Inverse Setting 0000 to 0111 − 0000 After restart Setup − 3.4.2
4th 3rd 2nd 1st
n.
Output Signal Inversion for CN1-25 or -26 Terminal
0 Does not inverse outputs.
1 Inverses outputs.
Pn512 Output Signal Inversion for CN1-27 or -28 Terminal

1 Inverses outputs.
Output Signal Inversion for CN1-29 or -30 Terminal

1 Inverses outputs.
0000 to
2 Input Signal Selection 6 − 8888 After restart Setup − −
FFFF
4th 3rd 2nd 1st
n.
Reference
Dynamic Brake Answer signal 1 Input Signal Mapping (/DBANS1) Section
0 Detects dynamic brake (DB) contactor errors when the input signal of CN1-40 is ON (closed) while
the DB is applied.
1 Detects DB contactor errors when the input signal of CN1-41 is ON (closed) while the DB is applied.
Pn515 3 Detects DB contactor errors when the input signal of CN1-43 is ON (closed) while the DB is applied.
3.9.4
7, 8 Disables DB contactor error detection of DB answer signal 1.
9 Detects DB contactor errors when the input signal of CN1-40 is OFF (open) while the DB is applied.
A Detects DB contactor errors when the input signal of CN1-41 is OFF (open) while the DB is applied.
B Detects DB contactor errors when the input signal of CN1-42 is OFF (open) while the DB is applied.
C Detects DB contactor errors when the input signal of CN1-43 is OFF (open) while the DB is applied.
D Detects DB contactor errors when the input signal of CN1-44 is OFF (open) while the DB is applied.
E Detects DB contactor errors when the input signal of CN1-45 is OFF (open) while the DB is applied.
F Detects DB contactor errors when the input signal of CN1-46 is OFF (open) while the DB is applied.
Pn517 2 Reserved (Do not change.) – – 0000 – – − –

Excessive Error Level 1
0 to
Pn51B 4 between Servomotor and reference 1000 Immediately Setup − 8.3.6
1073741824
Load Positions unit
Excessive Position Error
Pn51E 2 10 to 100 1% 100 Immediately Setup − 9.2.1
Warning Level
10-22
(cont’d)
1
Excessive Position Error 1 to 5.1.4
Pn520 4 reference 5242880 Immediately Setup −
Alarm Level 1073741823 9.1.1
unit
1
0 to
Pn522 4 Positioning Completed Width reference 7 Immediately Setup − 4.8.6
1073741824
unit
1
1 to
Pn524 4 NEAR Signal Width reference 1073741824 Immediately Setup − 4.8.7
1073741824
unit
1
Excessive Position Error 1 to
Pn526 4 reference 5242880 Immediately Setup − 5.1.4
Alarm Level at Servo ON 1073741823
unit
Excessive Position Error
Warning Level at Servo ON
Speed Limit Level at Servo
Pn529 2
ON
Multiplier per One

Pn52A 2 0 to 100 1% 20 Immediately Tuning − 8.3.6
Fully-closed Rotation
Pn52B 2 Overload Warning Level 1 to 100 1% 20 Immediately Setup − 4.3.8
Derating of Base Current at
Pn52C 2 10 to 100 1% 100 After restart Setup − 4.3.8
Detecting Overload of Motor
Pn52D 2 Reserved (Do not change.) – – 50 – – − –
Pn52F 2 Reserved (Do not change.) − − 0FFF − − − –
Program JOG Operation
2 0000 to 0005 − 0000 Immediately Setup − 6.5
Related Switch
4th 3rd 2nd 1st
n.
Program JOG Operation Switch
0 (Waiting time Pn535 → Forward movement Pn531) × Number of movements Pn536
1 (Waiting time Pn535 → Reverse movement Pn531) × Number of movements Pn536
2 (Waiting time Pn535 → Forward movement Pn531) × Number of movements Pn536
Pn530 3 (Waiting time Pn535 → Reverse movement Pn531) × Number of movements Pn536
4 (Waiting time Pn535 → Forward movement Pn531 → Waiting time Pn535 →
Reverse movement Pn531) × Number of movements Pn536
5 (Waiting time Pn535 → Reverse movement Pn531 → Waiting time Pn535 →
Forward movement Pn531) × Number of movements Pn536
1
Program JOG Movement 1 to
Pn531 4 reference 32768 Immediately Setup − 6.5
Distance 1073741824
Appendix
unit
Program JOG Movement
Pn533 2
Speed
1 to 10000 1 min-1 500 Immediately Setup − 6.5
Program JOG Acceleration/

Pn534 2 2 to 10000 1 ms 100 Immediately Setup − 6.5
Deceleration Time
Pn535 2 Program JOG Waiting Time 0 to 10000 1 ms 100 Immediately Setup − 6.5
10
10-23
10 Appendix
10.1.2 Parameters
(cont’d)
Number of Times of Program
Pn536 2 0 to 1000 1 time 1 Immediately Setup − 6.5
JOG Movement
Analog Monitor 1 Offset -10000 to
Pn550 2 0.1 V 0 Immediately Setup − 5.1.3
Voltage 10000
Analog Monitor 2 Offset -10000 to
Pn551 2 0.1 V 0 Immediately Setup − 5.1.3
Voltage 10000
Analog Monitor -10000 to
Pn552 2 ×0.01 100 Immediately Setup − 5.1.3
Magnification (×1) 10000
Analog Monitor -10000 to
Pn553 2 ×0.01 100 Immediately Setup − 5.1.3
Magnification (×2) 10000
Remained Vibration
Pn560 2 1 to 3000 0.1% 400 Immediately Setup − 5.7.1
Detection Width
5.3.1
Pn561 2 Overshoot Detection Level 0 to 100 1% 100 Immediately Setup −
5.4.1
Depends on
Regenerative Resistor Capac- SERVO-
Pn600 2 PACK 10 W 0 Immediately Setup − 3.8.3
ity *2
Capacity*3
0 or higher
Dynamic brake resistor (Max. value
Pn601 2 depends on 10 W 0 Immediately Setup − 3.9.2
capacity
model.)*3
Pn621 to SERVOPACK: Safety Mod-
– – – – – – – –
Pn628*4 ule Parameters
∗2. Normally set to "0." When using an external regenerative resistor, set the capacity (W) of the regenerative resistor
unit.
∗3. The upper limit is the maximum output capacity (W) of the SERVOPACK.
∗4. These parameters can be set in SERVOPACKs with safety modules. For details, refer to Σ-V Series User’s Manual,
10-24
(cont’d)
2 Communications Control – – 1040 Immediately Setup − –
4th 3rd 2nd 1st
n.
MECHATROLINK-III Communications Check Mask (for debug)
0 No mask
1 Ignores MECHATROLINK communications error (A.E6 ).
2 Ignores WDT error (A.E5 ).
3 Ignores both MECHATROLINK communications error (A.E6 ) and WDT error (A.E5 ).
Warning Check Mask

0 No mask
1 Ignores data setting warning (A.94 ).
2 Ignores command warning (A.95 ).
3 Ignores both data setting warning (A.94 ) and command warning (A.95 ).
4 Ignores communications warning (A.96 ).
5 Ignores both data setting warning (A.94 ) and communications warning (A.96 ).
6 Ignores both command warning (A.95 ) and communications warning (A.96 ).
Pn800 7 Ignores data setting warning (A.94 ), command warning (A.95 ) and communications warning
(A.96 ).
8 Ignores command warning 7 (A.97A) and data clamp (A.97B).
9 Ignores data setting warning (A.94 ), command warning 7 (A.97A) and data clamp (A.97B).
A Ignores command warning (A.95 ) and command warning 7 (A.97A) and data clamp (A.97B).
B Ignores data setting warning (A.94 ), command warning (A.95 ), command warning 7 (A.97A)
and data clamp (A.97B).
C Ignores communications warning (A.96 ), command warning 7 (A.97A) and data clamp (A.97B).
D Ignores data setting warning (A.94 ), communications warning (A.96 ), command warning 7
(A.97A) and data clamp (A.97B).
E Ignores command warning (A.95 ), communications warning (A.96 ), command warning 7
(A.97A) and data clamp (A.97B).
F Ignores data setting warning (A.94 ), command warning (A.95 ), communications warning
(A.96 ), command warning 7 (A.97A) and data clamp (A.97B).
Automatic warning-clear (for debug)*11

0 No warning-clear (for debug)
1 Automatic warning-clear (for MECHATROLINK-III specifications)
∗11. This parameter is enabled only for MECHATROLINK-II-compatible profile.

Appendix
10
10-25
10 Appendix
10.1.2 Parameters
(cont’d)
Application Function Select 6
2 – – 0003 Immediately Setup − 4.3.3
(Software LS)
4th 3rd 2nd 1st

n.
Software Limit Function
0 Enables forward and reverse software limit.
1 Disables forward software limit.
2 Disables reverse software limit.
Pn801 3 Disables software limit in both directions.
Software Limit for Reference

0 Disables software limit for reference.
1 Enables software limit for reference.
1
Pn803 2 Origin Range 0 to 250 reference 10 Immediately Setup − *1
unit
-
1
1073741823
Pn804 4 Forward Software Limit reference 1073741823 Immediately Setup − 4.3.3
to
unit
1073741823
-
1
1073741823
Pn806 4 Reverse Software Limit reference -1073741823 Immediately Setup − 4.3.3
to
unit
1073741823
-
1
Absolute Encoder Origin 1073741823
Pn808 4
Offset to
reference 0 Immediately*5 Setup − 4.7.8
unit
1073741823
10000
1st Linear Acceleration reference
Pn80A 2
Constant
1 to 65535 100 Immediately*6 Setup − *1
unit/s2
10000
2nd Linear Acceleration reference
Pn80B 2
Constant
unit/s2
100
Acceleration Constant
Pn80C 2
Switching Speed
0 to 65535 reference 0 Immediately*6 Setup − *1
unit/s
10000
1st Linear Deceleration reference
Pn80D 2
Constant
unit/s2
S800000 63).
∗5. Available after the SENS_ON command is input.
∗6. Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during
operation.
10-26
(cont’d)
10000
2nd Linear Deceleration reference
Pn80E 2
Constant
unit/s2
100
Deceleration Constant
Pn80F 2
Switching Speed
unit/s
Exponential Function 100
Pn810 2 Acceleration/Deceleration 0 to 65535 reference 0 Immediately*7 Setup − *1
Bias unit/s
Exponential Function
Pn811 2 Acceleration/Deceleration 0 to 5100 0.1 ms 0 Immediately*7 Setup − *1
Time Constant
Pn812 2 Movement Average Time 0 to 5100 0.1 ms 0 Immediately*7 Setup − *1
-1073741823 1
Final Travel Distance for
Pn814 4 to reference 100 Immediately Setup – *1
External Positioning
1073741823 unit
2 Homing Mode Setting – – 0000 Immediately Setup Μ2*11 –
4th 3rd 2nd 1st

n.
Homing Direction
0 Forward
Pn816 1 Reverse
100
Homing Approach Speed
Pn817*8 2
(Homing Approach Speed 1)
unit/s
100
Homing Creep Speed(Hom-
Pn818*9 2
ing Approach Speed 2)
unit/s
-1073741823 1
Final Travel Distance for *1
Pn819 4 to reference 100 Immediately Setup −
Homing
1073741823 unit
S800000 63).
operation.
∗7. The settings are updated only if the sending of the reference has been stopped (DEN is set to 1).
∗8. The set value of Pn842 is valid when the set value of Pn817 is 0.
Appendix
10
10-27
10 Appendix
10.1.2 Parameters
(cont’d)
Input Signal Monitor
2
Selection
– – 0000 Immediately Setup M2*11 –
4th 3rd 2nd 1st

n.
IO12 Signal Mapping
0 No mapping
1 Monitors CN1-40 input terminal.
Pn81E 5 Monitors CN1-44 input terminal.

IO13 Signal Mapping

0 to 7 Same as IO12 signal mapping.
IO14 Signal Mapping

IO15 Signal Mapping

2 Command Data Allocation – – 0010 After restart Setup M2*11 *1
4th 3rd 2nd 1st

n.
Option Field Allocation
0 Disables OPTION bit allocation.
1 Enables OPTION bit allocation.
Pn81F
Position Control Command TFF/TLIM Function Allocation
0 Disables allocation.
1 Enables allocation.
-2147483648 1
Forward Latching Allowable *1
Area
2147483647 unit
-2147483648 1
Reverse Latching Allowable *1
Area
2147483647 unit
S800000 63).
10-28
(cont’d)
Option Monitor 1 Selection – –
Motor rotating speed
0000H
[1000000H/overspeed detection position]
Speed reference
0001H
[1000000H/overspeed detection position]
0002H Torque [1000000H/max. torque]
0003H Position error (lower 32 bits) [reference unit]
0004H Position error (upper 32 bits) [reference unit]
0005H System reserved
0006H System reserved
000AH Encoder count (lower 32 bits) [reference unit]
000BH Encoder count (upper 32 bits) [reference unit]
000CH FPG count (lower 32 bits) [reference unit]
000DH FPG count (upper 32 bits) [reference unit]
0010H Un000: Motor rotating speed [min-1]
0011H Un001: Speed reference [min-1]
0012H Un002: Torque reference [%]
Un003: Rotational angle 1 (encoder pulses
0013H
from the phase-C origin: decimal display)
−
0014H Un004: Rotational angle 2 [deg]
Pn824 2 0000 Immediately Setup *1
0015H Un005: Input signal monitor
0016H Un006: Output signal monitor
0017H Un007: Input position reference speed [min-1]
0018H Un008: Position error [reference unit]
0019H Un009: Accumulated load ratio [%]
001AH Un00A: Regenerative load ratio [%]
Un00B: DB resistance consumption power
001BH
[%]
Un00C: Input reference counter [reference
001CH
unit]
Un00D: Feedback pulse counter [encoder
001DH
pulse]
Un00E: Fully-closed loop feedback pulse
001EH
counter [external encoder resolution]
001FH System reserved
0023H Primary multi-turn data [Rev]
0024H Primary incremental data [pulse]
Previous value of latched feedback position
0080H
(LPOS) [encoder pulse]
Previous value of latched feedback position
0081H
(LPOS2) [encoder pulse] M3*10
0084H Continuous latch status
Appendix
S800000 63).
∗10. This parameter is enabled only for MECHATROLINK-III standard servo profile.
10
10-29
10 Appendix
10.1.2 Parameters
(cont’d)
Option Monitor 2 Selection – – 0000
Pn825 2 0000H Immediately Setup − *1
to Same as Option Monitor 1 Selection.
0084H
10000
Linear Deceleration Constant reference
Pn827 2
1 for Stopping
unit/s2
SVOFF Waiting Time
Pn829 2 (SVOFF at deceleration to 0 to 65535 10 ms 0 Immediately*6 Setup − *1
stop)
0000 to
2 Option Field Allocation 1
1E1E
– 1813 After restart Setup M2*11 –
4th 3rd 2nd 1st

n.
0 to E ACCFIL bit position
Pn82A 0 Disables ACCFIL bit allocation.

1 Enables ACCFIL bit allocation.
0 to E GSEL bit position
0 Disables GSEL bit allocation.

1 Enables GSEL bit allocation.
0000 to
1F1F
– 1D1C After restart Setup M2*11 –
4th 3rd 2nd 1st

n.
0 to F V_PPI bit position
Pn82B 0 Disables V_PPI bit allocation.

1 Enables V_PPI bit allocation.
0 to F P_PI_CLR bit position
0 Disables P_PI_CLR bit allocation.

1 Enables P_PI_CLR bit allocation.
S800000 63).
operation.
10-30
(cont’d)
0000 to
1F1F
– 1F1E After restart Setup M2*11 –
4th 3rd 2nd 1st

n.
0 to F P_CL bit position
Pn82C 0 Disables P_CL bit allocation.

1 Enables P_CL bit allocation.
0 to F N_CL bit position
0 Disables N_CL bit allocation.

1 Enables N_CL bit allocation.
0000 to
1F1C
4th 3rd 2nd 1st

n.
0 to C BANK_SEL1 bit position
Pn82D 0 Disables BANK_SEL1 bit allocation.

1 Enables BANK_SEL1 bit allocation.
0 to F LT_DISABLE bit position
0 Disables LT_DISABLE bit allocation.

1 Enables LT_DISABLE bit allocation.
0000 to
1D1F
4th 3rd 2nd 1st

n.
Pn82E
0 to D OUT_SIGNAL bit position
Disables OUT_SIGNAL bit allocation.

Appendix
0
1 Enables OUT_SIGNAL bit allocation.
10
10-31
10 Appendix
10.1.2 Parameters
(cont’d)
2 Motion Setting 0000 to 0001 – 0000 After restart Setup – *1
4th 3rd 2nd 1st

n.
Linear Accel/Decel Constant Selection
0 Uses Pn80A to Pn80F and Pn827. (Setting of Pn834 to Pn840 disabled)
Pn833 1 Uses Pn834 to Pn840. (Setting of Pn80A to Pn80F and Pn827 disabled)
10000
1st Linear Acceleration 1 to reference Immediately *1
Pn834 4 100 Setup –
Constant 2 20971520 *6
unit/s2
10000
2nd Linear Acceleration 1 to Immediately *1
Pn836 4 reference 100 Setup –
Constant 2 20971520 *6
unit/s
1
Acceleration Constant 0 to Immediately *1
Pn838 4 reference 0 Setup –
Switching Speed 2 2097152000 *6
unit/s
10000
1st Linear Deceleration 1 to reference Immediately *1
Pn83A 4 100 Setup –
Constant 2 20971520 *6
unit/s2
10000
2nd Linear Deceleration 1 to reference Immediately *1
Pn83C 4 100 Setup –
Constant 2 20971520 *6
unit/s2
1
Deceleration Constant 0 to Immediately *1
Pn83E 4 reference 0 Setup –
Switching Speed 2 2097152000 *6
unit/s
10000
Linear Deceleration 1 to reference Immediately
Pn840 4 100 Setup – *1
Constant 2 for Stopping 20971520 *6
unit/s2
100
Homing Approach Speed 0 to Immediately
Pn842*8 4
(Homing Approach Speed 12) 20971520
reference 0
*6
Setup – *1
unit/s
100
Homing Creep Speed (Hom- 0 to Immediately
Pn844*9 4
ing Approach Speed 22) 20971520
reference 0
*6
Setup – *1
unit/s
Pn850 2 Latch Sequence Number 0 to 8 – 0 Immediately Setup – *1
Pn851 2 Continuous Latch Count 0 to 255 – 0 Immediately Setup – *1
S800000 63).
operation.
10-32
(cont’d)
Latch Sequence Signal 1 to 4 *1
2 0000 to 3333 – 0000 Immediately Setup –
Setting
4th 3rd 2nd 1st

n.
Latch sequence 1 signal selection.
0 Phase C
1 EXT1 signal
2 EXT2 signal
3 EXT3 signal
Pn852

0 to 3 Same as latch sequence 1 signal selection.

Latch Sequence Signal 5 to 8 *1

2 0000 to 3333 – 0000 Immediately Setup –
Setting
4th 3rd 2nd 1st
n.
Latch sequence 5 signal selection
0 Phase C
1 EXT1 signal
2 EXT2 signal
3 EXT3 signal
Pn853

Appendix
S800000 63).
10
10-33
10 Appendix
10.1.2 Parameters
(cont’d)
SVCMD_IO (input signal
2
monitor) Allocation 1
0000 to 1717 – 0000 Immediately Setup M3*10 –
4th 3rd 2nd 1st

n.
0 to 7 Bit position of CN1-40 input terminal monitor
0 Disables bit allocation for CN1-40 input terminal monitor.

Pn860
1 Enables bit allocation for CN1-40 input terminal monitor.


2
4th 3rd 2nd 1st

n.

Pn861


2
4th 3rd 2nd 1st

n.

Pn862

10-34
(cont’d)
2
4th 3rd 2nd 1st

n.
Pn863 0 Disables bit allocation for CN1-46 input terminal monitor.


2
4th 3rd 2nd 1st

n.
Pn864

2
4th 3rd 2nd 1st

n.
Pn865

2
4th 3rd 2nd 1st

n.
Pn866
Appendix
10
10-35
10 Appendix
10.1.2 Parameters
(cont’d)
Station Address Monitor
Pn880 2 03 to EFH – 0 Immediately Setup – –
(for maintenance, read only)
Setting Transmission Byte
Pn881 2 Monitor [byte] 17, 32, 48 – 0 Immediately Setup – –
Transmission Cycle Setting
Pn882 2 Monitor [0.25 μs] 0 to FFFFH – 0 Immediately Setup – –
Communications Cycle Set-
ting Monitor
Pn883 2 0 to 32 – 0 Immediately Setup – –
[x transmission cycle]
MECHATROLINK Receive
Pn88A 2 Error Counter Monitor (for 0 to 65535 – 0 Immediately Setup – –
maintenance, read only)
Command Data Monitor at
Pn890 to 0 to *1
4 Alarm/Warning Occurs – 0 Immediately Setup –
Pn8A6 FFFFFFFFH
Response Data Monitor at
Pn8A8 to 0 to *1
4 Alarm/Warning Occurs – 0 Immediately Setup –
Pn8BE FFFFFFFFH
Pn900 2 Parameter Bank Number 0 to 16 – 0 After restart Setup – *1
Parameter Bank Member *1

Pn901 2 0 to 15 – 0 After restart Setup –
Number
Pn902 to Parameter Bank Member 0000H to *1
2 – 0 After restart Setup –
Pn910 Definition 08FFH
Parameter Bank Data (non-
Pn920 to 0000H to *1
2 volatile memory save dis- – 0 Immediately Setup –
Pn95F FFFFH
abled)
S800000 63).
10-36
10.1.3 MECHATROLINK-III Common Parameters

The following list shows the common parameters used by all devices for MECHATROLINK-III. These com-
mon parameters are used to make settings from the host controller via MECHATROLINK communications.
Do not change settings with the digital operator or any other device.
Parameter Units Factory When Classifica-

Size Name Setting Range
No. [Resolution] Setting Enabled tion
Encoder Type (read only) 0 to 1 – –
01
4 0000H Absolute encoder –
PnA02
0001H Incremental encoder
Motor Type (read only) 0 to 1 – –
02
4 0000H Rotational servomotor –
PnA04
0001H Linear servomotor
Semi-closed/Fully-closed Type
0 to 1 – –
(read only)
03
4 –
PnA06 0000H Semi-closed
0001H Fully-closed
Device
04 0 to Information
PnA08
4 Rated Speed (read only)
FFFFFFFFH min-1 – –
Related
05 0 to Parameters
PnA0A
4 Maximum Output Speed (read only)
FFFFFFFFH min-1 – –
06 -1073741823 to
4 Speed Multiplier (read only) – – –
PnA0C 1073741823
07 0 to
4 Rated Torque (read only) Nm – –
PnA0E FFFFFFFFH
08 Maximum Output Torque (read 0 to
4 Nm – –
PnA10 only) FFFFFFFFH
09 -1073741823 to
4 Torque Multiplier (read only) – – –
PnA12 1073741823
0A 0 to
4 Resolution (read only) pulse/rev – –
PnA14 FFFFFFFFH
Note: When using parameters that are enabled after restarting the SERVOPACK, a CONFIG command must be input or
the power must be turned OFF and then ON again.
Appendix
10
10-37
10 Appendix
(cont’d)
21 1 to After
4 Electronic Gear Ratio (Numerator) – 1
PnA42 1073741824 restart
22 Electronic Gear Ratio (Denomina- 1 to After
4 – 1
PnA44 tor) 1073741824 restart
23 -1073741823 to Immedi-
4 Absolute Encoder Origin Offset 1 reference unit 0
PnA46 1073741823 ately*1
24 After
4 Multiturn Limit Setting 0 to 65535 Rev 65535
PnA48 restart
Limit Setting 0 to 33H 0000H
Bit 0 P-OT (0: Enabled, 1: Disabled)
Bit 1 N-OT (0: Enabled, 1: Disabled)
Bit 2 Reserved Machine
25 Bit 3 Reserved After Specification
4 0000H Related
PnA4A restart
Bit 4 P-SOT (0: Disabled, 1: Enabled) Parameters
Bit 5 N-SOT (0: Disabled, 1: Enabled)
Bit 6 Reserved
Bit
Reserved
7 to 31
26 -1073741823 to Immedi-
4 Forward Software Limit 1 reference unit 1073741823
PnA4C 1073741823 ately
27 Immedi-
4 Reserved (Do not use.) – – 0
PnA4E ately
28 -1073741823 to Immedi-
4 Reverse Software Limit 1 reference unit –1073741823
PnA50 1073741823 ately
29 Immedi-
4 Reserved (Do not use.) – – 0
PnA52 ately
10-38
(cont’d)
Speed Unit*2 0 to 4 –
0000H reference unit/sec
41 0001H reference unit/min

After
4 0
PnA82 0002H Percentage (%) of rated speed*3 restart
0003H min-1*3
0004H Max. motor speed/40000000H*4
Speed Base Unit
42 (Set the value of “n” used as the After
4 -3 to 3 – 0 Unit System
PnA84 exponent in 10n when calculating restart
Related
the Speed Unit (41).)*3*4
Parameters
43 Position Unit 0 – After
4 0
PnA86 0000H reference unit restart
Position Base Unit
4 0 – 0
the Position Unit (43).)
Acceleration Unit – –
45 After
PnA8A
4 0000H reference unit/sec2 0
restart
0001H Not supported
∗2. When using fully-closed loop control, set 0000H (Reference unit/sec).
∗3. When either 0002H or 0003H is selected for the Speed Unit (parameter 41), set the Speed Base Unit (parameter 42)
to a number between -3 and 0.
∗4. When 0004H is selected for the Speed Unit (parameter 41), set the Speed Base Unit (parameter 42) to 0.
Appendix
10
10-39
10 Appendix
(cont’d)
Acceleration Base Unit
4 4 to 6 – 4
PnA8C exponent in 10n when calculating restart
the Acceleration Unit (45).)
Torque Unit 1 to 2 –
47 0000H Not supported After

4 1
PnA8E 0001H Percentage (%) of rated torque restart
0002H Max. torque/40000000H*5
Torque Base Unit*5
4 -5 to 0 – 0
the Torque Unit (47).)
Compliance Unit System (read only) – –
Speed
Bit 0 reference unit/s (1: Enabled)
Bit 1 reference unit/min (1: Enabled)
Bit 2 Percentage (%) of rated speed (1: Enabled)
Bit 3 min-1 (rpm) (1: Enabled) Unit System
Bit 4 Max. motor speed/4000000H (1: Enabled) Related
Parameters
Bit
Reserved (0: Disabled)
5 to 7
Position
Bit 8 reference unit (1: Enabled)
49 Bit
4 Reserved (0: Disabled) 0601011FH –
PnA92 9 to 15
Acceleration
Bit 16 reference unit/s2 (1: Enabled)
msec (Acceleration time taken to reach the rated speed)
Bit 17
(0: Disabled)
Bit
18 to 23
Torque
Bit 24 N m (N) (0: Disabled)
Bit 25 Percentage (%) of rated torque (1: Enabled)
Bit 26 Max. torque/40000000H (1: Enabled)
Bit
27 to 31
∗5. When 0002H is selected for the Torque Unit (parameter 47), set the Torque Base Unit (parameter 48) to 0.
10-40
(cont’d)
61 1000 to 0.001 Hz Immedi-
4 Speed Loop Gain 40000
PnAC2 2000000 [0.1 Hz] ately
62 μs Immedi-
4 Speed Loop Integral Time Constant 150 to 512000 20000
PnAC4 [0.01 ms] ately
63 1000 to 0.001/s Immedi-
4 Position Loop Gain 40000 Adjustment
PnAC6 2000000 [0.1/s] ately
Related
64 Immedi- Parameters
4 Feedforward Compensation 0 to 100 1% 0
PnAC8 ately
65 Position Loop Integral Time μs Immedi-
4 0 to 5000000 0
PnACA Constant [0.1 ms] ately
66 0 to Immedi-
4 Positioning Completed Width 1 reference unit 7
PnACC 1073741824 ately
Adjustment
67 1 to Immedi-
4 NEAR Signal Width 1 reference unit 1073741824 Related
PnACE 1073741824 ately
Parameters
Appendix
10
10-41
10 Appendix
(cont’d)
81 Exponential Function Accel/Decel μs Immedi-
4 0 to 510000 0
PnB02 Time Constant [0.1 ms] ately*6
82 μs Immedi-
4 Movement Average Time 0 to 510000 0
PnB04 [0.1 ms] ately*6
83 Final Travel Distance for External -1073741823 to Immedi-
4 1 reference unit 100
PnB06 Positioning 1073741823 ately
5000
Value
84 0 to converted Immedi-
PnB08
4 Homing Approach Speed
3FFFFFFFH 10-3 min-1 ately
reference/s
into 10-3 min-1
500
Value
85 0 to converted Immedi-
PnB0A
4 Homing Creep Speed
3FFFFFFFH 10-3 min-1 ately
reference/s
into 10-3 min-1
86 -1073741823 to Immedi-
4 Final Travel Distance for Homing 1 reference unit 100
PnB0C 1073741823 ately
Monitor Selection 1 0 to F –
0000H APOS
Command
0001H CPOS
Related
0002H PERR Parameters
0003H LPOS1
0004H LPOS2
0005H FSPD
0006H CSPD
87 Immedi-
4 0007H TRQ 1
PnB0E ately
0008H ALARM
0009H MPOS
000AH Reserved (Undefined value)
000BH Reserved (Undefined value)
000CH CMN1 (Common monitor 1)
000DH CMN2 (Common monitor 2)
000EH OMN1 (Optional monitor 1)
000FH OMN2 (Optional monitor 2)
Monitor Selection 2 – –
88 0000H Immedi-
4 0
PnB10 to Same as Monitor Selection 1. ately
000FH
operation.
10-42
(cont’d)
Monitor Selection for SEL_MON1
(CMN1) 0 to 6 –
0000H TPOS (Target position in the reference coordinates)

0001H IPOS (Reference position in the reference coordinates)
POS_OFSET (Offset value set in the set coordinates command
0002H
(POS_SET))
0003H TSPD (Target speed)
0004H SPD_LIM (Speed limit value)
0005H TRQ_LIM (Torque limit value)
SV_STAT
Monitor
Byte 1: Current communications phase
00H: Phase 0
01H: Phase 1
02H: Phase 2
03H: Phase 3
Byte 2: Current control mode
00H: Position control mode
01H: Speed control mode
02H: Torque control mode
Byte 3: Reserved
Byte 4: Expansion signal monitor
Bit Name Contents Value Setting

Latch
89 Processing status 0 detection not Immedi- Command
4 for latch detection 0 Related
PnB12 processed ately
Bit 0 LT_RDY1 specified by Parameters
SVCMD_CTRL, During latch
LT_REQ1 1 detection
processing
Latch
0006H Processing status 0 detection not
for latch detection processed
Bit 1 LT_RDY1 specified by
SVCMD_CTRL, During latch
LT_REQ2 1 detection
processing
0 Phase C
External
1
input signal 1
Bit 2,
LT_SEL1R Latch signal External
Bit 3 2
input signal 2
External
3
input signal 3
0 Phase C
External
1
input signal 1
Bit 4,
LT_SEL2R Latch signal External
Bit 5 2
input signal 2
Appendix
External
3
input signal 3
Bit 6 Reserved (0)
Note: When using parameters that are enabled after restarting the SERVOPACK, a CONFIG command must be input or 10
10-43
10 Appendix
(cont’d)
Monitor Selection for SEL_MON2
0 to 6 –
(CMN2)
8A Immedi-
4 0000H 0
PnB14 ately
to Same as Monitor Selection for SEL_MON1.
0006H
8B Immedi-
4 Origin Detection Range 0 to 250 1 reference unit 10
PnB16 ately
8C Immedi-
4 Forward Torque Limit 0 to 800 1% 100
PnB18 ately
8D Immedi-
4 Reverse Torque Limit 0 to 800 1% 100
PnB1A ately
8E 1000 to Immedi-
PnB1C
4 Zero Speed Detection Range
10000000 10-3 min-1 20000 ately
8F Speed Coincidence Signal Output Immedi-
PnB1E
4
Width (read only)
0 to 100000 10-3 min-1 10000 ately
Servo Command Control Field
– –
Enabled/Disabled (read only)
Bit 0 CMD_PAUSE (1: Enabled)
Bit 1 CMD_CANCEL (1: Enabled) Command
Bit 2, 3 STOP_MODE (1: Enabled) Related
Parameters
Bit 4, 5 ACCFIL (1: Enabled)
Bit 6, 7 Reserved (0: Disabled)
Bit 8 LT_REQ1 (1: Enabled)
Bit 9 LT_REQ2 (1: Enabled)
Bit 10,
90 LT_SEL1 (1: Enabled)
4 11
PnB20 0FFF3F3FH –
Bit 12,
LT_SEL2 (1: Enabled)
13
Bit 14,
15
Bit 16 to
SEL_MON1 (1: Enabled)
19
Bit 20 to
23
Bit 24 to
27
Bit 28 to
31
10-44
(cont’d)
Servo Command Status Field

– 0
Enabled/Disabled (read only)
Bit 0 CMD_PAUSE_CMP (1: Enabled)

Bit 1 CMD_CANCEL_CMP (1: Enabled)
Bit 4, 5 ACCFIL (1: Enabled)
Bit 8 L_CMP1 (1: Enabled)
Bit 9 L_CMP2 (1: Enabled)
Bit 10 POS_RDY (1: Enabled)
91
4 Bit 11 PON (1: Enabled) 0FFF3F33H –
PnB22
Bit 12 M_RDY (1: Enabled)
Bit 13 SV_ON (1: Enabled)
Bit 14,
15
Bit 16 to
19
Bit 20 to
23
Bit 24 to
SEL_MON3 (1: Enabled) Command
27
Related
Bit 28 to
Reserved (0: Disabled) Parameters
31
I/O Bit Enabled/Disabled (Output)

– –
(read only)
Bit
0 to 3
Bit 4 V_PPI (1: Enabled)
Bit 5 P_PPI (1: Enabled)
Bit 6 P_CL (1: Enabled)
Bit 7 N_CL (1: Enabled)
92 Bit 8 G_SEL (1: Enabled)

4 007F01F0H –
PnB24 Bit
G_SEL (0: Disabled)
9 to 11
Bit 12 to
15
Bit 16 to
BANK_SEL (1: Enabled)
19
Bit 20 to
SO1 to SO3 (1: Enabled)
22
Bit 23 Reserved (0: Disabled)
Bit 24 to
Appendix

31
10
10-45
10 Appendix
(cont’d)
I/O Bit Enabled/Disabled (Input)

– –
(read only)

Bit 1 DEC (1: Enabled)
Bit 2 P-OT (1: Enabled)
Bit 3 N-OT (1: Enabled)
Bit 4 EXT1 (1: Enabled)
Bit 7 ESTP (1: Enabled)
Bit 9 BRK_ON (1: Enabled) Command
93
4 Bit 10 P-SOT (1: Enabled) FF0FFEFEH – Related
PnB26
Parameters
Bit 11 N-SOT (1: Enabled)
Bit 12 DEN (1: Enabled)
Bit 13 NEAR (1: Enabled)
Bit 14 PSET (1: Enabled)
Bit 15 ZPOINT (1: Enabled)
Bit 16 T_LIM (1: Enabled)
Bit 17 V_LIM (1: Enabled)
Bit 18 V_CMP (1: Enabled)
Bit 19 ZSPD (1: Enabled)
Bit 20 to
23
Bit 24 to
I0_STS1 to 8 (1: Enabled)
31
10-46

The following list shows the available monitor displays.
Parameter
Description Unit
No.
Un000 Motor rotating speed min-1
Un001 Speed reference min-1
Un002 Internal torque reference (percentage of the rated torque) %
Rotational angle 1 (encoder pulses from the phase-C origin:
Un003 decimal display) encoder pulse*3
Un004 Rotational angle 2 (from polarity origin (electric angle)) deg

Un005*1 Input signal monitor −
Un006*2 Output signal monitor −
Un007 Input reference pulse speed (valid only in position control) min-1
Un008 Position error amount (valid only in position control) reference unit
Accumulated load ratio (in percentage to the rated torque:
Un009 %
effective torque in cycle of 10 seconds)
Regenerative load ratio (as a percentage of the processable
Un00A regenerative power: regenerative power consumption in cycle %
of 10 seconds)
Power consumed by DB resistance
Un00B (in percentage to the processable power at DB activation: dis- %
played in cycle of 10 seconds)
Un00C Input reference pulse counter reference unit
Un00D Feedback pulse counter encoder pulse*3

Un00E Fully-closed feedback pulse counter external encoder resolution*4
Un012 Total operation time 100 ms
Un013 Feedback pulse counter reference unit
Un014 Effective gain monitor (gain settings 1 = 1, gain settings 2 = 2) −
Un015 Safety I/O signal monitor −
Un020 Motor rated speed min-1
Un021 Motor maximum speed min-1
∗1. For details, refer to 7.3 Monitoring Input Signals.

∗2. For details, refer to 7.4 Monitoring Output Signals.
∗3. For details, refer to 4.4.3 Electronic Gear.
∗4. For details, refer to 8.3.3 Setting Encoder Output Pulses (PAO, PBO, and PCO).
Appendix
10
10-47
10 Appendix
10.3 Parameter Recording Table

Use the following table for recording parameters.
Factory When
Parameter Name
Setting Enabled
Pn000 0000 Basic Function Select Switch 0 After restart
Pn001 0000 Application Function Select Switch 1 After restart
Pn006 0002 Application Function Select Switch 6 Immediately
Pn007 0000 Application Function Select Switch 7 Immediately
Pn00B 0000 Application Function Select Switch B After restart
Pn00C 0000 Application Function Select Switch C After restart
Pn00D 0000 Application Function Select Switch D After restart
Application Function Select Switch
Pn081 0000 After restart
81
Pn100 400 Speed Loop Gain Immediately
Pn101 2000 Speed Loop Integral Time Constant Immediately
Pn102 400 Position Loop Gain Immediately
Pn103 100 Moment of Inertia Ratio Immediately
Pn104 400 2nd Speed Loop Gain Immediately
2nd Speed Loop Integral Time Con-
Pn105 2000 Immediately
stant
Pn106 400 2nd Position Loop Gain Immediately
Pn109 0 Feedforward Gain Immediately
Pn10A 0 Feedforward Filter Time Constant Immediately
Application Function for Gain Select
Pn10B 0000 *1
Switch
Pn10C 200 Mode Switch (torque reference) Immediately
Pn10D 0 Mode Switch (speed reference) Immediately
Pn10E 0 Mode Switch (acceleration) Immediately
Pn10F 0 Mode Switch (position error) Immediately
Pn11F 0 Position Integral Time Constant Immediately
Pn121 100 Friction Compensation Gain Immediately
Pn122 100 2nd Gain for Friction Compensation Immediately
Pn123 0 Friction Compensation Coefficient Immediately
Friction Compensation Frequency
Pn124 0 Immediately
Correction
Friction Compensation Gain Correc-
tion
Pn131 0 Gain Switching Time 1 Immediately
Pn132 0 Gain Switching Time 2 Immediately
Pn135 0 Gain Switching Waiting Time 1 Immediately
Pn136 0 Gain Switching Waiting Time 2 Immediately
∗1. The timing varies in accordance with the digit changed in a parameter (1st digit, 2nd digit, and so on). For details,
refer to 10.1.2 Parameters.
10-48
(cont’d)
Factory When
Parameter Name
Setting Enabled
Automatic Gain Changeover Related
Switch 1
Pn13D 2000 Current Gain Level Immediately
Model Following Control Related
Switch
Pn141 500 Model Following Control Gain Immediately
Model Following Control Gain Com-
pensation
Model Following Control Bias
(Forward Direction)
Model Following Control Bias
(Reverse Direction)
Pn145 500 Vibration Suppression 1 Frequency A Immediately
Pn146 700 Vibration Suppression 1 Frequency B Immediately
Model Following Control Speed
Feedforward Compensation
Pn148 500 2nd Model Following Control Gain Immediately
2nd Model Following Control Gain
Compensation
Pn14A 800 Vibration Suppression 2 Frequency Immediately
Vibration Suppression 2 Compensa-
Pn14B 100 Immediately
tion
Pn14F 0011 Control Related Switch After restart
Anti-Resonance Control Related
Switch
Pn161 1000 Anti-Resonance Frequency Immediately
Pn162 100 Anti-Resonance Gain Compensation Immediately
Pn163 0 Anti-Resonance Damping Gain Immediately
Anti-Resonance Filter Time Con-
Pn164 0 Immediately
stant 1 Compensation
Anti-Resonance Filter Time Con-
Pn165 0 Immediately
stant 2 Compensation
Pn170 1401 Tuning-less Function Related Switch *1
Pn205 65535 Multiturn Limit Setting After restart

Pn207 0010 Position Control Function Switch After restart
Pn20A 32768 Number of External Scale Pitch After restart
Pn20E 1 Electronic Gear Ratio (Numerator) After restart
Pn210 1 Electronic Gear Ratio (Denominator) After restart
Pn212 2048 Encoder Output Pulses After restart
Fully-closed Control Selection
Pn22A 0000 After restart
Switch
Position Control Expanded Function
Pn230 0000 After reset
Switch
Pn231 0 Backlash Compensation Value Immediately
Appendix
Backlash Compensation Time Con-

Pn233 0 Immediately
stant
Note: When using parameters that are enabled after restarting the SERVOPACK, a CONFIG command must be input or 10
10-49
10 Appendix
(cont’d)
Factory When
Parameter Name
Setting Enabled
Pn281 20 Encoder Output Resolution After restart
Pn304 500 JOG Speed Immediately
Pn305 0 Soft Start Acceleration Time Immediately
Pn306 0 Soft Start Deceleration Time Immediately
Pn310 0000 Vibration Detection Switch Immediately
Pn311 100 Vibration Detection Sensibility Immediately
Pn312 50 Vibration Detection Level Immediately
Moment of Inertia Calculating Start
Level
Torque Reference Filter Time Con-
stant
Pn402 800 Forward Torque Limit Immediately
Pn403 800 Reverse Torque Limit Immediately
Pn404 100 Forward External Torque Limit Immediately
Pn405 100 Reverse External Torque Limit Immediately
Pn406 800 Emergency Stop Torque Immediately
Pn407 10000 Speed Limit during Torque Control Immediately
Pn408 0000 Torque Related Function Switch *1
Pn409 5000 1st Notch Filter Frequency Immediately

Pn40A 70 1st Notch Filter Q Value Immediately
Pn40B 0 1st Notch Filter Depth Immediately
Pn40C 5000 2nd Notch Filter Frequency Immediately
Pn40D 70 2nd Notch Filter Q Value Immediately
Pn40E 0 2nd Notch Filter Depth Immediately
Pn40F 5000 Immediately
Frequency
Q Value
1st Step 2nd Torque Reference Filter
Time Constant
Pn415 0 Reserved −
Pn423 0000 Reserved −
Torque Limit at Main Circuit Voltage
Drop
Release Time for Torque Limit at
Main Circuit Voltage Drop
Pn456 15 Sweep Torque Reference Amplitude Immediately
Pn460 0101 Notch Filter Adjustment Switch Immediately
Pn501 10 Zero Clamp Level Immediately
Pn502 20 Rotation Detection Level Immediately
Speed Coincidence Signal Output
Width
Brake Reference - Servo OFF Delay
Pn506 0 Immediately
Time
Pn507 100 Brake Reference Output Speed Level Immediately
10-50
(cont’d)
Factory When
Parameter Name
Setting Enabled
Waiting Time for Brake Signal When
Motor Running
Pn509 20 Instantaneous Power Cut Hold Time Immediately
Pn50A 2881 Input Signal Selection 1 After restart
Pn50B 8883 Input Signal Selection 2 After restart
Pn50E 0000 Output Signal Selection 1 After restart
Pn50F 0100 Output Signal Selection 2 After restart
Pn510 0000 Output Signal Selection 3 After restart
Pn511 6541 Input Signal Selection 5 After restart
Pn512 0000 Output Signal Inverse Setting After restart
Pn517 0000 Reserved –
Excessive Error Level Between Ser-
Pn51B 1000 Immediately
vomotor and Load Positions
Excessive Position Error Warning
Pn51E 100 Immediately
Level
Excessive Position Error Alarm
Level
Pn522 7 Positioning Completed Width Immediately
Pn524 1073741824 NEAR Signal Width Immediately
Excessive Position Error Alarm
Level at Servo ON
Excessive Position Error Warning
Level at Servo ON
Pn529 10000 Speed Limit Level at Servo ON Immediately
Multiplier per One Fully-closed
Pn52A 20 Immediately
Rotation
Pn52B 20 Overload Warning Level Immediately
Derating of Base Current at Detecting
Pn52C 100 After restart
Overload of Motor
Pn52D 50 Reserved –
Pn52F 0FFF Reserved –
Program JOG Operation Related
Switch
Pn531 32768 Program JOG Movement Distance Immediately
Pn533 500 Program JOG Movement Speed Immediately
Program JOG Acceleration/Decelera-
tion Time
Pn535 100 Program JOG Waiting Time Immediately
Number of Times of Program JOG
Pn536 1 Immediately
Movement
Pn550 0 Analog Monitor 1 Offset Voltage Immediately
Pn551 0 Analog Monitor 2 Offset Voltage Immediately
Pn552 100 Analog Monitor Magnification (×1) Immediately
Appendix
Pn553 100 Analog Monitor Magnification (×2) Immediately

Pn560 400 Remained Vibration Detection Width Immediately
Pn561 100 Overshoot Detection Level Immediately
Pn600 0 Regenerative Resistor Capacity Immediately
10
10-51
10 Appendix
(cont’d)
Factory When
Parameter Name
Setting Enabled
Pn601 0 Dynamic Brake Resistor Capacity Immediately
Pn800 1040 Communications Control Immediately
Application Function Select 6
(Software LS)
Pn803 10 Origin Range Immediately
Pn804 1073741823 Forward Software Limit Immediately
Pn806 -1073741823 Reverse Software Limit Immediately
Pn808 0 Absolute Encoder Origin Offset Immediately

∗2
Pn80A 100 1st Linear Acceleration Constant Immediately

∗3
Pn80B 100 2nd Linear Acceleration Constant Immediately

∗3
Acceleration Constant Switching Immediately

Pn80C 0
Speed ∗3
Pn80D 100 1st Linear Deceleration Constant Immediately

∗3
Pn80E 100 2nd Linear Deceleration Constant Immediately

∗3
Deceleration Constant Switching Immediately
Pn80F 0
Speed ∗3
Exponential Function Acceleration/ Immediately

Pn810 0
Deceleration Bias ∗3
Exponential Function Acceleration/ Immediately

Pn811 0
Deceleration Time Constant ∗3
Pn812 0 Movement Average Time Immediately

∗3
Final Travel Distance for External Immediately

Pn814 100
Positioning ∗3
Pn816 0000 Homing Mode Setting Immediately

∗3
Homing Approach Speed Immediately

Pn817 50
(Homing Approach Speed 1) ∗3
Homing Creep Speed Immediately

Pn818 5
(Homing Approach Speed 2) ∗3
Pn819 100 Final Travel Distance for Homing Immediately

∗3
Pn81E 0000 Input Signal Monitor Selection Immediately

Pn81F 0010 Command Data Allocation After restart
Pn820 0 Forward Latching Allowable Area Immediately
Pn822 0 Reverse Latching Allowable Area Immediately
Pn824 0000 Option Monitor 1 Selection Immediately
Pn825 0000 Option Monitor 2 Selection Immediately
Linear Deceleration Constant 1 for Immediately
Pn827 100
Stopping ∗3
SVOFF Waiting Time (SVOFF at

Pn829 0 Immediately
deceleration to stop)
Pn82A 1813 Option Field Allocation 1 After restart
operation.
10-52
(cont’d)
Factory When
Parameter Name
Setting Enabled
Pn82B 1D1C Option Field Allocation 2 After restart
Pn82C 1F1E Option Field Allocation 3 After restart
Pn82D 0000 Option Field Allocation 4 After restart
Pn82E 0000 Option Field Allocation 5 After restart
Pn833 0000 Motion Setting After restart
Pn834 100 1st Linear Acceleration Constant 2 Immediately

∗3
Pn836 100 2nd Linear Acceleration Constant 2 Immediately

∗3
Acceleration Constant Switching Immediately

Pn838 0
Speed 2 ∗3
Pn83A 100 1st Linear Deceleration Constant 2 Immediately

∗3
Pn83C 100 2nd Linear Deceleration Constant 2 Immediately

∗3
Deceleration Constant Switching Immediately

Pn83E 0
Speed 2 ∗3
Linear Deceleration Constant 2 for Immediately

Pn840 100
Stopping ∗3
Homing Approach Speed (Homing Immediately

Pn842 0
Approach Speed12) ∗3
Homing Creep Speed (Homing Immediately

Pn844 0
Approach Speed 22) ∗3
Pn850 0 Latch Sequence Number Immediately

Pn851 0 Continuous Latch Count Immediately
Pn852 0000 Latch Sequence Signal 1 to 4 Setting Immediately
Pn853 0000 Latch Sequence Signal 5 to 8 Setting Immediately
SVCMD_IO (input signal monitor)
Allocation 1
Allocation 2
Allocation 3
Allocation 4
Allocation 5
Allocation 6
Allocation 7
Station Address Monitor
Pn880 0 Immediately
Setting Transmission Byte Monitor
Pn881 0 Immediately
[byte] (for maintenance, read only)
Transmission Cycle Setting Monitor
Appendix
Pn882 0 [0.25 μs] Immediately

operation.
the power must be turned OFF and then ON again. 10
10-53
10 Appendix
(cont’d)
Factory When
Parameter Name
Setting Enabled
Communications Cycle Setting
Pn883 0 Monitor [x transmission cycle] Immediately
MECHATROLINK Receive Error
Pn88A 0 Counter Monitor Immediately
Command Data Monitor at Alarm/
Pn890 to Warning Occurs
0 Immediately
Pn8A6
Response Data Monitor at Alarm/
Pn8A8 to Warning Occurs
0 Immediately
Pn8BE
Pn900 0 Parameter Bank Number After restart
Pn901 0 Parameter Bank Member Number After restart
Pn902 to
0 Parameter Bank Member Definition After restart
Pn910
Pn920 to Parameter Bank Data (nonvolatile
0 Immediately
Pn95F memory save disabled)
01
– Encoder Type (read only) –
PnA02
02
– Motor Type (read only) –
PnA04
03 Semi-closed/Fully-closed Type (read
– –
PnA06 only
04
– Rated Speed (read only) –
PnA08
05
– Maximum Output Speed (read only) –
PnA0A
06
– Speed Multiplier (read only) –
PnA0C
07
– Rated Torque (read only) –
PnA0E
08
– Maximum Output Torque (read only) –
PnA10
09
– Torque Multiplier (read only) –
PnA12
0A
– Resolution (read only) –
PnA14
21
1 Electronic Gear Ratio (Numerator) After restart
PnA42
22
1 Electronic Gear Ratio (Denominator) After restart
PnA44
23
PnA46
0 Absolute Encoder Origin Offset Immediately∗2
24
65535 Multiturn Limit Setting After restart
PnA48
25
0000H Limit Setting After restart
PnA4A
26
1073741823 Forward Software Limit Immediately
PnA4C
10-54
(cont’d)
Factory When
Parameter Name
Setting Enabled
27
0 Reserved (Do not use.) Immediately
PnA4E
28
-1073741823 Reverse Software Limit Immediately
PnA50
29
0 Reserved (Do not use.) Immediately
PnA52
41
0 Speed Unit After restart
PnA82
42
0 Speed Base Unit After restart
PnA84
43
0 Position Unit After restart
PnA86
44
0 Position Base Unit After restart
PnA88
45
0 Acceleration Unit After restart
PnA8A
46
4 Acceleration Base Unit After restart
PnA8C
47
1 Torque Unit After restart
PnA8E
48
0 Torque Base Unit After restart
PnA90
49
0601011FH Compliance Unit System (read only) –
PnA92
61
40000 Speed Loop Gain Immediately
PnAC2
62
20000 Speed Loop Integral Time Constant Immediately
PnAC4
63
40000 Position Loop Gain Immediately
PnAC6
64
0 Feedforward Compensation Immediately
PnAC8
65
0 Position Loop Integral Time Constant Immediately
PnACA
66
7 Positioning Completed Width Immediately
PnACC
67
1073741824 NEAR Signal Width Immediately
PnACE
81 Exponential Function Accel/Decel
PnB02
0
Time Constant Immediately∗3
82
PnB04
0 Movement Average Time Immediately∗3
83 Final Travel Distance for External

100 Immediately
PnB06 Positioning
5000
Value con-
Appendix
84
verted refer- Homing Approach Speed Immediately
PnB08 ence/s into
10-3 min-1
operation. 10
10-55
10 Appendix
(cont’d)
Factory When
Parameter Name
Setting Enabled
500
Value con-
85
verted refer- Homing Creep Speed Immediately
PnB0A ence/s into
10-3 min-1
86
100 Final Travel Distance for Homing Immediately
PnB0C
87
1 Monitor Selection 1 Immediately
PnB0E
88
0 Monitor Selection 2 Immediately
PnB10
89 Monitor Selection for SEL_MON1
0 Immediately
PnB12 (CMN1)
8A Monitor Selection for SEL_MON2
0 Immediately
PnB14 (CMN2)
8B
10 Origin Detection Range Immediately
PnB16
8C
100 Forward Torque Limit Immediately
PnB18
8D
100 Reverse Torque Limit Immediately
PnB1A
8E
20000 Zero Speed Detection Range Immediately
PnB1C
8F Speed Coincidence Signal Output
10000 Immediately
PnB1E Width (read only)
90 Servo Command Control Field
0FFF3F3FH –
PnB20 Enabled/Disabled (read only)
91 Servo Command Status Field
0FFF3F33H –
PnB22 Enabled/Disabled (read only)
92 I/O Bit Enabled/Disabled (Output)
007F01F0H –
PnB24 (read only)
93 I/O Bit Enabled/Disabled (Input)
FF0FFEFEH –
PnB26 (read only)
10-56
Index
Index B
backlash compensation function - - - - - - - - - - - - - - - - - - - - - - 5-64
baseblock- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
battery
battery case - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-38
Symbols battery replacement - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42
/BK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13 installing the battery in the host controller- - - - - - - - - - - - - 4-40
/CLT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-37 using an encoder cable with a battery case- - - - - - - - - 4-39, 4-43
/COIN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-56 baud rate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
/HWBB1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-64 BB - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii, 4-34
/HWBB2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-64 brake operation delay time - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
/N-CL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-36 brake signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
/NEAR- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-57
/P-CL- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-36 C
/S-RDY - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-54 CCW- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5, 8-15
/TGON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-54 CE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xvi
/V-CMP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-55 changing detection timing of overload (low load) alarm
/VLT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-58 (A.720) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-23
/WARN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-53 changing detection timing of overload warning (A.910) - - - - - - 4-22
checking output torque limiting during operation - - - - - - - - - - - 4-37
A clearing alarm history (Fn006) - - - - - - - - - - - - - - - - - - - - - - - 6-13
absolute data reception sequence - - - - - - - - - - - - - - - - - - - - - - 4-46 CN1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-23
absolute data request (SENS_ON) - - - - - - - - - - - - - - - - - - - - - 4-41 CN2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-34
absolute encoder battery alarm (A.830) - - - - - - - - - - - - - - - - - - 4-42 CN3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
absolute encoder origin offset - - - - - - - - - - - - - - - - - - - - - - - - 4-52 CN6A - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2, 3-33
absolute encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-38 CN6B - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2, 3-33
connection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-39 CN7 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
set up and initialization- - - - - - - - - - - - - - - - - - - - - - - - - - 4-44 CN8 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24
AC reactor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-50 coast to a stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7
additional adjustment function - - - - - - - - - - - - - - - - - - - - - - - - 5-57 communication protocol- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
advanced autotuning (Fn201)- - - - - - - - - - - - - - - - - - - - - - - - - 5-18 compatible adjustment function - - - - - - - - - - - - - - - - - - - - - - - 5-71
anti-resonance control adjustment function - - - - - - - - - - - - 5-25 confirming safety functions- - - - - - - - - - - - - - - - - - - - - - - - - - 4-69
calculating moment of inertia - - - - - - - - - - - - - - - - - - - - - 5-21 connecting a reactor for harmonic suppression - - - - - - - - - - - - - 3-50
feedforward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-26 connecting a safety function device - - - - - - - - - - - - - - - - - - - - 4-69
friction compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-26 connection example of EDM1 output signal - - - - - - - - - - - - - - 4-67
mode selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21 connection example of HWBB input signals - - - - - - - - - - - - - - 4-64
notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25 connection to host controller (interface)
STROKE (travel distance) setting - - - - - - - - - - - - - - - - - - 5-22 sequence input circuit - - - - - - - - - - - - - - - - - - - - - - - - - - 3-29
type selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21 sequence output circuit- - - - - - - - - - - - - - - - - - - - - - - - - - 3-31
vibration suppression - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25 connector CN5 for analog monitor - - - - - - - - - - - - - - - - - - - - - - 5-5
advanced autotuning by reference (Fn202)- - - - - - - - - - - - - - - - 5-28 current control mode selection- - - - - - - - - - - - - - - - - - - - - - - - 5-63
anti-resonance control adjustment function - - - - - - - - - - - - 5-32 current gain level setting - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-63
feedforward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-33 CW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5, 8-15
friction compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-33
mode selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30 D
notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-32 DC reactor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-50
type selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30 decelerate to stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7
vibration suppression - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-32 digital operator displays during testing without motor - - - - - - - - 4-34
alarm history display (Fn000) - - - - - - - - - - - - - - - - - - - - - - - - - 6-3 DIP switch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
alarm reset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2 setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
alarm reset method- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-53 display of servomotor ID in feedback option module (Fn01F) - - 6-30
ALM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-53 display of SERVOPACK and servomotor ID (Fn01E) - - - - - - - - 6-28
ambient/storage humidity - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7 dynamic brake answer function - - - - - - - - - - - - - - - - - - - - - - - 3-42
anti-resonance control adjustment function (Fn204) - - - - - - - - - 5-45 dynamic brake unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-40
application example of safety functions - - - - - - - - - - - - - - - - - - 4-68
automatic gain switching - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-58
automatic offset-signal adjustment of the motor current detection
signal (Fn00E) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18
automatically setting the notch filter - - - - - - - - - - - - - - - - - - - - 5-12
Index-1
Index
E internal block diagrams- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10

internal torque limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-35
EasyFFT (Fn206) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-33
EDM1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-66 J
electronic gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26
JOG operation (Fn002) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
electronic gear ratio - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-27
encoder output pulse setting - - - - - - - - - - - - - - - - - - - - - - - - - - 4-30 L
encoder output pulses - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-29 LED (CN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2, 1-8
encoder signal (CN2) names and functions - - - - - - - - - - - - - - - - 3-34 LED (COM) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8
error detection in HWBB signal - - - - - - - - - - - - - - - - - - - - - - - 4-63 LED (L1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2, 1-8
european directives- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xvi LED (L2) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2, 1-8
examples of encoder connection - - - - - - - - - - - - - - - - - - - - - - - 3-34 LED (POWER) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8
external device monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-66 limit switches - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
external latch signal 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-27 limiting torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-35
external latch signal 2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-27 list of alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
external latch signal 3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-27 list of monitor displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
external torque limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-36 list of warnings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-24
F M
feedforward- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-71 main circuit
feedforward compensation- - - - - - - - - - - - - - - - - - - - - - - - - - - 5-71 names and functions of terminals - - - - - - - - - - - - - - - - - - - - 3-3
FG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24, 3-25 wires - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5
forward external torque limit - - - - - - - - - - - - - - - - - - - - - - - - - 4-36 wiring examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
friction compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-61 manual gain switching - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-58
fully-closed loop control manual offset-signal adjustment of the motor current detection
alarm detection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-22 signal (Fn00F)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-19
analog monitor signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-23 MECHATROLINK-III communications connector - - - - - - - 1-2, 3-33
analog signal input timing - - - - - - - - - - - - - - - - - - - - - - - - - 8-5 MECHATROLINK-III function specifications - - - - - - - - - - - - - - 1-9
connection example of external encoder by Heidenhain - - - - - 8-6 monitor displays (Un ) - - - - - - - - - - - - - - - - - - - - - 2-8, 10-47
connection example of external encoder by Magnescale monitor factor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
Co., Ltd. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6 monitoring safety input signals - - - - - - - - - - - - - - - - - - - - - - - - 7-7
connection example of external encoder by Mitutoyo multiturn limit disagreement alarm (A.CC0) - - - - - - - - - - - - - - 4-51
Corporation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6 multiturn limit setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-50
connection example of external encoder by Renishaw plc- - - - 8-6
electronic gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-21 N
external absolute encoder data reception sequence- - - - - - - - 8-18 noise filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47
internal block diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3 N-OT- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
motor rotation direction- - - - - - - - - - - - - - - - - - - - - - - - - - 8-15 notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-76
serial converter unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4
setting encoder output pulses - - - - - - - - - - - - - - - - - - - - - - 8-17 O
sine wave pitch (frequency) for an external encoder- - - - - - - 8-17 offset adjustment of analog monitor output (Fn00C) - - - - - - - - - 6-14
speed feedback method - - - - - - - - - - - - - - - - - - - - - - - - - - 8-23 one-parameter tuning (Fn203) - - - - - - - - - - - - - - - - - - - - - - - - 5-35
system configuration- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2 anti-resonance control adjustment function - - - - - - - - - - - - 5-41
feedforward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42
G friction compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42
gain adjustment of analog monitor output (Fn00D) - - - - - - - - - - 6-16 notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-41
Gr.1 alarm- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16 tuning mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36, 5-39
Gr.2 alarm- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16
type selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-37, 5-39
grounding - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47
one-parameter tuning example - - - - - - - - - - - - - - - - - - - - - - - - 5-43
G-SEL of servo command output signal (SVCMD_IO) - - - - - - - 5-58
online vibration monitor (Fn207) - - - - - - - - - - - - - - - - - - - - - - 6-37
H origin search (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
hard wire base block (HWBB) function - - - - - - - - - - - - - - - - - - 4-60 origin setting (Fn020) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31
output phase form - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-29
hard wire base block (HWBB) state - - - - - - - - - - - - - - - - - - - - 4-61
output signal (CN1)
harmonized standards - - - - - - - - - - - - - - - - - - - - - - - - - - - -xvi, 1-7
holding brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11 allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-27
monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-6
homing deceleration switch signal - - - - - - - - - - - - - - - - - - - - - 3-27
names and functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-23
I overtravel (OT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
initial incremental pulses - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-47 overtravel warning function- - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
initializing parameter settings (Fn005)- - - - - - - - - - - - - - - - - - - 6-12
input signal (CN1)
allocations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-26
monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4
names and functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-23
instantaneous power interruption settings - - - - - - - - - - - - - - - - - 4-18
Index-2
Index
P specifications of HWBB signals - - - - - - - - - - - - - - - - - - - - - - 4-64

speed coincidence signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-55
panel display- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
speed control range - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
PAO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-29
speed detection method selection - - - - - - - - - - - - - - - - - - - - - - 5-63
parameter
speed regulation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
classification- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
standard power supply input
how to make numeric settings using parameters - - - - - - - - - - 2-6
main circuit wires for SERVOPACKs and converters - - - - - - 3-5
how to select functions using parameters - - - - - - - - - - - - - - - 2-7
molded-case circuit breaker - - - - - - - - - - - - - - - - - - - - - - 3-19
parameters for numeric settings - - - - - - - - - - - - - - - - - - -iv, 2-5
power supply capacities and power losses - - - - - - - - - - - - - 3-19
parameters for selecting functions - - - - - - - - - - - - - - - - -iv, 2-5 wiring examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
tuning parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5 station address - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
parameter recording table - - - - - - - - - - - - - - - - - - - - - - - - - - 10-48 stopping method for servomotor after SV_OFF command is
parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3 received- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16
PBO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-29 stopping method for servomotor when an alarm occurs - - - - 4-16, 9-2
PCO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-29 storage temperature - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
position integral- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-70 surrounding air temperature - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
positioning completed signal - - - - - - - - - - - - - - - - - - - - - - - - - 4-56 switching condition A - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-58
positioning near signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-57 switching gain settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-57
P-OT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
precautions for safety functions - - - - - - - - - - - - - - - - - - - - - - - 4-70 T
precautions for wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18 test without motor function - - - - - - - - - - - - - - - - - - - - - - - - - - 4-31
precautions on connecting noise filter - - - - - - - - - - - - - - - - - - - 3-48 time stamps - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
program JOG operation (Fn004) - - - - - - - - - - - - - - - - - - - - - - - 6-8 torque control tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
protection class/pollution degree - - - - - - - - - - - - - - - - - - - - - - - 1-7 torque limit function for low DC power supply voltage for main
circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-19
R torque reference filter- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-74
reference unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26 transmission cycle - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
regenerative resistor unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-36 trial operation
resetting configuration errors in option modules (Fn014) - - - - - - 6-25 inspection and checking before trial operation - - - - - - - - - - 4-24
resetting the HWBB state - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-62 trial operation via MECHATROLINK-III - - - - - - - - - - - - - 4-25
reverse external torque limit - - - - - - - - - - - - - - - - - - - - - - - - - 4-36 troubleshooting
risk assessment - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-60 alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-7
rotary switch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2, 4-3 warnings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-26
rotation detection output signal - - - - - - - - - - - - - - - - - - - - - - - 4-54 troubleshooting malfunction based on operation and conditions
rotational serial data - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-47, 4-48 of the servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-32
RUN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-34 tuning parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
tuning-less function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11
S tuning-less level settings (Fn200)- - - - - - - - - - - - - - - - - - - - - - 5-12
S1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2, 4-3
S2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2, 4-3 U
S3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2, 4-4 UL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xvi
safety function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-60 using the mode switch (P/PI switching) - - - - - - - - - - - - - - - - - 5-72
safety function signal (CN8) names and functions- - - - - - - - - - - 3-24 utility functions (Fn )- - - - - - - - - - - - - - - - - - - - - - - 2-4, 10-2
safety precautions on adjustment of servo gains - - - - - - - - - - - - - 5-8
SEMI F47 function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-19
V
servo alarm output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-53 vibration detection level initialization (Fn01B) - - - - - - - - - - - - 6-26
servo gains - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3 vibration suppression function (Fn205)- - - - - - - - - - - - - - - - - - 5-52
servo ready output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-54 vibration/shock resistance- - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
servomotor model display (Fn011) - - - - - - - - - - - - - - - - - - - - - 6-23 W
servomotor rotation direction- - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
warning output signal- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-53
SERVOPACK
wiring for noise control - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-46
basic specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
wiring MECHATROLINK-III communications - - - - - - - - - - - - 3-33
inspection and maintenance- - - - - - - - - - - - - - - - - - - - - - - 1-16
write prohibited setting (Fn010)- - - - - - - - - - - - - - - - - - - - - - - 6-21
MECHATROLINK-III function specifications - - - - - - - - - - - 1-9
model designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-13 Z
part names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 zero clamp mode- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7
ratings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
status display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
setting encoder output pulse - - - - - - - - - - - - - - - - - - - - - - - - - 4-30
setting motor overload detection level - - - - - - - - - - - - - - - - - - - 4-22
setting regenerative resistor capacity- - - - - - - - - - - - - - - - - - - - 3-38
soft start time setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
software limit settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
software reset (Fn030) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-32
software version display (Fn012) - - - - - - - - - - - - - - - - - - - - - - 6-24
specifications of EDM1 output signal - - - - - - - - - - - - - - - - - - - 4-67
Index-3
Revision History
The revision dates and numbers of the revised manuals are given on the bottom of the back cover.
MANUAL NO. SIEP S800000 93B <1>
Revision number
Published in Japan August 2013
M-III
Date of publication
Date of Rev.
Publication No. Section Revised Content
July 2017 <4> Front cover Revision: Format

Back cover Revision: Address and format
January 2015 <3> Back cover Revision: Address
September 2014 <2> 8.1.3 (2) Revision: Description of analog signal input timing
8.1.4, 8.3.5 Addition: External encoder by Heidenhain (models: LIC4100-series models)
10.3 Revision: Name and enable timing of Pn601
August 2013 <1> Preface, 1.4.2 Revision: Description of Harmonized Standards
EN 55011 /A2 changed to EN 55011
Back cover Revision: Address
March 2013 – – First edition
AC Servo Drives
 -V Series
USER’S MANUAL
For Use with Large-Capacity Models
Rotational Motor
MECHATROLINK-III Communications Reference
IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama, 358-8555, Japan
Phone: +81-4-2962-5151 Fax: +81-4-2962-6138
http://www.yaskawa.co.jp
YASKAWA AMERICA, INC.
2121, Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone: +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax: +1-847-887-7310
http://www.yaskawa.com
YASKAWA ELÉTRICO DO BRASIL LTDA.
777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil
Phone: +55-11-3585-1100 Fax: +55-11-3585-1187
http://www.yaskawa.com.br
YASKAWA EUROPE GmbH
Hauptstraβe 185, 65760 Eschborn, Germany
Phone: +49-6196-569-300 Fax: +49-6196-569-398
http://www.yaskawa.eu.com E-mail: [email protected]
YASKAWA ELECTRIC KOREA CORPORATION
35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, 07326, Korea
Phone: +82-2-784-7844 Fax: +82-2-784-8495
http://www.yaskawa.co.kr
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151, Lorong Chuan, #04-02A, New Tech Park, 556741, Singapore
Phone: +65-6282-3003 Fax: +65-6289-3003
http://www.yaskawa.com.sg
YASKAWA ELECTRIC (THAILAND) CO., LTD.
59, 1st-5th Floor, Flourish Building, Soi Ratchadapisek 18, Ratchadapisek Road, Huaykwang, Bangkok, 10310, Thailand
Phone: +66-2-017-0099 Fax: +66-2-017-0799
http://www.yaskawa.co.th
YASKAWA ELECTRIC (CHINA) CO., LTD.
22F, One Corporate Avenue, No.222, Hubin Road, Shanghai, 200021, China
Phone: +86-21-5385-2200 Fax: +86-21-5385-3299
http://www.yaskawa.com.cn
YASKAWA ELECTRIC (CHINA) CO., LTD. BEIJING OFFICE
Room 1011, Tower W3 Oriental Plaza, No.1, East Chang An Ave.,
Dong Cheng District, Beijing, 100738, China
Phone: +86-10-8518-4086 Fax: +86-10-8518-4082
YASKAWA ELECTRIC TAIWAN CORPORATION
12F, No. 207, Sec. 3, Beishin Rd., Shindian Dist., New Taipei City 23143, Taiwan
Phone: +886-2-8913-1333 Fax: +886-2-8913-1513 or +886-2-8913-1519
http://www.yaskawa.com.tw
In the event that the end user of this product is to be the military and said product is to
be employed in any weapons systems or the manufacture thereof, the export will fall
under the relevant regulations as stipulated in the Foreign Exchange and Foreign
Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant
documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice for ongoing product modifications
and improvements.
© 2013 YASKAWA ELECTRIC CORPORATION
MANUAL NO. SIEP S800000 93C <4>-0

Published in Japan July 2017
17-4-13
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AC Servo Drives

MANUAL NO. SIEP S800000 93C

Differences between Large-capacity Σ-V SERVOPACKs and Standard Σ-V

Description of Technical Terms

• Indicates important information that should be memorized, as well as precautions, such as

Notation Used in this Manual

• Notation for Parameters

• Parameters for Numeric Settings

Emergency Stop Torque Speed Position Torque

Parameter Meaning When Enabled Classification

Digital Operator Display (Display Example for Pn002) MECHA

Indicates precautions that, if not heeded, could possibly result in loss of

Indicates precautions that, if not heeded, could result in relatively serious

Indicates prohibited actions that must not be performed. For example,

Indicates compulsory actions that must be performed. For example, this

• Installation, disassembly, or repair must be performed only by authorized personnel.

Maintenance and Inspection

Observe the following general precautions

(1) Details of Warranty

 North American Safety Standards (UL)

Servomotor (SGMVV) UL1004 (E165827) Certified.

Name (Model) European Directives Harmonized Standards Remarks

Name (Model) Safety Standards Standards Remarks

Probability of Dangerous Failure per Hour

Chapter 1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1

Chapter 2 Panel Display and Operation of Digital Operator . . . . . . . . . . . .2-1

Chapter 3 Wiring and Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1

Chapter 4 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1

Chapter 5 Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1

Chapter 6 Utility Functions (Fn ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1

Chapter 7 Monitor Displays (Un ) . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1

Chapter 9 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-1

Chapter 10 Appendix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-1

1.1 Σ-V Large-Capacity SERVOPACKs and Converters . . . . . . . . . . . . . . . . . 1-2

1.5 SERVOPACK and Converter Internal Block Diagrams . . . . . . . . . . . . . . 1-10

1.6 Examples of Servo System Configurations . . . . . . . . . . . . . . . . . . . . . . . 1-12

1.1 Σ-V Large-Capacity SERVOPACKs and Converters

1.2 SERVOPACK Part Names

No. Name Description Reference

CN7 Connector for personal

1.3 Converter Part Names

No. Name Description Reference

1.4 Ratings and Specifications

Three-phase 200 VAC

1.4.2 Basic Specifications

Drive Method Sine-wave current drive with PWM control of IGBT

Altitude 1000 m or less

∗1. Speed regulation by load regulation is defined as follows:

1.4.3 MECHATROLINK-III Function Specifications

1.5 SERVOPACK and Converter Internal Block Diagrams

Encoder pulse output

(Position and speed

CN3 CN7 CN8

CN6A CN6B CN21 CN22 CN31 Digital PC Safety function

1.5.2 Three-phase 400 V

Encoder pulse output

(Position and speed

CN3 CN7 CN8

CN6A CN6B CN21 CN22 CN31 Digital PC Safety function

North American Safety Standards (UL)