Uak Series

AC Servo Drives
-V-SD Series
USER’S MANUAL
Design and Maintenance
Rotational Motor
EtherCAT (CoE) Communications Reference
UAK J- C Spindle motor
SGMGV- 8 Servomotor
CACP-JU 3 Power regeneration converter
CACR-JU C SERVOPACK
Outline 1
Compatible Devices 2
Specifications and External
Dimensions for Motors
3
Dimensions for -V-SD Drivers 4
Peripheral Devices 5
Installation 6
Wiring 7
Operation 8
Adjustments 9
Standards Compliance 10
Inspection, Maintenance,
and Troubleshooting
11
Appendix 12
MANUAL NO. SIEP S800000 94A
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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 Σ-V-SD Series
servo drives.
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.
Description of Technical Terms

The following table shows the meanings of terms used in this manual.
Term Meaning
Spindle Motor Σ-V-SD Series UAKAJ and UAKBJ motor
Servomotor Σ-V-SD Series SGMGV servomotor
Power Regeneration
Σ-V-SD Series CACP-JU converter
Converter
SERVOPACK Σ-V-SD Series CACR-JU servo amplifier
SERVOPACK for One Axis A SERVOPACK that can control one motor
SERVOPACK for Two Axes A SERVOPACK that can control two motors
Σ-V-SD Driver A power regeneration converter and a SERVOPACK
Servo Drive A set including a servomotor (or a spindle motor) and a Σ-V-SD driver
A complete system that consists of a servo drive, a host controller, and
Servo System
peripheral devices
Servo ON The power to the motor ON
Servo OFF The power to the motor OFF
The power supply to motor is turned OFF by shutting off the base cur-
Base Block (BB)
rent to the power transistor in the current amplifier.
A state in which the motor is stopped and is in position loop with a
Servo Lock
position reference of 0.
The main circuit DC voltage (between P and N terminals) in a power
DC-bus Voltage
regeneration converter and a SERVOPACK
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.
iii
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
(20A2h) 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
(Index Number) change to the Indicates the
minimum setting unit parameter setting parameter
for the parameter. before shipment. parameter will be
effective. classification.
Indicates the setting
range for the parameter.
• Parameters for Selecting Functions
Parameter
Meaning When Enabled Classification
(Index Number)
n.!0!! Uses the absolute encoder as an
Pn002 [Factory setting] absolute encoder.
After restart Setup
(2002h) Uses the absolute encoder as an
n.!1!!
incremental encoder.
Parameter The notation “n.!!!!” indicates a parameter This section explains the
number for selecting functions. Each ! corresponds to selected function.
(Index Number) the setting value of that digit. The notation shown
here means that the third digit is 1.
• Notation for Index Numbers of EtherCAT (CoE) Commands

When an EtherCAT (CoE) command consists of an index number and a subindex number, the index and sub-
index numbers are separated by a colon.
Notation Example
2030h:1
Subindex number
Index number
• Notation for Index Numbers of Servo Parameters
The index numbers for a SERVOPACK for one axis and axis 1 of a SERVOPACK for two axes are given for
the index numbers of the servo parameters. The index numbers for axis 2 of a SERVOPACK for two axes can
be calculated by adding 400 hex to the index numbers for axis 1.
Example:
Parameter number: Pn100
= Index number for axis 1: 2040h
↓ Add 400 hex to calculate the index number for axis 2.
iv
Manuals Related to the Σ-V-SD Series
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
Σ-V-SD Series
User’s Manual
Rotational Motor/
EtherCAT (CoE)
Communications Reference
(this manual)
Σ-V-SD Series
User’s Manual
For Command Profile
Rotational Motor/
EtherCAT (CoE)
Communications Reference
(SIEP S800000 95)
Σ-V-SD Series
Safety Precautions
(TOBP C710829 04)
AC SERVOMOTOR
Safety Precautions
(TOBP C2300200 00)
Σ-V-SD Series
Safety Precautions
Base Mounting Unit
(TOMP C710829 08)
Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed precautions pro-
vided in this manual can result in serious or possibly even fatal injury or damage to the products or to related
equipment and systems.
Indicates precautions that, if not heeded, could possibly result in loss of

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

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

symbol would be used to indicate that grounding is compulsory as
MANDATORY follows:
v
Safety Precautions
This section describes important precautions that must be followed during storage, transportation, installation,
wiring, operation, maintenance, inspection, and disposal. Be sure to always observe these precautions thor-
oughly.
WARNING
• Never touch the rotating parts of the motor during operation or adjustments.
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 power regeneration converters and SERVOPACKs.
Failure to observe this warning may result in electric shock.
• Do not remove the cover of power supply terminal while the power is ON.
• Do not touch terminals before the main-circuit capacitor has had time to discharge after the power
has been turned OFF because high voltage may still remain in the power regeneration converter
and SERVOPACK. Refer to 7.2.1 Main Circuit for the details of discharge time of main-circuit
capacitor.
Residual voltage may cause electric shock.
• Do not touch terminals while the charge indicator is lit.
After the charge indicator goes out, check the voltage on the DC bus line (i.e., between the P and N terminals)
with a voltage tester before you perform wiring or inspection work.
• Do not touch terminals before the main-circuit capacitor has had time to discharge after voltage
resistance test. Refer to 7.2.1 Main Circuit for the details of discharge time of main-circuit capacitor.
• Make sure that trial operation was completed successfully before you make adjustments.
• Follow the procedures and instructions for the trial operation as noted in the applicable manual for
that product.
Malfunctions that occur after the motor is connected to the equipment not only damage the equipment, but
may also cause an accident resulting in death or injury.
• The output range of multiturn data for Σ-V-SD driver absolute detection system differs from that for
conventional systems (15-bit encoder and 12-bit encoder). Especially when “Infinite length position-
ing system” of Σ series is to be configured with Σ-V-SD series, be sure to make the system modifi-
cation.
• When you set up the absolute encoder, the multiturn data will change to between minus two and
plus two turns. This will cause the reference position of the machine to change. Adjust the reference
position at the host controller to the correct position after you perform the setup.
If the machine is operated without aligning the position in the host controller, unintended operation may occur
and may result in injuries or damage to the machine. Be careful when starting the machine to ensure that this
does not occur.
• The multiturn limit value must be changed only for special applications.
Changing it inappropriately or unintentionally can be dangerous.
• If the Multiturn Limit Disagreement alarm occurs, check the setting of parameter Pn205 in the SER-
VOPACK to be sure that it is correct.
If the multiturn limit value setting is implemented while 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 on the foreside while the power
is ON.
• Do not damage, press, exert excessive force 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, damage to the product, or fire.
vi
WARNING
• Provide an appropriate braking device on the machine side to ensure safety. A holding brake for a
servomotor with brake is not a braking device for ensuring safety.
• Do not come close to the machine immediately after resetting momentary power loss to avoid an
unexpected restart. Take appropriate measures to ensure safety against an unexpected restart.
• Refer to the SigmaWin for Σ-V-SD (MT) Operation Manual before you make adjustments.
• Connect the ground terminal to electrical codes (ground resistance: 100 Ω or less for a power
regeneration converter and a SERVOPACK with a 200 V power supply. 10 Ω or less for a power
regeneration converter and a SERVOPACK with a 400 V power supply).
Improper grounding may result in electric shock or fire.
• Installation, disassembly, or repair must be performed only by authorized personnel.

Failure to observe this warning may result in electric shock or injury.
• The person who designs a system using the Hard Wire Base Block function must have full knowl-
edge of the related safety standards and full understanding of the instructions in this manual.
Storage and Transportation
CAUTION
• Do not store or install the product in the following places.
• Locations subject to direct sunlight.
• Locations subject to temperatures outside the range specified in the storage/installation temperature condi-
tions.
• Locations subject to humidity outside the range specified in the storage/installation humidity conditions.
• Locations subject to condensation as the result of extreme changes in temperature.
• Locations subject to corrosive or flammable gases.
• Locations subject to dust, salts, or iron dust.
• Locations subject to exposure to water, oil, or chemicals.
• Locations subject to shock or vibration.
Failure to observe this caution may result in fire, electric shock, or damage to the product.
• Do not hold the motors by the cable, motor shaft, or encoder while transporting it.
Failure to observe this caution may result in injury or malfunction.
• Do not hold the power regeneration converters and SERVOPACKs by the front cover or terminal
cover while moving them.
Failure to observe this caution may result in damage to the covers or in a greater possibility of the products
being dropped and damaged.
• 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 min-
utes 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.
vii
Installation
CAUTION
• Never use the products 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 power regeneration converter and the inside surface
of the control panel and between the SERVOPACK and the inside surface of the control panel, and
keep both the converter and the SERVOPACK sufficiently separated from all other devices.
Failure to observe this caution may result in fire or malfunction.
• Do not apply any strong impact.
• Provide at least 100 mm between the machine and the side of the motor that is opposite from the
load (i.e., the side where cooling air is exhausted) to ensure sufficient flow of cooling air to the cool-
ing fan.
If there is not sufficient airflow, the motor temperature fault protective function may operate even at the rated
load.
• Do not allow water, oil, or other liquids to come in direct contact with the motor. If there is a chance
that water, oil, or other liquids may come into direct contact with the motor, install a protective cover.
If water, oil, or other liquids enter the motor, the resistance will be lowered and a ground fault may occur.
• Install the motor on a sturdy mounting bed, base, stand or other structure.
The weight of the motor and the dynamic load during operation are placed on the installation structure and
may cause vibration if the structure is not sturdy enough.
Wiring
CAUTION
• Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
• Install the I/O signal cables and encoder cable at least 30 cm away from the motor’s main circuit
cable. Never place them in the same duct or bundle them together.
Placing these cables too close to each other may result in malfunction.
• The maximum wiring length is 3 m for I/O signal cables, 20 m for encoder cables or motor main cir-
cuit cables, and 10 m for control power supply cables (+24 V, 0 V).
• To extend the encoder cable past 20 m, always use an extension encoder cable.
• If the main circuit cable length of the servomotor exceeds 20 m, the voltage drop along the cable
will increase greatly and the intermittent duty zone of the torque-motor speed characteristics will be
reduced.
• Use twisted-pair shielded wires or multi-core twisted pair shielded wires for input/output signal
cables and the encoder cables.
• When you connect the cables, do not touch with your bare hands the motor connector pins or the
encoder connector pins that are provided with the motor.
Particularly the encoder may be damaged by static electricity.
• Take appropriate and sufficient countermeasures for each 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.
• Wiring or inspection must be performed by a technical expert.
• Do not connect a commercial power supply to the U, V, or W motor connection terminals.
Failure to observe this caution may result in injury or fire.
viii
CAUTION
• Do not connect the motor directly to a commercial power supply.
The motor may be damaged. Connect the motor to the correct SERVOPACK.
• Securely connect the power supply terminal screws and motor connection terminal screws.
Failure to observe this caution may result in fire.
• Do not touch the power terminals before the main-circuit capacitor has had time to discharge
because high voltage may still remain in the power regeneration converter and SERVOPACK.
Refer to 7.2.1 Main Circuit for the details of discharge time of main-circuit capacitor.
First make sure the charge indicator is turned OFF and that the DC-bus (symbol: P and N) voltage value is
correct by using a tester or other device before wiring or starting an inspection.
• Observe the following precautions when wiring main circuit terminal blocks.
• Do not turn the servo drive power ON until all wiring, including the main circuit terminal blocks has been
completed.
• If the main circuit terminal is the connector, remove the connector from the SERVOPACK prior to wiring.
• Insert only one wire per insertion slot on the terminal block and the connector.
• Make sure that the core wire is not electrically shorted to adjacent core wires.
• Always use the specified power supply voltage.
An incorrect voltage may result in fire.
• 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.
• For the control power supply, use a 24-VDC power supply with double insulation or reinforced insu-
lation against primary. Make sure that the output holding time is 100 ms or more.
• Do not reverse the polarity of the battery when connecting it.
Failure to observe this caution may damage the battery, power regeneration converter, SERVOPACK, and
motor or cause it to explode.
• Install the battery at the power regeneration converter.
It is dangerous to install batteries at encoder cable, because that sets up a loop circuit between the batteries.
• The motor does not provide overheating protection. If complying with NEC (National Electric Code)
is necessary, implement overheating protection for the motor. However, overheating protection is
not required if you use a SGMGV servomotor or UAKAJ spindle motor. (This is because continuous
operation is possible within the ratings and SERVOPACK protection will function if the ratings are
exceeded.)
Operation
CAUTION
• Always use the motor and SERVOPACK in one of the specified combinations.
Failure to observe this caution may result in fire or malfunction.
• Conduct trial operation on the motor alone with the motor shaft disconnected from machine to avoid
any unexpected 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.
• 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.
• Avoid frequently turning the power ON and OFF.
Since the Σ-V-SD driver have a capacitor in the power supply, a high charging current flows when power is
turned ON. Frequently turning the power ON and OFF causes main power devices like capacitors and fuses in
the power regeneration converter and the SERVOPACK to deteriorate more quickly, resulting in unexpected
problems.
• Forced stop function with forward/reverse overtravel is not effective during JOG mode operation
and zero point search using SigmaWin for Σ-V-SD (MT).
ix
CAUTION
• Make sure that the motor constants for the spindle motors being used match the parameters of the
SERVOPACKs before supplying power when driving spindle motors by using Σ-V-SD series SER-
VOPACK.
Failure to observe this caution may result in injury, fire, and damage to the product.
• When using the servomotor for a vertical axis, install the safety devices to prevent workpieces to fall
off due to occurrence of alarm or overtravel. Set the servomotor so that it will stop in the zero clamp
state at occurrence of overtravel.
Failure to observe this caution may cause workpieces to fall off due to overtravel.
• Do not touch the power regeneration converter and SERVOPACK heat sinks or servomotor while
the 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, clear 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 on the servomotor for braking.
• The servomotor stopping method of turning the main-circuit or control-circuit power OFF without
turning the servo OFF during operation can not be set in Parameter Pn001.
Refer to 8.4.4 Stopping Servomotor after SV_OFF Command or Alarm Occurrence for details.
• Do not establish communications with the host controller while running SigmaWin for Σ-V-SD (MT),
because an alarm or warning might be issued.
If an alarm or warning is issued, any process currently being executed might be aborted and the system might
also be stopped.
Only when using the following functions, communications with the host controller is allowed while running
SigmaWin for Σ-V-SD (MT).
<functions for use with SigmaWin for Σ-V-SD (MT) that require communications with the host controller
during use>
• Advanced autotuning by reference
• One-parameter tuning
• Anti-resonance control adjustment function
<functions for use with SigmaWin for Σ-V-SD (MT) that will not result in problems if communications estab-
lished with the host controller during use>
• Parameter edit function, excluding parameter initialization
• Monitor function
• Alarm display function, excluding resetting alarms and clearing alarm history
• Data trace function
• Dynamic braking (DB) is an auxiliary function used for emergency stops. It does not guarantee that
the servomotor will come to a full or immediate stop as when a brake is applied. The servomotor
might coast to a stop. Provide appropriate braking devices on the machine side to ensure safety.
• Do not use the servo drive under a load moment of inertia exceeding the maximum allowable value.
Failure to observe this caution may result in damage or malfunction of resistors and power devices in the
SERVOPACK.
Maintenance and Inspection
CAUTION
• Do not disassemble the power regeneration converter and SERVOPACK.
Failure to observe this caution may result in electric shock or injury.
• Do not attempt to change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
• When replacing the SERVOPACK, resume operation only after transferring the previous SERVO-
PACK parameters to the new SERVOPACK.
Failure to observe this caution may result in damage to the product.
x
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.
xi
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.
xii
(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.
xiii
Contents
About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi
Warranty. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
1.1 System Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.2 Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.2.1 Spindle Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.2.2 Servomotor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.2.3 Σ-V-SD Series Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
2 Compatible Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1

2.1 Combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.1 SERVOPACK for One Axis and Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.2 SERVOPACK for Two Axes and Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.3 Power Regeneration Converter, SERVOPACK, and Motor . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.2 Selecting Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.2.1 Spindle Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.2.2 Servomotor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.2.3 Σ-V-SD Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17
2.3 Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-20
2.3.1 Molded-case Circuit Breakers, Ground Fault Detectors, and Magnetic Contactors. . . . . 2-20
2.3.2 Surge Absorbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
2.3.3 Absolute Encoder Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
2.3.4 AC Reactor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
2.3.5 Magnetic Contactor for Winding Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
2.3.6 Noise Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
3 Specifications and External Dimensions for Motors . . . . . . . . . . . . . . . . .3-1

3.1 Spindle Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.1.1 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.1.2 Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.1.3 Output and Torque Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.1.4 Tolerance Radial Loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
3.1.5 Motor Total Indicator Readings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
3.1.6 Rotation Direction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
3.1.7 Vibration Resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
3.1.8 External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
3.2 Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
3.2.1 Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
3.2.2 Torque-Motor Speed Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
3.2.3 Overload Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
3.2.4 Holding Brake Electrical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
3.2.5 Allowable Load Moment of Inertia at the Motor Shaft . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
3.2.6 Allowable Radial and Thrust Loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
3.2.7 Motor Total Indicator Readings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.2.8 Rotation Direction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.2.9 Shock Resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.2.10 Vibration Resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.2.11 Vibration Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.2.12 External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
xiv
4 Specifications and External Dimensions for Σ-V-SD Drivers . . . . . . . . . .4-1
4.1 Power Regeneration Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.1.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.1.2 External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.2 SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.2.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
5 Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1

5.1 Absolute Encoder Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.1.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.1.2 Setup Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.2 AC Reactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.2.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.3 Magnetic Contactor for Winding Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5.3.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5.3.3 Terminal Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
5.3.4 Installation Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.4 Noise Filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
5.4.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
5.5 Base Mounting Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16
5.5.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16
5.5.2 Power Regeneration Converter and SERVOPACK Combinations. . . . . . . . . . . . . . . . . . 5-16
5.5.4 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22
5.5.5 Mounting Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
6 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1
6.1 Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.1.1 Installation Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.1.2 Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.1.3 Installation Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.1.4 Coupling Motor and Machinery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.2 Σ-V-SD Driver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.2.1 Installation Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.2.2 Thermal Design of Control Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6.2.3 Control Panel Dust-proof Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
6.2.4 Installation Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
6.2.5 Installation Orientation and Space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
7 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1
7.1 Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.1.1 Precautions on Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.1.2 Spindle Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7.1.3 Servomotors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12
7.2 Σ-V-SD Driver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-19
7.2.1 Main Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-19
7.2.2 Control Circuit Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-25
7.2.3 DC-bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-26
7.2.4 Local Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-27
7.2.5 I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-28
xv
7.2.6 EtherCAT (CoE) Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-31
7.3 Winding Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-32
8 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1
8.1 EtherCAT (CoE) Communications Settings . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.1.1 EtherCAT Secondary Address Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.1.2 EtherCAT (CoE) Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.2 EtherCAT State Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
8.3 Device Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5
8.4 Settings for Common Basic Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
8.4.1 Servomotor Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8
8.4.2 Overtravel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-9
8.4.3 Holding Brakes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-12
8.4.4 Stopping Servomotor after SV_OFF Command or Alarm Occurrence. . . . . . . . . . . . . . . 8-17
8.4.5 Instantaneous Power Interruption Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-19
8.4.6 Setting Motor Overload Detection Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-20
8.4.7 Spindle Motor Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-22
8.4.8 Setting Local Bus Addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-23
8.5 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-24
8.5.1 Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-24
8.5.2 Trial Operation via EtherCAT (CoE) Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-24
8.6 Limiting Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-25
8.7 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-27
8.7.1 Encoder Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-27
8.7.2 Backup of the Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-27
8.7.3 Battery Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-28
8.7.4 Absolute Encoder Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-29
8.7.5 Multiturn Limit Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-32
8.7.6 Multiturn Limit Disagreement Alarm (A.CC0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-33
8.7.7 Absolute Encoder Home Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-36
8.8 Hard Wire Base Block (HWBB) Function . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-37
8.8.1 Precautions for the Hard Wire Base Block (HWBB) State . . . . . . . . . . . . . . . . . . . . . . . . 8-37
8.8.2 Operation Example for the Hard Wire Base Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-38
8.8.3 HWBB Status Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-38
8.8.4 Restoring Operation from a HWBB State. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-38
8.8.5 Error Detection in HWBB Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-38
8.8.6 Connection Example and Specifications of Input Signals (HWBB Signals) . . . . . . . . . . . 8-39
8.8.7 Operation with SigmaWin for Σ-V-SD (MT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-40
8.8.8 Brake Signal (/BK1, /BK2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-40
8.8.9 Dynamic Brake. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-40
8.8.10 External Device Monitor (EDM ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-41
8.8.11 Application Example of HWBB Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-43
8.8.12 Confirming HWBB Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-44
9 Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-1
9.1 Type of Adjustments and Basic Adjustment Procedure . . . . . . . . . . . . . . . . . 9-2
9.1.1 Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.1.2 Basic Adjustment Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3
9.1.3 Monitoring Analog Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-4
9.1.4 Safety Precautions on Adjustment of Servo Gains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
9.2 Advanced Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
9.2.1 Advanced Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
9.2.2 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-19
9.3 Advanced Autotuning by Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-20
9.3.1 Advanced Autotuning by Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-20
xvi
9.4 One-parameter Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-27
9.4.1 One-parameter Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-27
9.5 Anti-Resonance Control Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . 9-35
9.5.1 Anti-Resonance Control Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-35
9.6 High-speed Control Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-46
10 Standards Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-1

10.1 Models in Compliance with Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10.2 Precautions for Complying with European Standards . . . . . . . . . . . . . . . . 10-3
10.2.1 EMC Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3
10.2.2 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-4
10.2.3 Compliance with Low Voltage Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-5
10.3 Precautions for Complying with UL Standards. . . . . . . . . . . . . . . . . . . . . . 10-6
11 Inspection, Maintenance, and Troubleshooting . . . . . . . . . . . . . . . . . . 11-1

11.1 Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2
11.1.1 Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2
11.1.2 Σ-V-SD Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-3
11.2 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-4
11.2.1 List of Servo Drive Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-5
11.2.2 List of Alarms for EtherCAT (CoE) Communications . . . . . . . . . . . . . . . . . . . . . . . . . . 11-10
11.2.3 Troubleshooting of the Servo Drive Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-11
11.2.4 Troubleshooting of the EtherCAT (CoE) Communications . . . . . . . . . . . . . . . . . . . . . . 11-33
11.3 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-35
11.3.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-35
11.3.2 Troubleshooting of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-37
11.4 Monitoring Communications Data When Alarms or Warnings Occur. . . . 11-41
11.5 Troubleshooting Malfunction Based on Operation and Conditions of
the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-42
12 Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12-1
12.1 SERVOPACK Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-2
12.2 Parameter Recording Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-26
12.3 Index Numbers and Corresponding Parameter Numbers . . . . . . . . . . . . 12-32
Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index-1
Revision History
xvii
1
Outline
1.1 System Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.2 Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.2.1 Spindle Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.2.2 Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.2.3 Σ-V-SD Series Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Outline
1
1-1
1 Outline
1.1 System Configurations

Power supply
Three-phase 200/400 VAC
R S T
Host EtherCAT (CoE) EtherCAT (CoE)
CN
controller Sensors 1 and 2
Sensors 1 and 2
CN 9A CN 9B CN 9A CN 9B
Molded-case Power regeneration

CN 1 SERVOPACK CN 1 SERVOPACK
circuit breaker converter Local bus for one axis CN 5B Local bus for two axes CN 5B termin
or CN 5 CN 5A CN 5A -ater
Ground fault
CN 4
detector
Magnetic contactor CN 4 Personal
CN1
Noise filter for emergency stop CN 21 computer
CN 8 Battery Personal
Safety Open
(→SVM) CN 3 computer
door Control power supply 24 VDC 24 VDC CN 22
CN7A CN7B CN7A CN7B CN7A CN7B
Machine (24 VDC) PN bus bar PN bus bar

P/ +
N/ -
Main circuit
SVM power supply U V W
Magnetic L1 L2 L3 CN18 CN28
contactor
AC reactor
Encoder
Encoder
Encoder
Magnetic contactor
for winding selection
Spindle motor
Servomotor Servomotor
1-2
1.2 Model Designation

1.2.1 Spindle Motor
Number of Digits: 1 2 3 4 5 6 7 8 9 10 11 12 13 14
UAKAJ-22CZ1OOE
1st + 2nd digits: 9th digit:
Servomotor Type Design Revision Order
Code Specifications Code Specifications
AC Spindle C Standard
UA
Motor
10th digit: Encoder Specifications
3th digit: Cooling Method Code Specifications
Code Specifications Pulse encoder
Z (standard)
K External fan cooled
S Serial encoder *3
4th digit: Winding System
11th digit: Mounting
Code Specifications
Code Specifications
A Single winding
1 Flange type
B Winding selection
3 Foot-mounted type
5th digit: Series
12th digit: Shaft End
Code Specifications
Code Specifications
J Σ-V-SD Series
O Straight with
7th + 8th digits: Blank key and tap
50% ED Rating (S3) Straight without
N
Code Specifications (kW) key and tap
Outline
04*1 3.7
06*1 5.5 13th digit: Lead Wire Orientation
08 7.5 Code Specifications
11 11 O Left when viewed 1
15 15 Blank from the load side
19 18.5 14th digit: Input Voltage
22 22
Code Specifications
30*2 30 Blank Three-phase 200 VAC
37*1, *2 37 E Three-phase 400 VAC
45*1, *2 45
∗1. Available only for single winding models.
∗2. Available only for three-phase 200 VAC models.
∗3. For details about serial encoders, contact your Yaskawa representative.
1-3
1 Outline
1.2.2 Servomotor
1.2.2 Servomotor
Number of Digits : 1 2 3 4 5 6 7 8 9 10 11 12 13
SGMGV-30D8A21
1st + 2nd + 3rd + 4th + 5th digits: 10th digit: Serial Encoder
Series Code Specifications
Specifications 20-bit absolute encoder with
8 capacitor for backup
Σ-V Series
Servomotor SGMGV
(medium inertia) 11th digit: Design Revision Order
Code Specifications
7th + 8th digits: Rated Output A Standard
Code Specifications (kW) M High speed
05 0.45
09 0.85 12th digit: Shaft End
20 1.8 2 Straight
30 2.9 6 Straight with key and tap
44 4.4 13th digit: Options
75 7.5
1 Without options
9th digit: Power Supply Voltage B With holding brake (90 VDC)
Code Specifications C With holding brake (24 VDC)
A Three-phase 200 VAC With oil seal and holding brake
D
D Three-phase 400 VAC (90 VDC)
E With oil seal and holding brake
(24 VDC)
S With oil seal
1-4
1.2.3 Σ-V-SD Series Driver

(1) Power Regeneration Converter
Number
of Digits :
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18
CACP-JU22A3A!!!!!!
1st + 2nd + 3rd + 4th + 5th + 10th digit: Input Voltage
6th + 7th digits: Series Code Specifications
Code Specifications A Three-phase 200 VAC
Σ-V-SD Series D Three-phase 400 VAC
CACP-JU Power Regeneration
Converter 11th digit: Regeneration Method
Code Specifications
8th + 9th digits: 50% ED Rating
3 120-degree conduction
Code Specifications (kW)
15 15 12th digit: Design Revision Order
19 18.5 A㧘B㧘C࡮࡮࡮
22 22
30∗1 30 13th digit: Mounting
45∗1 45 Code Specifications
Blank Duct-ventilated
14th + 15th + 16th + 17th +

18th digits: Custom-made *2
Code Specifications
Blank Standard
∗1. Available only for three-phase 200 VAC models.
∗2. For details about custom-made converters, contact your Yaskawa representative.
Outline
(2) SERVOPACK for One Axis
Number
of Digits :
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19
1
CACR-JU102ACA!!!!!!
Code Specifications A 270 VDC
Σ-V-SD Series D 540 VDC
CACR-JU SERVOPACK
12th digit: Interface Specifications
8th + 9th + 10th digits: Code Specifications
Rated Output Current C EtherCAT (CoE)
Code Specifications (Arms) Input Voltage
028 28 13th digit: Design Revision Order
036 36 A㧘B㧘C࡮࡮࡮
065 65 14th digit: Mounting
084 84 270 VDC
Code Specifications
102 102
Blank Duct-ventilated
125 125
196 196 15th + 16th + 17th + 18th +
014 14 19th digits: Custom-made *
018 18 Code Specifications
033 32.5 540 VDC Standard
Blank
042 42
051 51
∗ For details about custom-made converters, contact your Yaskawa representative.
1-5
1 Outline
1.2.3 Σ-V-SD Series Driver
(3) SERVOPACK for Two Axes

Number
of Digits : 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19
CACR-JUM25ACA!!!!!!
Code Specifications A 270 VDC
Σ-V-SD Series D 540 VDC
CACR-JU SERVOPACK
12th digit: Interface Specifications
8th + 9th digits: Number of Axes Code Specifications
Code Specifications C EtherCAT (CoE)
M2 Two axes
13th digit: Design Revision Order
10th digit: Output Current A㧘B㧘C࡮࡮࡮
Input Voltage 270 VDC
14th digit: Mounting
Specifications (Arms)
Code Code Specifications
Axis 1 Axis 2
3 11.6 11.6 Blank Duct-ventilated
4 18.5 18.5
15th + 16th + 17th + 18th +
5 24.8 24.8
19th digits: Custom-made *
Input Voltage 540 VDC Code Specifications
Specifications (Arms) Blank Standard
Code
Axis 1 Axis 2
3 5.4 5.4
4 8.4 8.4
5 11.9 11.9
∗ For details about custom-made converters, contact your Yaskawa representative.
1-6
2
Compatible Devices
2.1 Combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.1 SERVOPACK for One Axis and Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.2 SERVOPACK for Two Axes and Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.3 Power Regeneration Converter, SERVOPACK, and Motor . . . . . . . . . . . . . . . . . . . . . 2-3
2.2 Selecting Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.2.1 Spindle Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.2.2 Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.2.3 Σ-V-SD Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17
2.3 Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-20

2.3.1 Molded-case Circuit Breakers, Ground Fault Detectors, and Magnetic Contactors . 2-20
Compatible Devices
2.3.2 Surge Absorbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
2.3.3 Absolute Encoder Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
2.3.4 AC Reactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
2.3.5 Magnetic Contactor for Winding Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-22
2.3.6 Noise Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-23
2-1
2 Compatible Devices
2.1.1 SERVOPACK for One Axis and Motor
2.1 Combinations
2.1.1 SERVOPACK for One Axis and Motor
Max. Allowable Motor
Spindle Motor Servomotor
Capacity (kW)
SERVOPACK Input UAKAJ- UAKBJ- SGMGV- Spindle
Model Voltage Motor
Single Winding High (50% ED/ Servomotor
Standard continuous
Winding Selection Speed
rating)
09A*, 13A,
CACR-JU028ACA 04, 06 06 09A*, 13A 5.5/3.7 3.0
20A, 30A
CACR-JU036ACA 08 08 30A, 44A 20A, 30A 7.5/5.5 5.0
CACR-JU065ACA 11, 15 11, 15 55A 44A 15/11, 11/7.5 6.0
270 VDC
CACR-JU084ACA 19 19 75A – 18.5/15 7.5
CACR-JU102ACA 22 22 – 55A, 75A 22/18.5 –
CACR-JU125ACA 30 30 – – 30/22 –
CACR-JU196ACA 37, 45 – – – 45/37 –
*
09D , 13D,
CACR-JU014DCA 04, 06 06 09D*, 13D 5.5/3.7 3.0
20D, 30D
CACR-JU018DCA 08 08 30D, 44D 20D, 30D 7.5/5.5 5.0
540 VDC
CACR-JU033DCA 11, 15 11, 15 55D 44D 15/11, 11/7.5 6.0
CACR-JU042DCA 19 19 75D 55D 18.5/15 7.5
CACR-JU051DCA 22 22 – 75D 22/18.5 –
∗ Contact your Yaskawa representative to use this motor.
2.1.2 SERVOPACK for Two Axes and Motor

Max. Allowable Motor
Servomotor
Capacity (kW)
SERVOPACK Input SGMGV- Spindle Motor
Spindle Motor
Model Voltage (50% ED/
Servomotor
Standard High Speed continuous
rating)
CACR-JUM23ACA – 05A*, 09A, 13A 05A*, 09A – 1.5
CACR-JUM24ACA 270 VDC – 20A 13A – 2.0
CACR-JUM25ACA – 30A – – 3.0
CACR-JUM23DCA – 05D*, 09D, 13D 05D*, 09D – 1.5
CACR-JUM24DCA 540 VDC – 20D 13D – 2.0
CACR-JUM25DCA – 30D – – 3.0
∗ Contact your Yaskawa representative to use this motor.
2-2
2.1 Combinations
2.1.3 Power Regeneration Converter, SERVOPACK, and Motor

Some restrictions apply when using combinations of a power regeneration converter, SERVOPACKs, and
motors. Use the information in the following table when determining the combination of devices.
• The total continuous output of motors must be equal to or less than the continuous output capacity of the
power regeneration converter.*1
• The total output of motors must be less than the instantaneous maximum output capacity of the power
regeneration converter.*1
• The total continuous rated output capacity of SERVOPACKs*2 must be equal to or less than the continuous
output capacity of the power regeneration converter*1 multiplied by 2.5.
• The total number of SERVOPACKs used must be equal to or less than ten (This is not the number of axes.)
• The total number of charge constants of SERVOPACKs*2 must be equal to or less than the allowable charge
constant of the power regeneration converter.*1
∗1. The continuous output capacity, the instantaneous maximum output capacity, and the allowable charge constant for
individual models of power regeneration converters are shown in this table.
Continuous Output Capacity (kW) Instantaneous
Power Regeneration Ambient Ambient Maximum Output Allowable Charge
Converter Model Temperature Temperature Capacity Constant
40°C or less 40 to 55°C (kW)
CACP-JU15A3 11 7.7 37.5 132
CACP-JU19A3 15 10.5 46.3 147
CACP-JU22A3 18.5 12.95 55 162
CACP-JU30A3 22 15.4 75 192
CACP-JU45A3B 37 25.9 112.5 390
CACP-JU15D3 11 7.7 37.5 33
Compatible Devices
CACP-JU19D3 15 10.5 46.3 37
CACP-JU22D3 18.5 12.95 55 41
∗2. The continuous rated capacity and charge constant for individual models of SERVOPACKs is shown in this table.
These are not product specifications. Use this information to calculate to determine whether or not the selected com-
bination of devices complies with the recommended operating conditions described above.
Continuous Rated
SERVOPACK Model Capacity Charge Constant
(kW) 2
CACR-JUM23ACA 3 10
CACR-JUM24ACA 4 14
CACR-JUM25ACA 6 20
CACR-JU028ACA 3.7 16
CACR-JU065ACA 11 40
CACR-JU084ACA 15 52
CACR-JU125ACA 22 64
CACR-JU196ACA 37 102
CACR-JUM23DCA 3 4
CACR-JUM24DCA 4 4
CACR-JUM25DCA 6 5
CACR-JU014DCA 3.7 4
CACR-JU018DCA 5.5 6
CACR-JU033DCA 11 10
CACR-JU042DCA 15 13
CACR-JU051DCA 18.5 16
2-3
2.2.1 Spindle Motor
2.2 Selecting Cables

2.2.1 Spindle Motor
<Wiring example when using a pulse encoder> <Wiring example when using a serial encoder>
SERVOPACK for SERVOPACK for

One Axis Pulse Encoder Cable One Axis
Serial Encoder Cable
Spindle Motor Spindle Motor

Main Circuit Cable Main Circuit Cable
Spindle Motor Spindle Motor
(1) Main Circuit Cable

The main circuit cable for the spindle motor must be assembled by customers. The main circuit cable for the
spindle motor consists of the following two parts.
• Cable-end connectors to SERVOPACKs

• Cable
Note: All models of spindle motors have screw terminals for the connection of main-circuit cables. For details, refer to
7.1.2 (1) Main Circuit Cable Wiring.
Use the following information on specifications to select appropriate parts.
Specifications for cable-end connectors to SERVOPACKs

Connector Housing Electrical Contact
SERVOPACK Model Wire Size Manufacturer
Model Model
Tyco Electronics
CACR-JU028ACA 1-917807-2 1318697-6 AWG8
Japan G.K.
CACR-JU036ACA DK-5200S-04R DK-5RECLLP1 (D3) AWG8 DDK Ltd.
Tyco Electronics
CACR-JU014DCA 1-917807-2 316041-6 AWG12
Japan G.K.
CACR-JU018DCA DK-5200S-04R DK-5RECMLP1-100 AWG10 DDK Ltd.
Note: For other SERVOPACKs, they have screw terminals. For details, refer to 7.2.1 (1) Wire Sizes and Tightening
Torques.
Cables
A 600 V heat-resistant vinyl cable is recommended. Select an appropriate size of cable for the motor and the
SERVOPACK used. For details, refer to 7.1.2 (1) Main Circuit Cable Wiring and 7.2.1 (1) Wire Sizes and
Tightening Torques.
2-4
(2) Pulse Encoder Cable

Name Length Order No. External Appearance
2m JZSP-CJP00-02-E
3m JZSP-CJP00-03-E
Pulse Encoder Cable 5m JZSP-CJP00-05-E
for Spindle Motor 10 m JZSP-CJP00-10-E
15 m JZSP-CJP00-15-E To SERVOPACK To spindle motor
20 m JZSP-CJP00-20-E
Use the following information to select appropriate parts when assembling a pulse encoder cable.

Name Model Manufacturer
Connector Plug 54331-0201
Molex Japan Co., Ltd.
Electrical Contact 54306-2019
Note: This cable-end connector is equivalent to and can be used as substitute for the 10120-6000LE connector made by
Sumitomo 3M Ltd.
Specifications for cable-end connectors to spindle motors
The cable-end connector to the spindle motor is stored in the motor's terminal box upon delivery.

Connector ELP-12V
Electrical Other pins LLF-01T-P1.3E* J.T.S Mfg. Co., Ltd.

Contact
Compatible Devices
No.10 pin LLF-41T-P1.3E*
∗ The YC-202 crimping tool is required. Contact J.T.S. Mfg. Co., Ltd. for more information.
Cable specifications
Items Standard Type
B9400064-1-E (3 m)
B9400064-2-E (5 m)
2
Order No. B9400064-3-E (10 m)
B9400064-4-E (15 m)
B9400064-5-E (20 m)
KQVV-SW:
General Specifications AWG22×3 (three colors)
AWG26×4 (four twisted-pair)
Finished Dimensions 7.5 mm dia.
F1
A1
F4 F2
A3 A2
F3
Internal Configuration and A1: Red
Lead Color A2: Black
A3: Yellow green
F1: Blue and white - twisted-pair wire
F2: Yellow and white - twisted pair wire
F3: Green and white - twisted pair wire
F4: Orange and white - twisted pair wire
Available Cable Lengths
3 m, 5 m
(Yaskawa Standards)
2-5
2.2.1 Spindle Motor
(3) Serial Encoder Cable

Name Length Order No. External Appearance
3m JZSP-CJP01-03-E
Heat-shrinkable tube
5m JZSP-CJP01-05-E
Serial Encoder Cable
for Spindle Motor
Shield wire
To SERVOPACK To spindle motor
Use the following information to select appropriate parts when assembling a serial encoder cable.

Connector 36210-0100PL
Sumitomo 3M Ltd.
Shell 36310-3200-008
Specifications for cable-end connectors to spindle motors

The cable-end connector to the spindle motor is stored in the motor’s terminal box upon delivery.

Connector JEC-9P
J.T.S.Mfg.Co., Ltd.
Electrical Contact J-SP1140*
∗ The YRS-440 crimping tool and the DEJ-0.3 extraction tool are required. Contact J.T.S. Mfg. Co., Ltd. for more infor-
mation.
Cable specifications
Items Standard Type
Order No. * JZSP-CMP09- -E
Max Cable Length 20 m
UL20276 (Rated temperature 80°C)
AWG22 × 2C+AWG24 × 2P
AWG22 (0.33 mm2)
General Specifications
Outer diameter of insulating sheath: 1.15 mm dia.
AWG24 (0.20 mm2)
Outer diameter of insulating sheath: 1.09 mm dia.
Finished Dimensions 6.5 mm dia.
Light blue Light blue

/white
Internal Configuration and
Lead Color Red Black
Orange
Orange/white
Available Cable Length

3 m, 5 m, 10 m, 15 m, 20 m
(Yaskawa Standards)
∗ Specify the cable length in of the order number.
Example: JZSP-CMP09-03-E (3 m)
2-6
2.2.2 Servomotor
SERVOPACK for One Axis

or Two Axes
Encoder Cable
Servomotor
Main Circuit Cable
Servomotor
(1) Main Circuit Cable for SGMGV-05 Servomotor
Compatible Devices
The main circuit cable must be assembled by customers. The main circuit cable consists of the following three
parts.
• Cable-end connectors to servomotors

• Cable
Specifications for cable-end connectors to servomotors 2

Items Specifications External Dimensions mm
JZSP-CVM9-1-E
Order No.
(Cables are not included.)
Applicable
SGMGV-05
Servomotors
Japan Aviation
Manufacturer 38 39.6
Electronics Industry, Ltd.
Instruction Manual JAHL-50020
18
Plug JNYFX06SJ3
Electrical Contact ST-TMH-S-C1B
1
2
Applicable Wire Size AWG18 to 22

3
4
5
Outer Diameter of
PE
1.3 mm to 1.8 mm
Insulating Sheath
Mounting Screw M3 pan head screw
Applicable Cable
6.9 mm to 8.3 mm
Outer Diameter
Note: The CT160-3-TMH5B crimping tool is required. Contact Japan Aviation Electronics Industry, Ltd. for more infor-
mation.
2-7
2.2.2 Servomotor

Model Model
CACR-JUM23ACA Tyco Electronics Japan
1-917807-2 316040-6 AWG14
CACR-JUM23DCA G.K.
Cables
A 600 V heat-resistant vinyl cables is recommended. Select the appropriate size of cable for the servomotor
and the SERVOPACK used.
For details, refer to 7.1.2 (1) Main Circuit Cable Wiring and 7.2.1 (1) Wire Sizes and Tightening Torques.
(2) Main Circuit Cable for SGMGV-09 to -75 Servomotors

The main circuit cable must be assembled by customers. The main circuit cable consists of the following three
parts.

• Cable
Specifications for cable-end connectors to servomotors

Use either of the following connectors depending on operating environment of servomotors.
• Standard connectors
• Protective structure IP67 and European safety standards compliant connector
• Standard connectors
Connector configuration
Two kinds of cable-end connectors to the servomotor are required: one connects to the main circuit and the
other connects to the brake power supply. The following diagram shows relation between the connectors,
cables, and devices.
Cable-end Connectors to (Not included) Servomotor
Straight Plug
Cable Clamp Cable

(Not included)
L-shaped Plug
Cable-end Connectors for Brake

Cable-end Power Supply (Not included)
*1
SGMGV Servomotor Connector*2to

Encoder
Straight Plug
Cable
(Not included)
L-shaped Plug
∗1. When using servomotors without holding brakes, the cable-end connector for the brake power supply is not required.
∗2. For information on cable-end connectors to encoders, refer to 2.2.2 (3) Encoder Cable.
2-8
Straight Plug L-shaped Plug Cable Clamp
Servomotor’s Cable-end Connectors to Servomotors (Not included)

Capacity
Receptacle for
kW Straight Plug L-shaped Plug Cable Clamp
Main Circuit
0.85
CE05-2A18-10PD-D
1.3 MS3106B18-10S MS3108B18-10S MS3057-10A
(MS3102A18-10P)
1.8
2.9 CE05-2A22-22PD-D
MS3106B22-22S MS3108B22-22S MS3057-12A
4.4 (MS3102A22-22P)
5.5 CE05-2A32-17PD-D
MS3106B32-17S MS3108B32-17S MS3057-20A
7.5 (MS3102A32-17P)
Note 1. The servomotor receptacle for the main circuit is RoHS compliant. Contact the respective manufacture for infor-
mation on RoHS-compliant cable-end connectors.
2. The servomotor receptacle for the main circuit is equivalent to the MS connector indicated in parentheses. Refer
to these model numbers for the MS connectors when selecting cable-end connectors to servomotors.
• MS3106B - S: Straight plug

L
J W
Compatible Devices
A
Q
Unit: mm
Outer
Length Effective
Joint Screw Overall Diameter Cable Clamp
Shell of Joint Screw Maximum
Length of Joint Set Screw 2
Size A Portion Nut Length Width Y
L max. V
J±0.12 W min.
Q +0
-0.38
18 1-1/8-18UNEF 18.26 52.37 34.13 1-20UNEF 9.53 42
22 1-3/8-18UNEF 18.26 55.57 40.48 1-3/16-18UNEF 9.53 50
32 2-18UNS 18.26 61.92 56.33 1-3/4-18UNS 11.13 66
2-9
2.2.2 Servomotor
• MS3108B - S: L-shaped plug

L
J
R
Q
W
U
V
Unit: mm
Outer
Length Effective
Joint Screw Overall Diameter R U Cable Clamp
Shell of Joint Screw
Length of Joint Set Screw
Size A Portion Nut ±0.5 ±0.5 Length
L max. V
J±0.12 W min.
Q +0
-0.38
18 1-1/8-18UNEF 18.26 68.27 34.13 20.5 30.2 1-20UNEF 9.53
22 1-3/8-18UNEF 18.26 76.98 40.48 24.1 33.3 1-3/16-18UNEF 9.53
32 2-18UNS 18.26 95.25 56.33 32.8 44.4 1-3/4-18UNS 11.13
• MS3057- A: Cable clamp with rubber bushing
C
J dia. (Inner diameter of bushing)
1.6
V E dia.
(Inner diameter
Q dia.
of cable clamp)
G
H (Slide Range)
Unit: mm
Effective Outer
Cable Applicable Overall
Screw E J Set Screw Diameter Attached
Clamp Connector Length
Length Diameter G±0.7
H
Diameter V Q±0.7 Bushing
Type Shell Size A±0.7
C Dia.
MS3057-
18 23.8 10.3 15.9 31.7 3.2 14.3 1-20UNEF 30.1 AN3420-10
10A
MS3057- 1-3/16-
22 23.8 10.3 19 37.3 4 15.9 35.0 AN3420-12
12A 18UNEF
MS3057- 1-3/4-
32 27.8 11.9 31.7 51.6 6.3 23.8 51.6 AN3420-20
20A 18UNS
2-10
• Cable-end connectors for brake power supply
Straight Plug L-shaped Plug
Servomotor’s Cable-end Connectors for Brake Power Supply (Not included)

Capacity Receptacle for
kW Brake Power Straight Plug L-shaped Plug Manufacturer
Supply
CM10-SP2S-S-D CM10-AP2S-S-D
Applicable Cable: Applicable Cable:
4.0 mm dia. to 6.0 mm dia. 4.0 mm dia. to 6.0 mm dia.
0.85 CM10-SP2S-M-D CM10-AP2S-M-D
to CM10-R2P-D Applicable Cable: Applicable Cable: DDK Ltd.
7.5 6.0 mm dia. to 9.0 mm dia. 6.0 mm dia. to 9.0 mm dia.
CM10-SP2S-L-D CM10-AP2S-L-D
Note: For the brake power cable, the cable-end connectors are available from Yaskawa Control Co., Ltd. Use the following
order number when ordering.
J Z S P - C V B 9 - S M S2 - E
Connector Type Bush Size *1(Diameter: mm) Contact Pin Type

S: Straight plug S : Size S (4.0 to 6.0) S2: Soldered
A: L-shaped plug M: Size M (6.0 to 9.0) C3: Crimped type*2
Compatible Devices
L : Size L (9.0 to 11.6)
∗1. The standard kit includes medium size connectors.
∗2. Use the following crimping tool made by DDK Ltd.: 357J-50448T
For details, contact DDK.
• L-shaped Plug
21 dia.
Items Specifications
2
Connector Model CM10- P2S- -D (Cables are not included.)
32.5
21 dia.
Protective Structure IP67
(34)
Manufacturer DDK Ltd.
Unit: mm L-shaped plug (CM10-AP2S- -D): TC-573,
Instruction Manuals
Straight plug (CM10-SP2S- -D): TC-583
• Straight Plug
Electrical contact (100 pcs in one bag)
• Crimped type: CM10-#22SC(C3)-100,
21 dia.
21 dia.
Wire size: AWG16 to 20,

Outer diameter of sheath: 1.87 mm to 2.45 mm,
(51.4) Crimping tool: 357J-50448T
Unit: mm • Soldered type: CM10-#22SC (S2)-100,
Wire size: AWG16 max.
Reel contact (4000 pcs on one reel)
Electrical Contact • Crimped type: CM10-#22SC(C3)-4000,
Order No. Wire size: AWG 16 to 20,
Outer diameter of sheath: 1.87 mm to 2.45 mm,
Semi-automatic crimping tool:
AP-A50541T (product name for one set),
AP-A50541T-1 (product name for applicator-stripper
and crimper)
Note: The product name of the semi-automatic tool refers
to the product name of the press and applicator as a
set.
2-11
2.2.2 Servomotor
• Protective Structure IP67 and European Safety Standards Compliant Connector

Connector Configuration
Two kinds of cable-end connectors to the servomotor are required: one connects to the main circuit and the
other connects to the brake power supply. The following diagram shows relation between the connectors,
cables, and devices.
Cable-end Connectors to
Servomotor (Not included)
Plug Conduit Cable

(Not included)
Waterproof Straight Plug
Cable-end Waterproof Cable Clamp

Cable
Connector to (Not included)
Encoder*2
Waterproof L-shaped Plug
Cable-end Connectors for Brake

Power Supply (Not included)*1
Straight Plug
Cable
(Not included)
L-shaped Plug
∗1. When using servomotors without holding brakes, the cable-end connector for the brake power supply is not required.
∗2. For information on cable-end connectors to encoders, refer to 2.2.2 (3) Encoder Cable.
2-12
Waterproof Straight Plug Waterproof L-shaped Waterproof Cable Clamp

Plug
Cable-end Connectors to Servomotors (Not included)

Servomotor’s
Capacity Waterproof Waterproof
Receptacle for Waterproof Applicable Cable
kW Main Circuit Straight L-shaped Manufacturer
Cable Clamp Diameter (mm)
Plug Plug
0.85 CE3057-10A-1-D 10.5 to 14.1

CE05-2A18- CE05-6A18- CE05-8A18-
1.3 CE3057-10A-2-D 8.5 to 11.0
10PD-D 10SD-D-BSS 10SD-D-BAS
1.8 CE3057-10A-3-D 6.5 to 8.7
CE3057-12A-1-D 12.5 to 16.0
2.9 CE05-2A22- CE05-6A22- CE05-8A22- CE3057-12A-2-D 9.5 to 13.0
DDK Ltd.
4.4 22PD-D 22SD-D-BSS 22SD-D-BAS CE3057-12A-3-D 6.8 to 10.0
CE3057-12A-7-D 14.5 to 17.0
CE3057-20A-1-D 22 to 23.8
5.5 CE05-2A32- CE05-6A32- CE05-8A32-
CE3057-20A-2-D 24 to 26.6
7.5 17PD-D 17SD-D-BSS 17SD-D-BAS
CE3057-20A-3-D 22 to 22.5
• Cable-end connectors for brake power supply
Compatible Devices
Straight Plug L-shaped Plug
Servomotor’s Cable-end Connectors for Braker Power Supply (Not included)

Capacity Receptacle for
kW Brake Power
Supply
Straight Plug L-shaped Plug Manufacturer 2
CM10-SP2S-S-D CM10-AP2S-S-D
0.85 CM10-SP2S-M-D CM10-AP2S-M-D
to CM10-R2P-D Applicable Cable: Applicable Cable: DDK Ltd.
7.5 6.0 mm dia. to 9.0 mm dia. 6.0 mm dia. to 9.0 mm dia.
CM10-SP2S-L-D CM10-AP2S-L-D
Note: For the brake power cable, the cable-end connectors are available from Yaskawa Control Co., Ltd. Use the following
order number when ordering.
J Z S P - C V B 9 - S M S2 - E
Connector Type Bush Size *1(Diameter: mm) Contact Pin Type

S: Straight plug S : Size S (4.0 to 6.0) S2: Soldered
A: L-shaped plug M: Size M (6.0 to 9.0) C3: Crimped type*2
L : Size L (9.0 to 11.6)
∗1. The standard kit includes medium size connectors.
∗2. Use the following crimping tool made by DDK Ltd.: 357J-50448T
For details, contact DDK.
2-13
2.2.2 Servomotor

• SERVOPACK for one axis
Model Model
Tyco Electronics Japan
CACR-JU028ACA 1-917807-2 1318697-6 AWG10
G.K.
CACR-JU036ACA DK-5200S-04R DK-5RECLLP1 (D3) AWG8 DDK Ltd.
Tyco Electronics Japan
CACR-JU014DCA 1-917807-2 316041-6 AWG14
G.K.
CACR-JU018DCA DK-5200S-04R DK-5RECMLP1-100 AWG10 DDK Ltd.
Note: For other SERVOPACKs, they have screw terminals. For details, refer to 7.2.1 (1) Wire Sizes and Tightening
Torques.
• SERVOPACK for two axes
Electrical Contact
SERVOPACK Model Connector Model Wire Size Manufacturer
Model
CACR-JUM23ACA 316040-6 AWG14
CACR-JUM24ACA 1-917807-2 316041-6 AWG10
CACR-JUM25ACA 1318697-6 AWG8 Tyco Electronics Japan
CACR-JUM23DCA G.K.
CACR-JUM24DCA 1-917807-2 316040-6 AWG14
CACR-JUM25DCA
Cables
A 600 V heat-resistant vinyl cable is recommended. Select an appropriate size of cable for the motor and the
SERVOPACK used.
For details, refer to 7.1.2 (1) Main Circuit Cable Wiring and 7.2.1 (1) Wire Sizes and Tightening Torques.
2-14
(3) Encoder Cable

Either purchase an encoder cable with connectors on both ends or use the following specifications to select
appropriate parts and make your own cable.
Order No.
Name Length External Appearance
Standard Type Flexible Type*1
3m JZSP-CVP05-03-E
5m JZSP-CVP05-05-E SERVOPACK side
L
Encoder side
10 m JZSP-CVP05-10-E
15 m JZSP-CVP05-15-E Crimping type connector CM10-SP10S-!-D
Cables with (Sumitomo 3M Ltd.) (DDK Ltd.)
Connectors 20 m JZSP-CVP05-20-E
–
on Both 3m JZSP-CVP08-03-E
Ends
5m JZSP-CVP08-05-E SERVOPACK side
L
Encoder side
15 m JZSP-CVP08-15-E Crimping type connector CM10-AP10S-!-D
(Sumitomo 3M Ltd.) (DDK Ltd.)
Soldered
Kit for Cable-end
36210-0100PL (Connector)
Connectors to
36310-3200-008 (Shell)
SERVOPACKs
(Sumitomo 3M Ltd.)
Connector Specifications
Plug: CM10-SP10S-M-D
JZSP-CVP9-1-E*2
Compatible Devices
Electrical Contact: (Crimped)*3
Straight Plugs CM10-#22SC(C4)-100
(IP67-rated) Applicable Cable Diameter: 6.0 mm to 9.0 mm
– Used as cable-
end connectors to Connector Specifications
encoder
Plug: CM10-SP10S-M-D (DDK Ltd.)
JZSP-CVP9-3-E*2 Electrical Contact: (Soldered)
CM10-#22SC(S1)-100
Applicable Cable Diameter: 6.0 mm to 9.0 mm
2
Connector Specifications
Plug: CM10-AP10S-M-D
JZSP-CVP9-2-E*2 Electrical Contact: (Crimped)*3
L-shaped Plugs CM10-#22SC(C4)-100
(IP67-rated) Applicable Cable Diameter: 6.0 mm to 9.0 mm
– Used as cable-
end connectors to Connector Specifications
encoder Plug: CM10-AP10S-M-D
JZSP-CVP9-4-E*2 Electrical Contact: (Soldered) (DDK Ltd.)
CM10-#22SC(S1)-100
Applicable Cable Diameter: 6.0 mm to 9.0 mm
3m JZSP-CMP09-03-E JZSP-CSP39-03-E
5m JZSP-CMP09-05-E JZSP-CSP39-05-E
Cables 10 m JZSP-CMP09-10-E JZSP-CSP39-10-E
15 m JZSP-CMP09-15-E JZSP-CSP39-15-E
20 m JZSP-CMP09-20-E JZSP-CSP39-20-E
∗1. Use flexible cables for movable sections such as robot arms.
∗2. For details about ordering, contact your Yaskawa representative.
∗3. Use the following crimping tool made by DDK Ltd. : 357J-52667T
2-15
2.2.2 Servomotor
Cable specifications (when the cable length is 20 m or shorter)

Items Standard Type Flexible Type
Order No. * JZSP-CMP09- -E JZSP-CSP39- -E
Max Cable Length 20 m
UL20276 (Rated temperature: 80°C) UL20276 (Rated temperature: 80°C)
AWG22×2C+AWG24×2P AWG22×2C+AWG24×2P
AWG22 (0.33 mm2) AWG22 (0.33 mm2)
Outer diameter of insulating sheath: Outer diameter of insulating sheath:
Specifications
1.15 mm dia. 1.35 mm dia.
AWG24 (0.20 mm2) AWG24 (0.20 mm2)
Outer diameter of insulating sheath: Outer diameter of insulating sheath:
1.09 mm dia. 1.21 mm dia.
Finished Dimensions 6.5 mm dia 6.8 mm dia
Light blue Light blue/ Black/ Red/

white light blue light blue
Internal Configuration and
Red Black Orange Green
Lead Color
Orange Orange/ Red/
white Black/
pink pink
Available Cable Length

3 m, 5 m, 10 m, 15 m, 20 m
(Yaskawa Standards)
∗ Specify the cable length in of order number.

Example: JZSP-CMP09-05-E (5 m)
2-16
2.2.3 Σ-V-SD Driver

(1) Cables for Σ-V-SD Drivers
The necessary cables for wiring Σ-V-SD drivers are shown here. The cables with order numbers can be
obtained from Yaskawa Controls Co., Ltd.
Name Length Order No. External Appearance Reference

Cable for 24-volt control
1m JZSP-CNG00-01-E
power supply To Σ-V-SD driver
• With loose leads on one
end 2m JZSP-CNG00-02-E 2.2.3 (2)
• Connects one Σ-V-SD
driver to 24-volt con- 3m JZSP-CNG00-03-E
trol power supply
Cable for 24-volt control
power supply 0.2 m JZSP-CNG01-A2-E
• With connectors on
2.2.3 (3)
both ends
• Connects two Σ-V-SD 0.3 m JZSP-CNG01-A3-E
drivers
Cables for local bus com-
0.5 m JUPIT-W6004-A5 2.2.3 (4)
munications
Terminating resister for

– JUPIT-W6024 2.2.3 (5)
local bus
1m JZSP-CJI01-01-E To converter
Cable for converter I/O 2m JZSP-CJI01-02-E 2.2.3 (6)
Compatible Devices
3m JZSP-CJI01-03-E
1m JZSP-CSI02-1-E
To SERVOPACK
Cable for SERVOPACK
2m JZSP-CSI02-2-E 2.2.3 (7)
for one axis*1
3m JZSP-CSI02-3-E
1m JZSP-CSI01-1-E To SERVOPACK
Cable for SERVOPACK
2m JZSP-CSI01-2-E 2.2.3 (8)
for two axes*2 2
3m JZSP-CSI01-3-E
Cable for EtherCAT (CoE) 100 m

– 2.2.3 (9)
communications max.
Cable for analog moni- TO SERVOPACK To measuring device

1m JZSP-CA01-E 2.2.3 (10)
tor*3
Cable for personal com- To computer To SERVOPACK

2.5 m JZSP-CVS06-02-E 2.2.3 (11)
puter connection*3 JZSP-CVS06-02-E
∗1. When customers assembly the cable, refer to 2.2.3 (7) I/O Cable Specifications for SERVOPACKs for One Axis to
select appropriate parts.
∗2. When customers assembly the cable, refer to 2.2.3 (8) I/O Cable Specifications for SERVOPACKs for Two Axes to
select appropriate parts.
∗3. Required for maintenance work.
2-17
(2) Cable Specifications for 24-volt Control Power Supply (With loose leads at one end
and connects a Σ-V-SD driver to a 24-volt control power supply)
Order No. * JZSP-CNG00- -E
Cable Length 1 m, 2 m, 3 m
Cable and Cable: UL1015 AWG14
Connector Cable-end connector to driver: 175362-1 (PIN : 353717-2)

Example: JZSP-CNG00-01-E (1 m)
(3) Cable Specifications for 24-volt Control Power Supply (With connectors on both
ends and connects two Σ-V-SD drivers)
Order No.*1 JZSP-CNG01-A -E
*2 0.2 m or 0.3 m
Cable Length
Cable: UL1015 AWG14
Cable and
Connector: 175362-1 (PIN : 353717-2)
Connector
Connector manufacturer: Tyco Electronics Japan G.K.
∗1. Specify the cable length in of the order number.

Example: JZSP-CNG01-A2-E (0.2 m)
∗2. Use a cable with a length of 0.3 m for the CACP-JU45A3B converter.
(4) Cable Specifications for Local Bus Communications

Order No. JUPIT-W6004-A5
Cable Length 0.5 m
Cable HRZFVV-ESB (20276)
The total number of cables must equal to the total number of SERVOPACKs
Remarks
used.
(5) Cable Specifications for Terminating Resistor of the Local Bus

Order No. JUPIT-W6024
Remarks Connect the terminating resistor only to the SERVOPACK on the far right.
(6) Cable Specifications for Converter I/O Signals

Order No. * JZSP-CJI01- -E
Cable Length 1 m, 2 m, 3 m
Cable and Cable: HP-SB/20276SR #28×6P
Connector Cable-end connector for external device: 10114-6000EL (Crimping type)
Remarks Used for emergency stop and the MCONs.
Example: JZSP-CJI01-01-E (1 m)
2-18
(7) I/O Cable Specifications for SERVOPACKs for One Axis

Items length Specifications
1m JZSP-CSI02-1-E
Order No. 2 m JZSP-CSI02-2-E
3m JZSP-CSI02-3-E
Cable: SSRFPVV-SB AWG#28 × 13P, UL20276 VW-1SC
Cable and Shell: 10326-52A0-008 (Sumitomo 3M Ltd.)
connector
Connector: 10126-6000EL (Crimping type, Sumitomo 3M Ltd.)*
Remarks Used for input signals, such as P-OT and N-OT.
∗ The soldered type is 10126-3000PE (Sumitomo 3M Ltd.).

(8) I/O Cable Specifications for SERVOPACKs for Two Axes
Items length Specifications
1m JZSP-CSI01-1-E
Order No. 2 m JZSP-CSI01-2-E
3m JZSP-CSI01-3-E
Cable: SSRFPVV-SB AWG#28 × 25P, UL20276 VW-1SC
Cable and Shell: 10350-52A0-008 (Sumitomo 3M Ltd.)
connector
Connector: 10150-6000EL (Crimping type, Sumitomo 3M Ltd.)*
Remarks Used for input signals, such as P-OT and N-OT.
∗ The soldered type is 10150-3000PE (Sumitomo 3M Ltd.).
(9) Cable Specifications for Use with EtherCAT (CoE) Communications

Compatible Devices
Cable Length 100 m max.
Cable and Cable: CAT5 STP 4pairs
connector Connector: RJ-45
If you make your own cable, make sure that there is electrical continuity between
Remarks the cable shield and connector shell.
Recommended cable: ZB9020 (manufactured by Beckhoff Automation GmbH)
(10) Cable Specifications for Use with an Analog Monitor 2

Order No. JZSP-CA01-E
Cable length 1m
Cable: STYLE 1007 AWM E74037, AWG24 VW-1
Connectors
Connector: DF11-4DS-2C
Remarks Used for analog output signals, such as speed reference and torque reference.
(11) Cable Specifications for Use with a Computer

Order No. JZSP-CVS06-02-E
Cable length 2.5 m
Cable-end connector to SERVOPACK: USB Type miniB
Connectors
Cable-end connector to computer: USB Type A
Used to connect a SERVOPACK with a personal computer in which SigmaWin
Remarks
for Σ-V-SD (MT) is installed.
2-19
2.3.1 Molded-case Circuit Breakers, Ground Fault Detectors, and Magnetic Contactors
2.3 Peripheral Devices

2.3.1 Molded-case Circuit Breakers, Ground Fault Detectors, and Magnetic
Contactors
Always install a circuit breaker to protect the main circuits. The type of circuit breaker that is required depends
on what you need to detect.
Detecting only overcurrent: Use a molded-case circuit breaker.
Detecting overcurrent and leakage current: Use a ground fault detector that detects overloads and leakage cur-
rent. Or, use a molded-case circuit breaker together with a ground
fault detector that detects only leakage current.
WARNING
• Always install a molded-case circuit breaker or ground fault detector in the main circuit.
Failure to observe this warning may result in electric shock, equipment damage, or fire.
(1) Molded-case Circuit Breaker

A molded-case circuit breaker shuts OFF the power supply when it detects an overcurrent. Install a molded-
case circuit breaker between the power supply and the main circuit power supply input terminals (R/L1, S/L2,
and T/L3).
Select the molded-case circuit breaker based on the information in (4) Converter Input Current and Inrush
Current.
(2) Ground Fault Detector

A ground fault detector detects leakage current. Some models will also detect overcurrent in addition to leak-
age current. Use the type that is suitable for your application. Install a ground fault detector between the power
supply and the main circuit power supply input terminals (R/L1, S/L2, and T/L3).
Recommended ground fault detector: A ground fault detector with harmonic countermeasures and a rated
sensed current of 30 mA or higher for each power regeneration con-
verter. A ground fault detector with harmonic countermeasures removes
leakage current for harmonics and detects only leakage current in the
frequency range that presents a hazard to humans. If you use a ground
fault breaker that does not have harmonic countermeasures, the leakage
current from the harmonics will increase the chance of malfunctions.
Select the ground fault detector based on the information in (4) Converter Input Current and Inrush Current.
(3) Magnetic Contactors

The magnetic contactor for the control circuit power supply turns the control circuit power supply ON and
OFF. The magnetic contactor for the main circuit power supply turns the main circuit power supply ON and
OFF. Use a magnetic contactor (MC) to turn OFF the control power supply or main circuit power supply
sequence.
Note: If the magnetic contactor on the main circuit power supply input is turned ON and OFF frequently, the Σ-V-SD servo
driver may be damaged. Do not turn the power supply ON and OFF with the magnetic contactor more than one time
every 30 minutes.
Select the magnetic contactor based on the information in (4) Converter Input Current and Inrush Current.
2-20
(4) Converter Input Current and Inrush Current

Capacity Input Current Inrush
Capacity Input Current
(Continuous Power Regeneration (Continuous Current
Voltage (50%ED) (50%ED) (Main Circuit)
Ratings) Converter Model Ratings)
kW Arms A0-P
kW Arms
15 11 CACP-JU15A3 73 54 83
18.5 15 CACP-JU19A3 90 73 83
200 V 22 18.5 CACP-JU22A3 107 90 83
30 22 CACP-JU30A3 145 107 178
45 37 CACP-JU45A3B 218 179 178
15 11 CACP-JU15D3 36 27 173
400 V 18.5 15 CACP-JU19D3 45 36 173
22 18.5 CACP-JU22D3 53 45 173
2.3.2 Surge Absorbers

A surge absorber absorbs the energy that is stored in the coil of an inductive load to suppress noise. Always
use surge absorbers or diodes on all inductive loads that are connected near the Σ-V-SD servo driver. (Induc-
tive loads include magnetic contactors, magnetic relays, magnetic valves, solenoids, and magnetic brakes.)
• Select a surge absorber with a capacity that is sufficient for the coil in the inductive
load.
• Always install surge absorbers. If you do not install surge absorbers, the surge volt-
age from the coil that occurs when the inductive load is turned ON and OFF will affect
the SERVOPACK control signal lines and could cause incorrect signals.
Compatible Devices
2.3.3 Absolute Encoder Battery
Use the BA518 battery for absolute encoders. This battery can be obtained from Yaskawa Controls Co., Ltd.
CAUTION
• Purchase a battery for the absolute encoder separately and mount it on the power regeneration converter.
• A lithium battery is used for the absolute encoder. Confirm the most current IATA dangerous goods regula- 2
tions before transporting the battery as air cargo.
2-21
2.3.4 AC Reactor
2.3.4 AC Reactor
Make sure to install an AC reactor, which corresponds to the capacity of the individual power regeneration
converter, to each power regeneration converter.
Do not connect any equipment other than the power regeneration converter to the secondary side of the AC
reactor. If this caution is not observed, an overcurrent may occur in the power regeneration converter. An AC
reactor is effective in improving the power factor of the power supply side.
Select an AC reactor based on the following table. For details, refer to 5.2 AC Reactor.
Power Regeneration Converter

AC Reactor Model
Input Voltage Model
CACP-JU15A3 X008017
CACP-JU19A3 X008018
Three-phase,
CACP-JU22A3 X008019
200 VAC
CACP-JU30A3 X008020
CACP-JU45A3B X008022
CACP-JU15D3 X008010*
Three-phase,
400 VAC CACP-JU19D3 X008011
CACP-JU22D3 X008012
∗ This AC reactor does not comply with UL standards. If an AC reactor that complies with UL standards is required,
contact your Yaskawa representative.
2.3.5 Magnetic Contactor for Winding Selection

A magnetic contactor for winding selection is needed only if a winding selection motor is used as the spindle
motor.
Select a magnetic contactor for winding selection based on the following table. For details, refer to 5.3 Mag-
netic Contactor for Winding Selection.
Magnetic Contactor
for Winding Selection
Model
Input Voltage Model
Standard For UL Compliance
CACR-JU028ACA
270 VDC CACR-JU036ACA
CACR-JU065ACA
HV-75AP4 HV-75AP4/UL
CACR-JU014DCA
540 VDC CACR-JU018DCA
CACR-JU033DCA
CACR-JU084ACA
270 VDC CACR-JU102ACA
CACR-JU125ACA HV-150AP4 HV-150AP4/UL
CACR-JU042DCA
540 VDC
CACR-JU051DCA
2-22
2.3.6 Noise Filter

A noise filter installed on the power supply side eliminates noise leaking from the main circuit power line to
the Σ-V-SD driver. The filter also reduces the noise leaking from the Σ-V-SD driver to the main circuit power
line.
Use a noise filter designed to suppress harmonic noise. Do not use general-purpose noise filters, because their
effectiveness is minimal when used with the Σ-V-SD driver.
Install a noise filter at the input side of the power regeneration converter.
Yaskawa recommends the following noise filters. For details, refer to 5.4 Noise Filter.

Noise Filter Model
Input Voltage Model
CACP-JU15A3 HF3060C-SZC-47EDD
Three-phase, CACP-JU22A3 HF3100C-SZC-47EDD
200 VAC
CACP-JU45A3B HF3200C-SZC-49EDE*
CACP-JU15D3 HF3030C-SZC-47DDD
Three-phase,
CACP-JU19D3 HF3040C-SZC-47EDD
400 VAC
CACP-JU22D3 HF3050C-SZC-47EDD
∗ Also use the following compact AC power supply block-type capacitor (X capacitor).
Compact AC power supply block-type capacitor (X capacitor) model: LDA106M-AA (from Soshin Electric Co., Ltd.)
Some noise filters have large leakage currents. Leakage current is also greatly affected
by ground conditions. If you use a ground fault detector, consider the ground conditions
Compatible Devices
and the leakage current of the noise filter when you select one.
Ask the manufacturer of the noise filter for details.
2-23
3
Dimensions for Motors
3.1 Spindle Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3.1.1 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Specifications and External Dimensions for Motors

3.1.2 Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.1.3 Output and Torque Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.1.4 Tolerance Radial Loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
3.1.5 Motor Total Indicator Readings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11
3.1.6 Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
3.1.7 Vibration Resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
3.1.8 External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
3.2 Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17

3.2.1 Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
3.2.2 Torque-Motor Speed Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
3.2.3 Overload Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
3.2.4 Holding Brake Electrical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
3.2.5 Allowable Load Moment of Inertia at the Motor Shaft . . . . . . . . . . . . . . . . . . . . . . . . 3-22
3.2.6 Allowable Radial and Thrust Loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
3.2.7 Motor Total Indicator Readings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.2.8 Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.2.9 Shock Resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.2.10 Vibration Resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23 3
3.2.11 Vibration Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.2.12 External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
3-1
3 Specifications and External Dimensions for Motors
3.1.1 Configuration
3.1 Spindle Motor

3.1.1 Configuration
The motor configuration is shown in the following diagram.
' & $ %
(
) #
*
"
+ #
Motor Configuration
Number Name Number Name

Output shaft Stator winding
Bearings Terminal box
Rotor Cable socket
Rotor short-circuit ring Cooling fan
Stator Encoder
Encoder board
Encoder
connector U V W
Z1 Z2 Z3
Main circuit Fan power
terminals supply
terminals
Cable connector Cable connector
Terminal and Connector Arrangement
Encoder Connector
Number Terminal Number Terminal

1 DC+5 V 7 PC
2 0V 8 /PC
3 PA 9 FG (Frame Ground)
4 /PA 10 SS (Shield)
5 PB 11
TS
6 /PB 12
Model: ELR-12V
Manufacturer: J.S.T.Mfg.Co.,Ltd.
Note: A crimp tool is required.
Motor Connector
3-2
3.1 Spindle Motor
3.1.2 Ratings and Specifications

(1) Single-winding Motor
Model: UAKAJ- C (200 V), - C E (400 V)
Item
04 06 08 11 15 19 22 30*2 37*2 45*2
50% ED Rating (S3)*1 kW 3.7 5.5 7.5 11 15 18.5 22 30 37 45
Continuous Rating
kW 2.2 3.7 5.5 7.5 11 15 18.5 22 30 37
(S1)
Continuous Rated
Nm 14 24 35 48 70 96 118 183 249 307
Torque
Base Speed min-1 1500 1150
Maximum Speed min-1 10000 7000 6000 5000
Moment of Inertia ×10-3 kg m2 7.1 14.0 21.0 25.0 69.0 69.0 89.0 231 266 398
Vibration V5 V10
Noise dB (A) 75 or less 80 or less
Cooling Method Totally enclosed, external fan cooled

Protection Class IP44 (IEC34 -5)
Equipped with thermostat (automatic reset)
Cooling Fan Motor 200 V class: Three-phase 200 V 50/60 Hz, 220 V 50/60 Hz, 230 V 60 Hz
400 V class: Three-phase 400 V 50/60 Hz, 440 V 50/60 Hz, 460 V 60 Hz
Pulse encoder (1024 p/r) (standard)
Encoder (Magnetic)
Serial encoder (17-bit)
Overheating Protection NTC thermistor
Flange type: IM B5, IM V1 (output shaft from horizontal to vertically down)
Installation
Foot-mounted type: IM B3 (installed on floor)
200% of continuous rated (S1) output for 10 s (UAKAJ-08, -37: 180% of
Overload Capacity
continuous rated (S1) output for 10 s)
Thermal Class F
200 V class: 1500 VAC for one minute
Withstand Voltage
Insulation Resistance 500 V DC 10 MΩ min.
Ambient Temperature and Ambient
0 to 40°C, 20% to 80% RH or less (no condensation)
Humidity
3
Altitude 1000 m or less
Bearing Lubrication Grease
Paint Color Munsell N1.5
Compliant Standards JIS, JEC
Three-phase,
Applicable 028A 028A 036A 065A 065A 084A 102A 125A 196A 196A
200 VAC
SERVOPACK
CACR-JU Three-phase,
014D 014D 018D 033D 033D 042D 051D – – –
400 VAC
∗1. The 50% ED rating (S3) is for a 10 minute cycle consisting of 5 minutes of operation and 5 minutes stopped.
∗2. Available only for three-phase, 200 VAC models.
3-3
(2) Winding Selection Motor

Model: UAKBJ- C (200 V), - C E (400 V)
Item
06 08 11 15 19 22 30*2
50% ED Rating (S3)*1 kW 5.5 7.5 11 15 18.5 22 30
Continuous Rating (S1) kW 3.7 5.5 7.5 11 15 18.5 20
Continuous Rated Torque Nm 71 105 143 263 249 307 332
Base Speed min-1 500 400 575
Maximum Speed -1 7000 6000 5000
min
Moment of Inertia ×10-3 kg m2 69.0 69.0 89.0 231.0 231.0 266.0 398.0
Vibration V5 V10
Noise dB (A) 75 or less 80 or less
Cooling Method Totally enclosed, external fan cooled
Protection Class IP44 (IEC34-5)
Equipped with thermostat (automatic reset)
200 V class: Three-phase 200 V 50/60 Hz, 220 V 50/60 Hz, 230 V
Cooling Fan Motor 60 Hz
400 V class: Three-phase 400 V 50/60 Hz, 440 V 50/60 Hz, 460 V
60 Hz
Pulse encoder (1024 p/r) (standard)
Encoder (Magnetic)
Serial encoder (17-bit)
Overheating Protection NTC thermistor
Flange type: IM B5, IM V1 (output shaft from horizontal to vertically
Installation down)
Foot-mounted type: IM B3 (installed on floor)
Overload Capacity 200% of continuous rated (S1) output for 10 s
Thermal Class F
Withstand Voltage
Insulation Resistance 500 V DC 10 MΩ min.
Ambient Temperature and Ambient Humidity 0 to 40°C, 95% RH or less (no condensation)
Bearing Lubrication Grease
Paint Color Munsell N1.5
Compliant Standards JIS, JEC
Applicable Three-phase, 200 VAC 028A 036A 065A 065A 084A 102A 125A
SERVOPACK
CACR-JU Three-phase, 400 VAC 014D 018D 033D 033D 042D 051D –
∗1. The 50% ED rating (S3) is for a 10 minute cycle consisting of 5 minutes of operation and 5 minutes stopped.
3-4
3.1 Spindle Motor
3.1.3 Output and Torque Characteristics

The output and torque characteristics for spindle motors are shown below.
(1) Single-winding Motors

Model
Output Characteristics Torque Characteristics
UAKAJ-
29.3 10 second rating

23.6 50㧑ED rating
4.6 10 second rating Torque
Output 3.7 50㧑ED rating (N࡮m) 14.0 Continuous rating
(kW)
04C 2.2 Continuous rating 3.0
1.8
1500 6400 8000 10000 1500 6400 8000 10000

Motor speed (min-1) Motor speed (min-1)
7.4 10 second rating 47.1

10 second rating

5.5 50㧑ED rating 35.0
Torque 50㧑ED rating
Output 3.7 Continuous rating 3.7 (N࡮m) 23.6
(kW) Continuous rating
06C 3.3
2.2
1500 5000 6000 10000 1500 5000 6000 10000

63.7
10 second rating
10 10 second rating 47.8

50㧑ED rating
7.5 50㧑ED rating Torque 35.0
Output Continuous rating
7.0 (N࡮m)
08C (kW) 5.5 Continuous rating
6.0
4.4
1500 7000 8000 10000 1500 7000 8000 10000

3
15 10 second rating 95.5 10 second rating

50㧑ED rating
50㧑ED rating
11 70.0
Torque
Output Continuous rating
7.5 Continuous rating (N࡮m) 47.8
(kW) 7.5
11C 6.6
4.5
1500 5000 6000 10000 1500 5000 6000 10000

22 10 second rating 140 10 second rating
50㧑ED rating
15 50㧑ED rating 15.7 95.5
Output Torque 70.0 Continuous rating
(kW) 11 Continuous rating 12.8
(N࡮m)
15C 9.4
1500 5000 6000 7000 1500 5000 6000 7000

3-5
(cont’d)
Model
UAKAJ-
30 10 second rating 50㧑ED rating
191 10 second rating
18.5 17.0 50㧑ED rating

Output Torque 118
(kW) 15.8 Continuous rating
19C 15 Continuous rating 12.8
(N࡮m)
95.5
1500 4000 6000 7000 1500 4000 6000 7000

37 10 second rating 50㧑ED rating 236

10 second rating
50㧑ED rating
22 21.1 140
Output Torque
(N࡮m) Continuous rating
22C (kW)
18.5 Continuous rating 18.8 118
15.8
1500 4000 6000 7000 1500 4000 6000 7000

44 10 second rating 50㧑ED rating 365 10 second rating
50㧑ED rating
30 249
27.1 Torque Continuous rating
Output 22 Continuous rating (N࡮m) 183
(kW) 22.5
30C
16.5
1150 3700 4500 6000 1150 3700 4500 6000

50㧑ED rating
50㧑ED rating
37 307
Output Torque Continuous rating
(kW) 30 Continuous rating 33.3 (N࡮m) 249
37C
27.7
22.5
1150 3700 4500 6000 1150 3700 4500 6000

50㧑ED rating
50㧑ED rating
45 374
Output Torque Continuous rating
41.4
(kW) 37 Continuous rating (N࡮m) 307
45C
29.7
24.4
1150 2800 3300 5000 1150 2800 3300 5000

3-6
3.1 Spindle Motor
(2) Winding Selection Motors
Model
UAKBJ-
High-speed winding High-speed winding
47.1‫ޓ‬10 second rating

Output (kW)
Torque (N࡮m)
35.0 50㧑ED rating
5.5‫ޓ‬50㧑ED rating 5.2 23.6 Continuous rating
4.7
3.7 Continuous rating 3.1
1500 5000 6000 7000 1500 5000 6000 7000

06C
Low-speed winding Low-speed winding
126‫ޓ‬10 second rating

6.6‫ޓ‬10 second rating 105 Continuous rating
Torque (N࡮m)
Output (kW)
5.5‫ޓ‬50㧑ED rating 50㧑ED rating

70.7

3.7‫ޓ‬Continuous rating
500 1500 500 1500


Output (kW)
Torque (N࡮m)
47.8 50㧑ED rating

7.5‫ޓ‬50㧑ED rating 7.3 35.0 Continuous rating
5.5‫ޓ‬Continuous rating 6.4
4.7
1500 4700 6000 7000 1500 4700 6000 7000

08C

172‫ޓ‬10 second rating 3
143 Continuous rating
Torque (N࡮m)
Output (kW)
7.5‫ޓ‬50㧑ED rating 50㧑ED rating

105
500 1500 500 1500

3-7
(cont’d)
Model
UAKBJ-
15‫ޓ‬10 second rating 95.5‫ޓ‬10 second rating
Output (kW)
Torque (N࡮m)
70.0 50㧑ED rating
11‫ޓ‬50㧑ED rating
10.7
7.5‫ޓ‬Continuous rating 9.4 47.8 Continuous rating
6.4
1500 5000 6000 7000 1500 5000 6000 7000

11C
13.2‫ޓ‬10 second rating 252‫ޓ‬10 second rating

Output (kW)
Torque (N࡮m)
210 50㧑ED rating
143‫ޓ‬ Continuous
rating
500 1500 500 1500


Torque (N࡮m)

Output (kW)
143 50㧑ED rating

15‫ޓ‬50㧑ED rating 13.9 105 Continuous rating
11‫ޓ‬Continuous rating 12.0
8.8
1000 3800 4800 6000 1000 3800 4800 6000

15C
18‫ޓ‬10 second rating 430‫ޓ‬10 second rating

Output (kW)
50㧑ED rating
Torque (N࡮m)
358
Continuous
15‫ޓ‬50㧑ED rating 263‫ޓ‬ rating
11‫ޓ‬Continuous rating
400 1000 400 1000

3-8
3.1 Spindle Motor
(cont’d)
Model
UAKBJ-
Output (kW)
Torque (N࡮m)
50㧑ED rating
18.5‫ޓ‬50㧑ED rating 17.5 118
15‫ޓ‬Continuous rating 14.8 Continuous rating
12.0 95.5
1500 3500 4800 6000

1500 3500 4800 6000
Motor speed (min-1)
Motor speed (min-1)
19C

22.2‫ޓ‬10 second rating 50㧑ED rating
307
Output (kW)
Torque (N࡮m)
249‫ޓ‬ Continuous rating
18.5‫ޓ‬50㧑ED rating

575 1500 575 1500


Output (kW)

Torque (N࡮m)
50㧑ED rating
140
22‫ޓ‬50㧑ED rating 21.5 Continuous rating
18.5‫ޓ‬Continuous rating 17.6 118
14.8
1500 3500 4800 6000 1500 3500 4800 6000

22C
26.4‫ޓ‬10 second rating 439‫ޓ‬10 second rating 3

Output (kW)
Torque (N࡮m)
365
50㧑ED rating
307‫ޓ‬
Continuous
18.5‫ޓ‬Continuous rating rating
575 1500 575 1500

3-9
(cont’d)
Model
UAKBJ-
Output (kW)
Torque (N࡮m)
Continuous rating
191
30‫ޓ‬50㧑ED rating 50㧑ED rating
32.0 127
20‫ޓ‬Continuous rating 28.8
19.2
1500 4000 4800 5000 1500 4000 4800

Motor speed (min-1) Motor speed (min-1) 5000
30C

Output (kW)
Torque (N࡮m)
498 50㧑ED rating
30‫ޓ‬50㧑ED rating Continuous
332‫ޓ‬ rating
575 1500 575 1500

3-10
3.1 Spindle Motor
3.1.4 Tolerance Radial Loads

The tolerance radial loads for spindle motors are shown in the following table.
Model: Rated Output (kW) Tolerance Radial Load (N)

UAKAJ-, 50%ED Rating/ Single-winding Motor WInding Selection Motor
UAKBJ- Continuous Rating Model: UAKAJ- C Model: UAKBJ- C
04 3.7/2.2 1180 –
06 5.5/3.7 1180 2940
08 7.5/5.5 1470 2940
11 11/7.5 1470 3530
15 15/11 2940 4410
19 18.5/15 2940 4410
22 22/18.5 3530 4900
*1 30/22*2 4410 5200
30
37*1 37/30 4900 –
45*1 45/37 5200 –

∗2. The rated output for the winding selection motor is 30/20 kW.
3.1.5 Motor Total Indicator Readings

The motor TIR (Total Indicator Reading) are shown in the following tables.
(1) Flange Type

Model
Item Single-winding Motor: Winding Selection Motor: Accuracy
UAKAJ- UAKBJ-
04 to 22 06 to 11 0.04 mm
Right Angle to the
30, 37 15 0.06 mm
Flange Output Shaft
45 19 to 30 0.072 mm
04 to 11 – 0.04 mm
Coaxiality of Flange 15 to 22 06 to 11 0.046 mm
External Diameter to the
Output Shaft 30, 37 15 0.048 mm 3
45 19 to 30 0.070 mm
04 to 08 – 0.02 mm
Shaft Vibration 11 to 22 06 to 11 0.022 mm
30 to 45 15 to 30 0.028 mm
(2) Foot-mounted Type

Model
Item Single-winding Motor: Winding Selection Motor: Accuracy
UAKAJ- UAKBJ-
04 to 08 – 0.03 mm
Shaft Parallelism 11 to 22 06 to 11 0.033 mm
30 to 45 15 to 30 0.042 mm
04 to 08 – 0.02 mm
Shaft Vibration 11 to 22 06 to 11 0.022 mm
30 to 45 15 to 30 0.028 mm
3-11
3.1.6 Rotation Direction

Forward rotation of the spindle motor is counterclockwise when viewed from
the load. The rotation direction can be reversed with parameter Pn000.0. For
details, refer to 8.4.1 Servomotor Rotation Direction.
Counterclockwise
3.1.7 Vibration Resistance

The spindle motor will withstand the following vibration acceleration in three
directions: Vertical, side to side, and front to back.
Vertical
Spindle Motor Vibration Vibration Frequency

Front to
Winding Acceleration at Constant Constant
Back Side to Side Model
System Flange Amplitude Acceleration
Impact Applied to the Spindle Motor UAKAJ-04 to -22 24.5 m/s2
Single
winding
UAKAJ-30, -37 19.6 m/s2
UAKAJ-45 4.9 m/s2
10 to 60 Hz 6 to 2500 Hz
UAKBJ-08, -11 24.5 m/s2
Winding
Selection
UAKBJ-15 to -22 19.6 m/s2
UAKBJ-30 4.9 m/s2
The amount of vibration the spindle motor endures will vary depending on the applica-
tion. Check the vibration acceleration being applied to your motor for each application.
3-12
3.1 Spindle Motor
3.1.8 External Dimensions

(1) Single-winding Motors
Flange type
KD Shaft Extension Unit: mm
LH W
U
QK
!LC
LA
KI
I
T
LL
L
!D
3−m screw*,
KL QR
LG
depth 10
Q S
4−Z dia. mounting holes
LR
5
Q
* For 3.7/2.2 kW motors2−m screw

LB
Unit: mm
Model
L LA LB LC LG LH LL LR Z D I KD KL KI
UAKAJ-
0
04 375 185 150 -0.04 174 12 220 315 60 11 174 – 34 142 174
0
06 467 185 150 -0.04 174 12 220 407 60 11 174 – 34 142 174

0
08 496 215 180 -0.04 204 16 250 416 80 15 204 270 42.5 158 207
0
11 556 215 180 -0.04 204 16 250 446 110 15 204 270 42.5 158 207
0
15 568 265 230 -0.046 250 20 300 458 110 15 260 343 42.5 181 250
0
19 568 265 230 -0.046 250 20 300 458 110 15 260 343 42.5 181 250
0
22 632 265 230 -0.046 250 20 300 522 110 15 260 343 42.5 181 250
0
30 769 350 300 -0.052 320 20 385 629 140 19 320 440 61 227 320
0
37 809 350 300 -0.052 320 20 385 669 140 19 320 440 61 227 320
0
45 797 400 350 -0.057 370 22 450 657 140 24 380 504 61 315 388
Shaft End Dimensions Approx.

Model
Mass
UAKAJ- Q QK QR S T U W d m kg
0.009
04 60 45 1 28 -0.004 7 4 8 16 M6 29
3
0
06 60 45 1 28 -0.013 7 4 8 22 M4 47
0
08 80 70 2 32 -0.016 8 5 10 22 M5 52
0
11 110 90 0.5 48 -0.016 9 5.5 14 40 M5 59
0
15 110 90 1 48 -0.016 9 5.5 14 40 M5 94
0
19 110 90 1 48 -0.016 9 5.5 14 40 M5 94
0.030
22 110 90 1 55 0.011 10 6 16 45 M5 120
0.030
30 140 110 2 60 0.011 11 7 18 50 M6 220
0.030
37 140 110 2 60 0.011 11 7 18 50 M6 250
0.030
45 140 110 1 70 0.011 12 7.5 20 60 M6 310
Note 1. The shaft key and the keyway are standard JIS B 1301-1996 models.
2. The figures are provided only to explain the dimensions. The actual appearance of the motor may vary.
3. The external shape of the terminal box for the serial encoder is different from the terminal box for the pulse
encoder. Ask your Yaskawa representative for details.
3-13
Foot-mounted type`
!D L
KI A
Shaft Extension Unit: mm
R
B
W
U
QK
Q
KD
T
H
C
QR 3−m screw*,
Q S depth 10
G
J J F F XB
4−Z dia. E E N * For 3.7/2.2 kW motors2−m screw
mounting holes M
Unit: mm
Model
A B C D E F G H J KD L M N R
UAKAJ-
0
04 230 83 100 -0.5 174 80 40 9 242 34 34 375 188 106 145
0
06 292 113 100 -0.5 174 80 70 9 242 34 34 467 188 168 175
0
08 286 117 112 -0.5 204 95 50 10 269 75 42.5 486 220 129 200
0
11 296 137 112 -0.5 204 95 70 10 269 75 42.5 546 220 177 250
0
15 261 196 160 -0.5 260 127 89 16 341 55 42.5 568 290 223 307
0
19 261 196 160 -0.5 260 127 89 16 341 55 42.5 568 290 223 307
0
22 307 212 160 -0.5 260 127 105 16 341 55 42.5 630 290 255 323
0
30 381 246 180 -0.5 320 139.5 127 16 407 55 61 769 320 298 388
0
37 421 246 180 -0.5 320 139.5 127 16 407 55 61 809 320 298 388
0
45 377 273 225 -0.5 380 178 127 21 540 75 61 793 420 370 416

Model
XB Z KI Mass
UAKAJ- Q QK QR S T U W d m kg
0.009
04 45 12 174 60 45 1 28 -0.004 7 4 8 16 M6 30
0
06 45 12 174 60 45 1 28 -0.013 7 4 8 22 M4 49
0
08 70 12 207 80 70 2 32 -0.016 8 5 10 22 M5 56
0
11 70 12 207 110 90 0.5 48 -0.016 9 5.5 14 40 M5 64
0
15 108 15 250 110 90 1 48 -0.016 9 5.5 14 40 M5 110
0
19 108 15 250 110 90 1 48 -0.016 9 5.5 14 40 M5 110
0.030
22 108 15 250 110 90 1 55 0.011 10 6 16 45 M5 130
0.030
30 121 19 320 140 110 2 60 0.011 11 7 18 50 M6 230
0.030
37 121 19 320 140 110 2 60 0.011 11 7 18 50 M6 260
0.030
45 149 24 388 140 110 1 70 0.011 12 7.5 20 60 M6 320
3-14
3.1 Spindle Motor
(2) Winding Selection Motors

Flange type
KD Shaft Extension Unit: mm
U
QK
LH
!LC
LA
KI
I
LL
T
L
!D
3−m screw,
QR
LG
KL depth 10
Q S
LR
4−Z dia. mounting holes
5
Q
LB
Unit: mm
Model
L LA LB LC LG LH LL LR Z D I KD KL KI
UAKBJ-
0
06 568 265 230 -0.046 250 20 300 458 110 15 260 343 42.5 181 250
0
08 568 265 230 -0.046 250 20 300 458 110 15 260 343 42.5 181 250
0
11 632 265 230 -0.046 250 20 300 522 110 15 260 343 42.5 181 250

0
15 769 350 300 -0.052 320 20 385 629 140 19 320 440 61 227 320
0
19 769 350 300 -0.052 320 20 385 629 140 19 320 440 61 227 320
0
22 809 350 300 -0.052 320 20 385 669 140 19 320 440 61 227 320
0
30 797 400 350 -0.057 370 22 450 657 140 24 380 504 61 315 388

Model
Mass
UAKBJ- Q QK QR S T U W d m kg
0
06 110 90 1 48 -0.016 9 5.5 14 40 M5 94
0
08 110 90 1 48 -0.016 9 5.5 14 40 M5 94
0.030
11 110 90 1 55 0.011 10 6 16 45 M5 120
0.030
15 140 110 2 60 0.011 11 7 18 50 M6 220
19 140 110 2 60 0.030

0.011 11 7 18 50 M6 220 3
0.030
22 140 110 2 60 0.011 11 7 18 50 M6 250
0.030
30 140 110 1 70 0.011 12 7.5 20 60 M6 310
3-15
Foot-mounted type
!D L
Shaft Extension Unit: mm
KI A R
B
W
U
QK
Q
T
KD
H
3−m screw,
C
QR
S depth 10
Q
G
J J F F XB
4−Z dia. E E N
mounting holes M
Unit: mm
Model
A B C D E F G H J KD L M N R
UAKBJ-
0
06 261 196 160 -0.5 260 127 89 16 341 55 42.5 568 290 223 307
0
08 261 196 160 -0.5 260 127 89 16 341 55 42.5 568 290 223 307
0
11 307 212 160 -0.5 260 127 105 16 341 55 42.5 630 290 255 323
0
15 381 246 180 -0.5 320 139.5 127 16 407 55 61 769 320 298 388
0
19 381 246 180 -0.5 320 139.5 127 16 407 55 61 769 320 298 388
0
22 421 246 180 -0.5 320 139.5 127 16 407 55 61 809 320 298 388
0
30 376.5 273 225 -0.5 380 178 127 21 540 75 61 792.5 420 370 416

Model
XB Z KI Mass
UAKBJ- Q QK QR S T U W d m kg
0
06 108 15 250 110 90 1 48 -0.016 9 5.5 14 40 M5 110
0
08 108 15 250 110 90 1 48 -0.016 9 5.5 14 40 M5 110
0.030
11 108 15 250 110 90 1 55 0.011 10 6 16 45 M5 130
0.030
15 121 19 320 140 110 2 60 0.011 11 7 18 50 M6 230
0.030
19 121 19 320 140 110 2 60 0.011 11 7 18 50 M6 230
0.030
22 121 19 320 140 110 2 60 0.011 11 7 18 50 M6 260
0.030
30 149 24 388 140 110 1 70 0.011 12 7.5 20 60 M6 320
3-16
3.2 Servomotors
3.2 Servomotors
Time Rating: Continuous Withstand Voltage: 1500 VAC for one minute (Three-phase,
Vibration Class: V15 200 V class)
Insulation Resistance: 500 VDC, 10 MΩ min. 1800 VAC for one minute (Three-phase,
Ambient Temperature: 0 to 40°C 400 V class)
Excitation: Permanent magnet Enclosure: Totally enclosed, self-cooled, IP67
Mounting: Flange-mounted (except for shaft opening)
Thermal Class: F Ambient Humidity: 20% to 80% (no condensation)
Drive Method: Direct drive
Rotation Direction: Counterclockwise (CCW) with forward run
reference when viewed from the load side
(1) 200 V class: Standard type

Servomotor Model: SGMGV- A8A 05 09 13 20 30 44 55 75
Rated Output* kW 0.45 0.85 1.3 1.8 2.9 4.4 5.5 7.5
Rated Torque* Nm 2.86 5.39 8.34 11.5 18.6 28.4 35.0 48.0

Instantaneous Peak
Nm 8.92 13.8 23.3 28.7 45.1 71.1 87.6 119
Torque*
Rated Current* Arms 3.8 6.9 10.7 16.7 23.8 32.8 42.1 54.7
Instantaneous Max.
Arms 11 17 28 42 56 84 110 130
Current*
Rated Speed* min-1 1500
Max. Speed* min-1 3000

Torque Constant N m/Arms 0.854 0.859 0.891 0.748 0.848 0.934 0.851 0.957
Rotor Moment of 3.33 13.9 19.9 26 46 67.5 89.0 125
Inertia ×10-4 kg m2 (3.58) (16) (22) (28.1) (54.5) (76.0) (97.5) (134)
24.6 20.9 35.0 50.9 75.2 119 138 184
Rated Power Rate* kW/s
(22.8) (18.2) (31.6) (47.1) (63.5) (106) (126) (172)
Rated Angular 8590 3880 4190 4420 4040 4210 3930 3840
rad/s2
Acceleration* (7990) (3370) (3790) (4090) (3410) (3740) (3590) (3580)
∗ These items and torque-motor speed characteristics quoted in combination with a SERVOPACK are at an armature
winding temperature of 20°C.
Note 1. The values in parentheses are for servomotors with holding brakes.
3
2. The above specifications show the values under the cooling condition when the following heat sinks are mounted
on the servomotors.
SGMGV-05A : 250 mm × 250 mm × 6 mm (aluminum)
SGMGV-09A, -13A, -20A : 400 mm × 400 mm × 20 mm (iron)
SGMGV-30A, - 44A, -55A, -75A : 550 mm × 550 mm × 30 mm (iron)
3-17
(2) 200 V class: High-speed type

Servomotor Model: SGMGV- A8M 05 09 13 20 30 44 55 75
Rated Output* kW 0.45 0.85 1.3 1.8 2.9 4.4 5.5 7.5
Rated Torque* Nm 2.86 5.39 8.34 11.5 18.6 28.4 35.0 48.0
Instantaneous Peak
Nm 9 20 30 46 60 92 107 130
Torque*
Instantaneous Max.
Arms 17 28 40 75 81 110 136 140
Current*
Max. Speed* min-1 5000 4000

Rotor Moment of 3.33 13.9 19.9 26 46 67.5 89.0 125
Inertia ×10-4 kg m2 (3.58) (16) (22) (28.1) (54.5) (76.0) (97.5) (134)
24.6 20.9 35.0 50.9 75.2 119 138 184
(22.8) (18.2) (31.6) (47.1) (63.5) (106) (126) (172)
Rated Angular 8590 3880 4190 4420 4040 4210 3930 3840
rad/s2
Acceleration* (7990) (3370) (3790) (4090) (3410) (3740) (3590) (3580)
on the servomotors.
SGMGV-05A : 250 mm × 250 mm × 6 mm (aluminum)
SGMGV-09A, -13A, -20A : 400 mm × 400 mm × 20 mm (iron)
SGMGV-30A, - 44A, -55A, -75A : 550 mm × 550 mm × 30 mm (iron)
(3) 400 V class: Standard type

Servomotor Model: SGMGV- D8A 05 09 13 20 30 44 55 75
Rated Output* kW 0.45 0.85 1.3 1.8 2.9 4.4 5.5 7.5
Rated Torque* Nm 2.86 5.39 8.34 11.5 18.6 28.4 35.0 48.0
Instantaneous Peak
Nm 8.92 13.8 23.3 28.7 45.1 71.1 87.6 119
Torque*
Instantaneous Max.
Arms 5.5 8.5 14 20 28 40.5 52 65
Current*
Max. Speed* min-1 3000

Rotor Moment of 3.33 13.9 19.9 26 46 67.5 89.0 125
Inertia ×10-4 kg m2 (3.58) (16) (22) (28.1) (54.5) (76.0) (97.5) (134)
24.6 20.9 35.0 50.9 75.2 119 138 184
(22.8) (18.2) (31.6) (47.1) (63.5) (106) (126) (172)
Rated Angular 8590 3880 4190 4420 4040 4210 3930 3840
rad/s2
Acceleration* (7990) (3370) (3790) (4090) (3410) (3740) (3590) (3580)
on the servomotors.
SGMGV-05D : 250 mm × 250 mm × 6 mm (aluminum)
SGMGV-09D, -13D, -20D : 400 mm × 400 mm × 20 mm (iron)
SGMGV-30D, - 44D, -55D, -75D : 550 mm × 550 mm × 30 mm (iron)
3-18
3.2 Servomotors
(4) 400 V class: High-speed type

Servomotor Model: SGMGV- D8M 05 09 13 20 30 44 55 75
Rated Output* kW 0.45 0.85 1.3 1.8 2.9 4.4 5.5 7.5
Rated Torque* Nm 2.86 5.39 8.34 11.5 18.6 28.4 35.0 48.0
Instantaneous Peak
Nm 9 20 30 46 60 92 107 130
Torque*
Instantaneous Max.
Arms 8.5 14 20 37.6 40.5 55 65 70
Current*
Max. Speed* min-1 5000 4000

Rotor Moment of 3.33 13.9 19.9 26 46 67.5 89.0 125
Inertia ×10-4 kg m2 (3.58) (16) (22) (28.1) (54.5) (76.0) (97.5) (134)
24.6 20.9 35.0 50.9 75.2 119 138 184
(22.8) (18.2) (31.6) (47.1) (63.5) (106) (126) (172)

Rated Angular 8590 3880 4190 4420 4040 4210 3930 3840
rad/s2
Acceleration* (7990) (3370) (3790) (4090) (3410) (3740) (3590) (3580)
on the servomotors.
SGMGV-05D : 250 mm × 250 mm × 6 mm (aluminum)
SGMGV-09D, -13D, -20D : 400 mm × 400 mm × 20 mm (iron)
SGMGV-30D, - 44D, -55D, -75D : 550 mm × 550 mm × 30 mm (iron)
3-19
3.2.2 Torque-Motor Speed Characteristics
3.2.2 Torque-Motor Speed Characteristics

(1) 200 V, 400 V class: Standard type
A : Continuous Duty Zone‫ޓ‬B : Intermittent Duty Zone
SGMGV-05A!A, -05D!A SGMGV-09A!A, -09D!A SGMGV-13A!A, -13D!A SGMGV-20A!A, -20D!A

3500 3500 3500 3500
3000 3000 3000 3000
Motor 2500 2500 2500 2500

speed Motor
Motor 2000
㧔min-1㧕 2000 speed 2000
speed Motor 2000
㧔min-1㧕 speed
㧔min-1㧕 1500
1500 1500 㧔min-1㧕1500
A B A B A B A B
1000 1000 1000 1000
500 500 500 500
0 0 0 0
0 1 2 3 4 5 6 7 8 9 10 0 2 4 6 8 10 12 14 16 0 5 10 15 20 25 0 5 10 15 20 25 30 35
Torque (N࡮m) Torque (N࡮m) Torque (N࡮m) Torque (N࡮m)
SGMGV-30A!A, -30D!A SGMGV-44A!A, -44D!A SGMGV-55A!A, -55D!A SGMGV-75A!A, -75D!A

3500 3500
3000 3000 3000 3000
2500 2500
Motor Motor
speed 2000 Motor 2000
speed 2000
speed Motor 2000
㧔min-1㧕㧔min-1㧕 speed
1500 1500 㧔min-1㧕
㧔min-1㧕
A B A B A B A B
1000 1000 1000 1000
500 500
0 0 0 0
0 5 10 15 20 25 30 35 40 45 50 0 10 20 30 40 50 60 70 80 0 20 40 60 80 100 0 50 100 150
Note 1. When the effective torque during intermittent duty is within the rated torque, the servomotor can be used within
the intermittent duty zone.
2. When the main circuit cable length exceeds 20 m, the intermittent duty zone will shrink due to the voltage drop.
3. These torque-motor speed characteristics quoted in combination with a SERVOPACK are at an armature winding
temperature of 20°C.
(2) 200 V, 400 V class: High-speed type

A : Continuous Duty Zone‫ޓ‬B : Intermittent Duty Zone
SGMGV-05A!M, -05D!M SGMGV-09A!M, -09D!M SGMGV-13A!M, -13D!M SGMGV-20A!M, -20D!M

6000 5000 5000 5000
5000
4000 4000 4000
4000
Motor 3000
speed Motor 3000 Motor Motor 3000
B speed speed
㧔min-1㧕 3000 speed
㧔min-1㧕㧔min-1㧕2000 㧔min-1㧕
2000 2000
2000 B
A A B
A B A
1000 1000 1000
1000
0 0 0 0
0 1 2 3 4 5 6 7 8 9 10 0 2 4 6 8 10 12 14 16 18 20 0 5 10 15 20 25 30 35 0 5 10 15 20 25 30 35 40 45 50
SGMGV-30A!M, -30D!M SGMGV-44A!M, -44D!M SGMGV-55A!M, -55D!M SGMGV-75A!M, -75D!M

5000 5000 5000 5000
4000 4000 4000 4000
Motor
speed 3000 Motor Motor 3000 Motor 3000
3000
speed speed speed
㧔min-1㧕
㧔min-1㧕㧔min-1㧕㧔min-1㧕
2000 B
2000 2000 2000
B B A
A A B A
1000 1000 1000 1000
0 0 0 0
0 5 10 15 20 25 30 35 40 45 50 55 60 0 10 20 30 40 50 60 70 80 90 100 0 20 40 60 80 100 120 0 50 100 150
Note 1. When the effective torque during intermittent duty is within the rated torque, the servomotor can be used within
the intermittent duty zone.
2. When the main circuit cable length exceeds 20 m, the intermittent duty zone will shrink due to the voltage drop.
3. These torque-motor speed characteristics quoted in combination with a SERVOPACK are at an armature winding
temperature of 20°C.
3-20
3.2 Servomotors
3.2.3 Overload Characteristics

The overload detection level is set under hot start* conditions at a servomotor surrounding air temperature of
40°C.
10000.0
1000.0
Detecting
time (s) 100.0
10.0

1.0
Max.torque
100% × 100%
Rated torque
Rated torque Rated torque + Max.torque Max.torque

Approx.
(Rated current) 2 (Max.current)
∗ A hot start indicates that both the SERVOPACK and the servomotor have run long enough at the rated load to be ther-
mally saturated.
Note: Overload characteristics shown above do not guarantee continuous duty of 100% or more output. Use a servomotor
with effective torque within the continuous duty zone in 3.2.2 Torque-Motor Speed Characteristics.
3.2.4 Holding Brake Electrical Specifications

The holding brake electrical specifications are shown below. The holding brake is only used to hold the load
and cannot be used to stop the servomotor.
Holding Brake Specifications

3
Servomotor Rated Voltage 24 VDC Rated Voltage 90 VDC
Servomotor Model Rated Holding
Output kW Torque Rated Rated
Capacity Capacity
Nm Current Current A
W W
A (at 20°C) (at 20°C)
SGMGV-05 0.45 4.5 10 0.42 10 0.11
SGMGV-09 0.85 12.7 10 0.41 10 0.11
SGMGV-13 1.3 19.6 10 0.41 10 0.11
SGMGV-20 1.8 19.6 10 0.41 10 0.11
SGMGV-30 2.9 43.1 18.5 0.77 18.5 0.21
SGMGV-44 4.4 43.1 18.5 0.77 18.5 0.21
SGMGV-55 5.5 72.6 25 1.05 25 0.28
SGMGV-75 7.5 72.6 25 1.05 25 0.28
Note 1. For information on the holding brake power supply and connecting methods, refer to 8.4.3 (1) Wiring Example.
2. The holding brake open time and holding brake operation time vary depending on which discharge circuit is
used. Make sure holding brake open time and holding brake operation time are correct for your servomotor.
3-21
3.2.5 Allowable Load Moment of Inertia at the Motor Shaft
3.2.5 Allowable Load Moment of Inertia at the Motor Shaft

The rotor moment of inertia ratio is the value for a servomotor without a holding brake.
The larger the load moment of inertia, the worse the movement response of the load.
The allowable load moment of inertia (JL) depends on the motor capacity, as shown below. This value is pro-
vided strictly as a guideline and results may vary depending on servomotor drive conditions.
Servomotor Allowable Load Moment of Inertia

Servomotor Model
Rated Output (Rotor Moment of Inertia Ratio)
SGMGV-05 to -75 0.45 to 7.5 kW 5 times
An overvoltage alarm (A.400) is likely to occur during deceleration if the load moment of inertia exceeds the
allowable load moment of inertia. Take one of the following steps if an overvoltage alarm occurs.
• Reduce the torque limit.
• Reduce the deceleration rate.
• Reduce the maximum speed.
3.2.6 Allowable Radial and Thrust Loads

Design the mechanical system so thrust and radial loads applied to the servomotor shaft end during operation
fall within the ranges shown in the table.
Allowable Allowable
LF
Servomotor Model Radial Load Thrust Load Reference Diagram
(mm)
Fr (N) Fs (N)
SGMGV-05 490 98 40
SGMGV-09 490 98 58 LF
SGMGV-13 686 343 58

SGMGV-20 980 392 58 Fr
SGMGV-30 1470 490 79 Fs
SGMGV-44 1470 490 79

SGMGV-55 1764 588 113
SGMGV-75 1764 588 113
3-22
3.2 Servomotors
3.2.7 Motor Total Indicator Readings

The following figure shows tolerances for the servomotor’s output shaft and installation area. For more details
on tolerances, refer to the external dimensions of the individual servomotor.
Perpendicularity between the flange face and output shaft
0.04 A
Run-out at the end of the shaft
0.02
A
Mating concentricity
of the flange O.D.
0.04 Dia. A

Forward rotation of the servomotor is counterclockwise when viewed from the
load. The rotation direction can be reversed with parameter Pn000.0. For details,
refer to 8.4.1 Servomotor Rotation Direction.
Counterclockwise
3.2.9

Shock Resistance
Vertical
When the servomotor is mounted with the axis horizontal, the servomotor will
withstand the following vertical impacts:
• Impact Acceleration: 490 m/s2

• Impact occurrences: 2
Impact Applied to the Servomotor
3.2.10 Vibration Resistance

Front to Back
The servomotor will withstand the following vibration acceleration in three
Vartical
directions: Vertical, side to side, and front to back.
Side to
Side
Servomotor Model Vibration Acceleration at Flange
Horizontal SGMGV-05 to - 44 49 m/s2 (Front to back direction: 24.5 m/s2)
Impact Applied to the Servomotor SGMGV-55 to -75 24.5 m/s2
The amount of vibration the servomotor endures will vary depending on the application.
Check the vibration acceleration being applied to your servomotor for each application.
3.2.11 Vibration Class

The vibration class for the servomotors at rated motor speed is V15.
(A vibration class of V15 indicates a total vibration amplitude of 15 µm maximum on the servomotor during
rated rotation.)
3-23

(1) Without Holding Brakes
450 W
L
LL LR
36 LM
0.04 A
10 5
0.04 dia. A 12 .
0d ‫غ‬90 dia
ia. 0
10
79 dia.
S dia.
80 -0.030 dia.
0
50
70
17 KB1 A
0.02 4-6.6 dia.mounting holes
38 KB2
Shaft Extension
LR
35 dia.
S dia.
18 dia.
R
1
Q
Unit: mm
Note: For the specifications of the other shaft ends,

refer to 3.2.12 (3) Shaft End Specifications.
Unit: mm
Shaft End Approx.
Model Dimensions
L LL LM LR KB1 KB2 Mass
SGMGV- kg
S Q
0
05 8 21 179 139 103 40 88 127 16 –0.011 30 3.2
Note: Models with oil seals are of the same configuration.
3-24
3.2 Servomotors
850 W to 7.5 kW
L
LL LR
36 LM
0.04 A
LG LE
0.04 dia. A
.
dia
LH LA
dia.
79 dia.
LB dia.
S dia.
50
IE
KL1
0.02 4-LZ dia.mounting holes

17 KB1
0.04 *
KB2
* For SGMGV-55, -75
Shaft Extension

LR LR
LE LE
62 dia.
S dia.
S dia.
45 dia.
28 dia.
R1
44 dia.
R
1
Q Q
SGMGV-09 to -20 SGMGV-30 to -75 Unit: mm

Unit: mm
Shaft End Approx.
Model Flange Face Dimensions
L LL LM LR KB1 KB2 IE KL1 Dimensions Mass
SGMGV- kg
LA LB LC LE LG LH LZ S Q
0 0
09 8 21 195 137 101 58 83 125 – 104 145 110 –0.035 130 6 12 165 9 19 –0.013 40 5.5
0 0
13 8 21 211 153 117 58 99 141 – 104 145 110 –0.035 130 6 12 165 9 22 –0.013 40 7.1
0 0
3
20 8 21 229 171 135 58 117 159 – 104 145 110 –0.035 130 6 12 165 9 24 –0.013 40 8.6
0
30 8 21 239 160 124 79 108 148 – 134 200 114.3 –0.025 180 3.2 18 230 13.5 35 +0.01
0 76 13.5
0
44 8 21 263 184 148 79 132 172 – 134 200 114.3 –0.025 180 3.2 18 230 13.5 35 +0.01
0 76 17.5
0 0
55 8 21 334 221 185 113 163 209 123 144 200 114.3 –0.025 180 3.2 18 230 13.5 42 –0.016 110 21.5
0 0
75 8 21 380 267 231 113 209 255 123 144 200 114.3 –0.025 180 3.2 18 230 13.5 42 –0.016 110 29.5
3-25
(2) With Holding Brakes

450 W
L
LL LR
36 LM
0.04 A
10 5
0.04 dia. A 12 ‫غ‬90 .
0d
ia. dia
0
10
79 dia.
S dia.
80 -0.030 dia.
0
50
70
17 A
KB1 0.02 4-6.6 dia.mounting holes
38 KB2
Shaft Extension
LR
5
35 dia.
S dia.
18 dia.
R
1
Q
Unit: mm

Unit: mm
Shaft End Approx.
Model Dimensions
L LL LM LR KB1 KB2 Mass
SGMGV-
S Q kg
0
05 8 2 212 172 136 40 88 160 16 –0.011 30 4.2
3-26
3.2 Servomotors
850 W to 7.5 kW
L
LL LR
36 LM
0.04 A
LG LE
0.04 dia. A
.
dia
LH LA
dia.
LB dia.
79 dia.
S dia.
50
KL3
KL1
IE
A 4-LZ dia.
mounting holes
0.02
11 17
KB1 0.04 *
KB3 * For SGMGV-55, -75
KB2
Shaft Extension
LR LR
LE LE
62 dia.
S dia.
S dia.
45 dia.

R1
28 dia.
44 dia.
R
1
Q Q
SGMGV-09 to -20 SGMGV-30 to -75

Unit: mm

Unit: mm
Shaft End Approx.
Model Flange Face Dimensions
L LL LM LR KB1 KB2 KB3 IE KL1 KL3 Dimensions Mass
SGMGV- kg
LA LB LC LE LG LH LZ S Q
0 0
09 8 2 231 173 137 58 83 161 115 – 104 80 145 110 –0.035 130 6 12 165 9 19 –0.013 40 7.5
0 0
13 8 2 247 189 153 58 99 177 131 – 104 80 145 110 –0.035 130 6 12 165 9 22 –0.013 40 9.0
0 0
20 8 2 265 207 171 58 117 195 149 – 104 80 145 110 –0.035 130 6 12 165 9 24 –0.013 40 11.0
0
30 8 2 287 208 172 79 108 196 148 – 134 110 200 114.3 –0.025 180 3.2 18 230 13.5 35 +0.01
0 76 19.5
44 8 2 311 232 196 79 132 220 172 – 0

134 110 200 114.3 –0.025 180 3.2 18 230 13.5 35 +0.01
0 76 23.5 3
0 0
55 8 2 378 265 229 113 163 253 205 123 144 110 200 114.3 –0.025 180 3.2 18 230 13.5 42 –0.016 110 27.5
0 0
75 8 2 424 311 275 113 209 299 251 123 144 110 200 114.3 –0.025 180 3.2 18 230 13.5 42 –0.016 110 35
3-27
(3) Shaft End Specifications

SGMGV -
Code Specifications Remarks

2 Straight without key Standard
Straight with key and tap for one location (Key slot is
6 Optional
JIS B1301-1996 fastening type.)
Unit: mm
Model SGMGV-
Shaft Extension 30 , 55 ,
05 09 13 20 A 20 M
44 75
Code: 2 (Straight without key)
LR LR 40 58 58 58 58 79 113
Q
Q 30 40 40 40 40 76 110
R1
φS 0 0 0 0 0
S 16 -0.011 19 -0.013 22 -0.013 24 -0.013 24 -0.013 35 +0.01
0
0
42 -0.016
Code: 6 (Straight with key and tap)

LR 40 58 58 58 58 79 113
Q 30 40 40 40 40 76 110
QK 20 25 25 32 32 60 90
LR
0 0 0 0 0
Q S 16 -0.011 19 -0.013 22 -0.013 24 -0.013 24 -0.013 35 +0.01
0
0
42 -0.016
QK
U P
W 5 5 6 8 8 10 12
S dia.
T 5 5 6 7 7 8 8
W
T
R
U 3 3 3.5 4 4 5 5
1
M12 M16
M5 screw,
P screw, screw,
depth 12 depth 25 depth 32
3-28
4
Specifications and External Dimensions
for Σ-V-SD Drivers
4.1 Power Regeneration Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Specifications and External Dimensions for Σ-V-SD Drivers

4.1.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.1.2 External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.2 SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6

4.2.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4-1
4 Specifications and External Dimensions for Σ-V-SD Drivers
4.1.1 Specifications
4.1 Power Regeneration Converter

(1) Basic Specifications
Item Specifications
Model: CACP-JU A3 ,
CACP-JU D3
15 19 22 30* 45*
50% ED Rating kW 15 18.5 22 30 45

Continuous Rating kW 11 15 18.5 22 37
CACP-JU A3 : Three-phase 200 to 230 V (50/60 Hz)
CACP-JU D3 : Three-phase 380 to 480 V (50/60 Hz)
Main Circuits
Allowable voltage fluctuation: +10% to -15%
L1, L2, and L3
Input Allowable frequency fluctuation: ±5%
Power Line voltage unbalance: 5% max.
24 VDC
Control Power Allowable voltage fluctuation: ±15%
Output holding time: 100 ms min.
Main Circuit CACP-JU A3 : 270 to 310 VDC +10 to -15%
Basic Output Power Output +/ - CACP-JU D3 : 520 to 650 VDC +10 to -15%
Specifications Power Control Power
24 VDC ±15% (connector pass current: 10 A)
Output
Sequence I/O Input signal: Emergency stop input signal

I/O Signals Output signal: Main circuit contactor ON output signal
Signals
Connections
Local bus and absolute encoder battery
between Axes
Maximum Number of Differs in accordance with combinations of a power generation con-
Connectable verter, SERVOPACKs and motors. Refer to 2.1.3 Power Regeneration
SERVOPACKs Converter, SERVOPACK, and Motor.
Indications CHARGE (orange), ALARM (red), and READY (green)
Regeneration Control
Power regeneration control (120-degree conduction)
Method
Main circuit fuse, overload, overvoltage, insufficient voltage, overcur-
Protective Functions
Functions rent, frequency error, heat sink overheating, etc.
The battery for the absolute encoder must be provided by the user.
Battery
For details, refer to 2.3.3 Absolute Encoder Battery.
Allowable Power Loss
5 ms (at 70% load)
Time
∗ Available only for three-phase 200 VAC models.
4-2
(2) Panel Display

The status of power regeneration converter can be checked on the panel display.
Name LED Color Meaning

Lit when main circuit power is on.
CHARGE Orange
Not lit when main circuit power is off.
Lit when alarm occurs.
ALARM Red
Not lit when no alarm occurs.
Lit when CPU of power regeneration converter works normally.
READY Green
Not lit when CPU of power regeneration converter not working.

Panel Display
(3) I/O Current and Inrush Current

Input Output Inrush
Capacity Input Output
Capacity Current Current Current
(Continuous Current Current
Voltage (50%ED) Model (Continuous (Continuous (Main
Ratings) (50%ED) (50%ED) Circuit)
kW Ratings) Ratings)
kW Arms Arms A0-P
Arms Arms
15 11 CACP-JU15A3 73 54 69 51 83
18.5 15 CACP-JU19A3 90 73 85 69 83
200 V 22 18.5 CACP-JU22A3 107 90 102 85 83
30 22 CACP-JU30A3 145 107 138 102 178
45 37 CACP-JU45A3B 218 179 207 170 178
15 11 CACP-JU15D3 36 27 36 27 173 4
400 V 18.5 15 CACP-JU19D3 45 36 45 36 173
22 18.5 CACP-JU22D3 53 45 53 45 173
4-3

(1) Model: CACP-JU15 3 , -JU19 3 , -JU22 3
Cooling Fan
4-M5 Screw Holes
(23)
7.5
Air Flow ∗
Power
Regeneration
Converter
Rear View
(Mounting Pitch)
365±0.5
338
Through
380
Hole
380
365
334
Model Number
(1
15
°)
Input Voltage
Nameplate
15.5
7.5
10 80±
(Mounting Pitch)
4-6 Dia.
5 90
100 Ground Terminal
23
7.5
2-M5 Screws 5
Mounting Hole Diagram
10 80 (10) 200 (100)
100 (145) 300
Air Flow ∗
(7)
86
Unit: mm
Approx. Mass: 8.3 kg
7
∗ The cooling air speed of heat sink must be at least 2.5 m/s at the point closest to the heat sink.
(2) Model: CACP-JU30A3

Cooling Fan
Heat Sink
(23)
Air Flow
7.5
4-M5 Screw Holes ∗
Power
Regeneration
Converter
Rear View
(Mounting Pitch)
365±0.5
338
380
Through
Hole
334
380
365
Model Number
(1
15
°)
Input Voltage
Nameplate
10 130±0.5
15.5
7.5
(Mounting Pitch) 4-6 Dia.
5 140 Ground Terminal

23
5
7.5
150 2-M6 Screws

200 (100)
Mounting Hole Diagram 10 130 (10)
(145) 300
150
Air Flow ∗
(7)
136
Unit: mm
7
Note: Available only for three-phase 200 VAC models.
4-4
(3) Model: CACP-JU45A3B

Cooling Fan
Heat Sink
Air Flow
(7.5)
(23)
4-M6 Screw Holes
∗
Power
Regeneration
Converter
Rear View
(Mounting Pitch)
365±0.5
Through
380
365
334
338
380
Hole Model Number
(1
Input Voltage
15
°)
Nameplate
4-7 Dia.
Ground Terminal
2-M6 Screws 10
23
7.5
15.5
7.5
25 200±0.5 (25) (96)

25 200 200
(Mounting Pitch)
250 (145) 296
10 230
250
(18.5)
Air Flow ∗

213
18.5
Unit: mm
Note: Available only for three-phase 200 VAC models.
4-5
4.2 SERVOPACK
(1) Basic Specifications
Specifications
Item
For Spindle Motor For Servomotor
Control Method Sine-wave current drive with PWM control of IGBT
Applicable Motors Model UAK J SGMGV
Serial encoder (absolute),
Pulse encoder (phases A, B, and
Motor Standard type: 20 bits,
Z), serial encoder: 17 bits
Feedback 4-Mbps communications
Fully-closed Serial conversion unit,
–
Loop Control 4-Mbps communications
Indications CHARGE (orange), RDY (green), and ALM (red)
Built into some models*1 or
provided externally by the user.
It operates when an alarm
occurs, when the main circuit
Dynamic Brake (DB) Functions – power supply turns OFF, when
the servo turns OFF, or when
the control power turns OFF.
The servomotor coasts to a stop
after the dynamic brake.
Main circuit power: Not available (built into power regeneration
Fuses converter)
Control power: Built in
Overcurrent, overload, main circuit voltage error, heat sink over-
Functions Protective Functions heating, overspeed, encoder error, CPU error, PG disconnection
detected, parameter error, etc.
Compensation Functions Quadrant projection compensation and predictive control
Position Loop Proportional control
Control
Speed loop Integral-proportional control and torque control
Standard feature (A motor encoder-external encoder branch con-
Fully-closed Loop Control
version unit is required.)
Number of
2 for each axis
Channels
Analog Monitor Output Power
±10 V (linear range: ±8 V)
(Built-in)*2 Range
Response
1 kHz
Frequency
Connected Personal computer (application: SigmaWin for Σ-V-SD (MT)
Device compatible)
USB
Communica-
Communications USB 1.1 compliant, 12 Mbps (full speed support)
tion Standard
Functions Status displays, parameter setting, and adjustment function
∗1. Dynamic brakes are built into the following models:
• SERVOPACKs for one axis: CACR-JU028A, CACR-JU036A, CACR-JU014D, and CACR-JU018D
• SERVOPACKs for two axes: CACR-JUM23 , CACR-JUM24 , and CACR-JUM25
If you use any other model, provide your own dynamic brake circuit.
The dynamic brake on the CACR-JU036A or CACR-JU018D does not operate when the control power supply is
turned OFF.
∗2. Do not use an analog monitor signal for system control. Use an analog monitor signal only for adjusting the motor
or obtaining data for maintenance purpose.
4-6
4.2 SERVOPACK
(cont’d)
Specifications
Item
Input Power
24 VDC ±5%
External Voltage
Input Current
Power Required per 3 mA for normal input, 10 mA for latch input
Channel
Normal inputs: 2 for each axis (isolated)
Input Number of
Signals Channels Latch inputs: 3 for SERVOPACK for 1 axis (isolated), 4 for SER-
VOPACK for 2 axes (isolated)
Sequence
Signal Number of
1 for each axis (isolated)
Channels
Maximum
Output Output 50 mA
Signals Current
(Brake) Maximum
Applicable 30 V
Voltage

Delay Depends on brake or relay circuit.
Input Power
24 VDC ±5%
External Voltage
Input Current
Power Required per 3 mA
Channel
Input Number of
Functions Signals Channels
(cont’d)
Number of
HWBB Channels
Signal
Maximum
Output 50 mA
Current
Output
Signal Maximum
Applicable 30 V
Voltage
When an
HWBB signal Output ON when inputs of two channels are OFF.
is input
Number of
1 for each axis
Motor Winding
Temperature
Channels
–
4
Detection Temperature
NTC thermistor
Sensor
Number of
1ch
Channels
Output
+24 V
Voltage
Motor Winding
Allowable –
Selection
Output 50 mA
Current
Answerback
Supported
Function
4-7
(cont’d)
Specifications
Item
Number of
1ch
Channels
Output
+24 V
Voltage
Dynamic Brake (DB)
*3 Allowable –
Functions External Output Output 50 mA
(cont’d) Current
Answerback
Supported
Function
Speed Control Range 40 min-1 to motor maximum 1:5000

speed
∗3. The following models have built-in dynamic brakes.
• SERVOPACKs for one axis: CACR-JU028A, 036A, 014D, 018D
If you use any other model, do not use the external output signal.
4-8
4.2 SERVOPACK
(2) EtherCAT (CoE) Specifications

Item Specifications
Applicable
Communication IEC 61158 Type12, IEC 61800-7 CiA402 Drive Profile
Standards
Physical Layer 100BASE-TX (IEEE802.3)
CN9A (RJ45): EtherCAT Signal IN
Connector
CN9B (RJ45): EtherCAT Signal OUT
CAT5 STP 4 pair
Cable
Note: Cables are automatically recognized by the AUTO MDIX function.
SM0: Mailbox output, SM1: Mailbox input
SyncManager
SM2: Process data outputs, SM3: Process data inputs
FMMU0: Mapped to the process data output (RxPDO) area.
FMMU FMMU1: Mapped to the process data input (TxPDO) area.
EtherCAT FMMU2: Mapped to the mailbox status
Communication
EtherCAT
APRD, FPRD, BRD, LRD, APWR, FPWR, BWR, LWR, ARMW, FRMW
Commands
Note: APRW, FPRW, BRW, LRW Commands are not supported.
(Data Link Layer)

Process Data Configurations can be changed with PDO mapping.
Emergency Message, SDO Request, SDO Response, SDO information
Mailbox (CoE)
Note: TxPDO/RxPDO and Remote TxPDO/RxPDO are not supported.
Free-run, DC mode (Can be selected.)
Distributed Clocks
Supported DC cycle: 250 µs to 4 ms (every 250-µs cycle)
Slave Information IF 256 bytes (For reading only)
EtherCAT Link/Activity indicator (L/A) × 2
LED Indicator EtherCAT RUN indicator (RUN) × 1
EtherCAT ERR indicator (ERR) × 1
• Homing mode
• Profile position mode
• Interpolated position mode
• Profile velocity mode
• Profile torque mode
CiA402 Drive Profile
• Cyclic synchronous position mode
• Cyclic synchronous velocity mode
• Cyclic synchronous torque mode
• Touch probe function
• Torque limit function
Connectors and Switches

4
CN9A connector for EtherCAT (CoE) signal input
CN9B connector for EtherCAT (CoE) signal output
For details, refer to 7.2.6 EtherCAT (CoE) Communications.
Rotary switch (S1)

Rotary switch (S2)
For details, refer to 8.1.1 EtherCAT Secondary Address Settings.

SERVOPACK
4-9
(3) Panel Display

The SERVOPACK status can be checked on the panel display.
CHARGE
Link/Activity2
Link/Activity1
ERR
RUN
ALM
RDY
Panel display
SERVOPACK
Name LED Color Meaning

Lit when main circuit power is on.
CHARGE Orange
Not lit when main circuit power is off.
Lit when CPU of SERVOPACK works normally.
RDY Green
Not lit when CPU of SERVOPACK not working.
Lit when alarm occurs.
ALM Red
Not lit when no alarm occurs.
Indicates the status of EtherCAT (CoE) communications.
RUN Green
For details, refer to RUN.
Indicates the status of EtherCAT (CoE) communications errors.
ERR Red
For details, refer to ERR.
Indicates whether a communications cable is connected to the CN9A connector and
Link/
whether communications are active.
Activity1
For details, refer to Link/Activity.
Green
Indicates whether a communications cable is connected to the CN9B connector and
Link/ whether communications are active.
Activity2
For details, refer to Link/Activity.
RUN
The RUN indicator shows the status of EtherCAT communication.
LED Indicator
Description
Display Pattern
The EtherCAT (CoE) communication is
Off Continuously OFF
in Init state.
On
Blinking
200 ms 200 ms in Pre-Operational state.
Off
On
Single flash
200 ms 1000 ms in Safe-Operational state.
Off

On Continuously ON
in Operational state.
50 ms
Flickering On booting and has not yet entered the Init
state.
Off
4-10
4.2 SERVOPACK
ERR
The ERR indicator shows the error status of EtherCAT communication.
LED Indicator
Description
Display Pattern
The EtherCAT communication is in
working condition.
50 ms
Flickering On Booting Error was detected.
Off
On State change commanded by master is

Blinking 200 ms 200 ms impossible due to register or object set-
Off tings.
On Synchronization Error, the EtherCAT

Single flash (CoE) communication enters Safe-
200 ms 1000 ms
Off Operational state automatically.

On
An application (Sync Manager) watch-
Double flash
200 ms 200 ms 200 ms 1000 ms dog timeout has occurred.
Off
On Continuously ON A PDI Watchdog timeout has occurred.
Link/Activity
Indicates whether a communications cable is connected to the CN9A or CN9B connectors and whether com-
munications are active.
LED Indicator
Description
Display Pattern
A communication cable is not physi-
cally connected.
A EtherCAT (CoE) controller is not
started up.
50 ms
Flickering On Data are being exchanged. 4

Off
A communication cable is physically

On Continuously ON connected, but no data being
exchanged.
4-11
(4) I/O Current

Input Output
Capacity
Input Current Output Current
Capacity (Continu-
Current Current
(Continu- (Continu-
Voltage (50%ED) ous Model
(50%ED) ous (50%ED) ous
kW Ratings)
Arms Ratings) Arms Ratings)
kW
Arms Arms
5.5 3.7 CACR-JU028ACA 26 17 34 28
7.5 5.5 CACR-JU036ACA 35 26 46 36
15 11 CACR-JU065ACA 69 51 82 65
270 VDC 18.5 15 CACR-JU084ACA 85 69 100 84
22 18.5 CACR-JU102ACA 102 85 116 102
30 22 CACR-JU125ACA 138 102 160 125
45 37 CACR-JU196ACA 207 170 240 196
5.5 3.7 CACR-JU014DCA 13 9 17 14
7.5 5.5 CACR-JU018DCA 18 13 23 18
540 VDC 15 11 CACR-JU033DCA 36 27 41 32.5
18.5 15 CACR-JU042DCA 45 36 50 42
22 18.5 CACR-JU051DCA 53 45 58 51
SERVOPACK for Two Axes

Input Current Output Current
Max. Allowable
Voltage Model (Continuous (Continuous
Motor Capacity
Ratings) Ratings/Axis)
1.5 CACR-JUM23ACA 14 11.6
270 VDC 2.0 CACR-JUM24ACA 19 18.5
3.0 CACR-JUM25ACA 28 24.8
1.5 CACR-JUM23DCA 7.3 5.4
540 VDC 2.0 CACR-JUM24DCA 9.7 8.4
3.0 CACR-JUM25DCA 15 11.9
4-12
4.2 SERVOPACK

(1) SERVOPACK for One Axis
Model: CACR-JU028ACA, -JU014DCA
Cooling Fan Heat Sink
Air Flow ∗
(23)
(7.5)
4-M5 Screw Holes
SERVOPACK
Rear View 365±0.5 (Mounting Pitch)
Through Hole
Model
334
338
Number
380
380
365
(1
Input Voltage
35
(1
°)
15
°)
Nameplate
4-6
Dia.
23
15.5
Ground
7.5
7.5

Terminal 5
(10)
10 30±0.5 M4 Screws (145) 200 (100)
(Mounting Pitch) 10 30 (10)
4 42
300
50 50
Air Flow ∗
(5)
40
5
CN8
Unit: mm
(23)
∗
(7.5)
4-M5 Screw Holes Air Flow
SERVOPACK
365±0.5 (Mounting Pitch)
Rear View
Through Hole
Model
334
4
338
Number
380
380
365
Input Voltage
(1
35
(1
°)
15
°)
Nameplate
4-6
Dia.
23
15.5
Ground
7.5
7.5
Terminal
(17)
5
10 30±0.5 M4 Screws
30 (10) (145) 200 (100)
4 42 (Mounting Pitch) 10
50 300
50
Mounting Hole Diagram Air Flow ∗

(5)
40
CN8
5
Unit: mm
4-13

(23)
Air Flow ∗
(7.5)
4-M5 Screw Holes

SERVOPACK
Through Hole
Rear View
338
380
Model
334
380
365
Number
(13
Input Voltage
5°
(11
)
5°
)
Nameplate
4-6
15.5
7.5
Dia
.
23
10 55±0.5 Ground
(Mounting Pitch) Terminal
5 65 5
7.5
M4 Screws
75 200 (100)
10 55 (10)
(145) 300
Mounting Hole Diagram 75
Air Flow ∗
(7)
63
5
Unit: mm
Model: CACR-JU084ACA, -JU102ACA, -JU042DCA, -JU051DCA
Heat Sink
Cooling Fan
(23)
(7.5)
4-M5 Screw Holes Air Flow ∗
SERVOPACK
Rear View
(Mounting Pitch)
Through Hole
365±0.5
338
334
380
380
365
Model
(1
Number
35
(1
°)
15
°)
Input Voltage
Nameplate
10 130±0.5 4-6
15.5
7.5
Dia
(Mounting Pitch) .
5 140
23
150 Ground Terminal 5

7.5
M5 Screws 200 (100)

Mounting Hole Diagram 10 130 (10)
(145) 300
150
Air Flow ∗
(7)
136
7
Unit: mm
4-14
4.2 SERVOPACK
Model: CACR-JU125ACA
Heat Sink
Cooling Fan
(23)
(7.5)
SERVOPACK
Rear View
(Mounting Pitch)
365±0.5
Through Hole
338
334
380
380
(1
365
Model
35
(1
°)
Number
15
°)
200V
Input Voltage
Nameplate
10 130±0.5 4-6
15.5
7.5
Di
(Mounting Pitch) a.
5 140 Ground
23
Terminal 5
150
7.5
2-M5 Screws 200 (100)
Mounting Hole Diagram 10 130 (10) (145) 300
150
Air Flow ∗
(7)

7136
Unit: mm
Model: CACR-JU196ACA
Heat Sink
Cooling Fan
(7.5)
4-M6 Screw Holes
(23)
Air Flow ∗
SERVOPACK
Rear View
(Mounting Pitch)
365±0.5
380
338
Through Hole Model

380
334
365
Number
(1
35
(1
°)
15
Input Voltage
°)
Nameplate
4-7 Dia.
Ground Terminal
Air Flow ∗ 4
23
15.5
7.5
7.5
25 200±0.5 M6 Screws
10
(Mounting Pitch)
25 200 (25) 200 (96)
230
250 250 (140) 296
(18.5)

216.5
15
Unit: mm
4-15
(2) SERVOPACK for Two Axes

(23)
(7.5)
365±0.5(Mounting Pitch)
SERVOPACK
Through Hole
Rear View
380
338
334
380
365
(1
35
°)
(1
Model
15
Number
°)
Input Voltage
Nameplate
15.5
7.5
4-6
Dia
.
23
10 B±0.5
C D (Mounting Pitch) Ground
Terminal 5
7.5
(15)
A M4 Screws
200 (100)
Mounting Hole Diagram 10 B (10) (145) 300
A
Air Flow ∗
(F)
E
CN18
5
CN28
Unit: mm
Approx.
Model A B C D E F
Mass (kg)
CACR-JUM23ACA 50 30 4 42 40 (5) 4.5
CACR-JUM24ACA 50 30 4 42 40 (5) 4.5
CACR-JUM25ACA 75 55 5 65 63 (7) 5.7
CACR-JUM23DCA 75 55 5 65 63 (7) 5.2
CACR-JUM24DCA 75 55 5 65 63 (7) 5.2
CACR-JUM25DCA 75 55 5 65 63 (7) 5.7
4-16
5
Peripheral Devices
5.1 Absolute Encoder Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5.1.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5.1.2 Setup Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.2 AC Reactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

5.2.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.3 Magnetic Contactor for Winding Selection . . . . . . . . . . . . . . . . . . . . . . . . 5-9

5.3.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5.3.3 Terminal Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
5.3.4 Installation Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.4 Noise Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12

5.4.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
Peripheral Devices
5.5 Base Mounting Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16
5.5.1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16
5.5.2 Power Regeneration Converter and SERVOPACK Combinations . . . . . . . . . . . . . . 5-16
5.5.4 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22
5.5.5 Mounting Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
5-1
5 Peripheral Devices
5.1 Absolute Encoder Battery

9± Black
1
Heat-shrinkable Tube
Connector
Red
Battery
50 max. 70 ± 5
Unit: mm
Use the following absolute encoder battery unit.
Model: BA518 (a connector included)

Manufacturer: Yaskawa Controls Co., Ltd.
If not using the battery unit from Yaskawa, use the following parts.
Battery model: ER6V

Connector Model: Housing DF3-2S-2C2C (Hirose Electric Co., Ltd.)
Contact DF3-2428SCFC (Hirose Electric Co., Ltd.) or DF3-2428SCC (Hirose Electric Co.,
Ltd.)
CAUTION
• Purchase a battery for the absolute encoder separately and mount it on the power regeneration converter.
• A lithium battery is used for the absolute encoder. Confirm the most current IATA dangerous goods regula-
tions before transporting the battery as air cargo.
5-2
5.1 Absolute Encoder Battery
5.1.2 Setup Procedure

1. Make sure that the power supply to the Σ-V-SD driver is OFF.
2. Connect a battery to CN8 of the power regeneration converter.
Battery Connector
Battery CN8
For the battery replacement, refer to 8.7.3 Battery Replacement.
Peripheral Devices
5
5-3
5.2 AC Reactor
Rated Rated Insula- Watt Ambi- Storage Ap-
Power Regeneration AC Reactor Voltage Frequency Current Inductance tion Data ent Temper- prox.
Converter Model Model (V) (Hz) (A) (mH) Class Loss Temper- ature Mass
(class) (W) ature (kg)
–10 to –20 to
CACP-JU15A3 X008017 230 50/60 56 0.21 H 55 8
55°C 85°C
–10 to –20 to
CACP-JU19A3 X008018 230 50/60 73 0.17 H 70 8
55°C 85°C
–10 to –20 to
CACP-JU22A3 X008019 230 50/60 90 0.14 H 80 12
55°C 85°C
–10 to –20 to
CACP-JU30A3 X008020 230 50/60 107 0.1 H 85 12
55°C 85°C
–10 to –20 to
CACP-JU45A3B X008022 230 50/60 179 0.07 H 130 25
55°C 85°C
–10 to –20 to
CACP-JU15D3 X008010* 480 50/60 27 0.82 H 70
55°C 85°C
7.3
–10 to –20 to
CACP-JU19D3 X008011 480 50/60 36 0.67 H 80 7.3
55°C 85°C
–10 to –20 to
CACP-JU22D3 X008012 480 50/60 45 0.56 H 120 11.2
55°C 85°C
∗ This AC reactor does not comply with UL standards. If an AC reactor that complies with UL standards is required,
contact your Yaskawa representative.
5-4
5.2 AC Reactor

(1) Model: X008017
6-terminals for
M6 screws
40
Nameplate
150 ± 5
2.3
25
75 80
180 100
180 max. 80 max. 50
4-mounting holes
for M6 bolts
Unit: mm
(2) Model: X008018

6-terminals for
M6 screws
Peripheral Devices
45
Nameplate
150 ± 5
5
2.3
25
75 80
180 100
180 max. 80 max. 50
4-mounting holes
for M6 bolts
Unit: mm
5-5
(3) Model: X008019

6-terminals for
M6 screws
45
Nameplate
170 ± 5
3.2
25
75 80
205 102
210 max. 90 max. 51
4-mounting holes
for M6 bolts
Unit: mm
(4) Model: X008020

6-terminals for
M8 screws
47
Nameplate
170 ± 5
3.2
25
75 80
205 102
210 max. 95 max. 51
4-mounting holes
for M6 bolts
Unit: mm
5-6
5.2 AC Reactor
(5) Model: X008022

6-terminals for Nameplate
M10 screws
U V W
205 ± 5
X Y Z
3.2
25
150 110
240 126
4-mounting holes 135 max. 63
for M8 bolts
Unit: mm
(6) Model: X008010

6-terminals for
M4 screws
U X V Y W Z
Nameplate
150 ± 5
125 ± 5
Peripheral Devices
2.3
25
75 70
4-mounting holes
160 89
for M6 bolts
7
65 max. 45 5
13.5
Unit: mm
70
75
Note: This AC reactor does not comply with UL standards. If an AC reactor that complies with UL standards is required,
contact your Yaskawa representative. The dimensional diagrams for AC reactors that comply with UL standards are
different from the above diagrams.
5-7
(7) Model: X008011

Nameplate
6-terminals for
M6 screws
125 ± 5
U V W
X Y Z
2.3
75 25
160 85
160 max. 105
4-mounting holes 90 max. 52
for M6 bolts
7
13.5
Unit: mm
85
75
(8) Model: X008012

6-terminals for M6 bolts
Nameplate
㨁㨂㨃
150 ± 5
㨄㨅㨆
25
75 4-mounting 95
holes for M6
180 bolts 114
105 max. 57
Unit: mm
5-8
5.3 Magnetic Contactor for Winding Selection

Standard HV-75AP4 HV-150AP4
Model*1
For UL Compliance HV-75AP4/UL HV-150AP4/UL
Contact Main contact: 3NO, 3NC, auxiliary contact: 1NC
Rated Insulation Voltage 600 V
Continuous 75 A 150 A
Rated Applying Current
*2 87 A 175 A
30 minutes
Breaking Current 220 V 200 A 400 A
Capacity 440 V 150 A 300 A
Open/Close Frequency 600 times/hour
Mechanical Duration of Life 5 million times
200 V 50/60 Hz, 220 V 50/60 Hz,
Control Magnetic Coil Rating
230 V 60 Hz
Mass 2.5 kg 5.0 kg
Ambient Temperature -10 to 55°C
Storage Temperature -20 to 85°C
Humidity 10 to 95%RH (non-condensing)
Spindle Motor Capacity (50%ED) 5.5 to 15 kW 18.5 to 30 kW
∗1. Safety covers are provided on the HV- AP4S and HV- AP4S/UL.
∗2. A dwell time of 1 hour or more is required after applying power supply for 30 minutes.

The external dimensions are shown below.
(1) Model: HV-75AP4

15 16 Control circuit terminals (M4)
Peripheral Devices
13 14 17 18
1 2 3 4 5 6
110
107
7 9 11 4-M6 mounting holes

8 10 12
5
65
85 145
92 160
Main circuit terminals (M5)
Unit: mm
5-9
5.3.3 Terminal Descriptions
(2) Model: HV-75AP4/UL

15 16 Control circuit terminals (M4)
13 14 17 18
1 2 3 4 5 6
112.5
110
107
7 9 11 4-M6 mounting holes
8 10 12
65
145
2.5
85
97 160
105 Main circuit terminals (M5)
Unit: mm
(3) Model: HV-150AP4, HV-150AP4/UL

Control circuit terminals (M4)
170
4-M6 mounting holes
22 22 22
1 2 3 4 5 6
148
168
7 8 9 10 11 12
34 34 34
108 Main circuit 64 64

terminals (M8) 192
Unit: mm
5.3.3 Terminal Descriptions

The terminal name and operation status are shown below. For mounting direction, refer to 5.3.4 Installation
Orientation.
Terminal Name Operation Status

13–14 Selection signal +24 V (Low-speed winding) 0 V (High-speed winding)
1–2
3–4 Main contact: 3NC Open Closed
5–6
7–8
9–10 Main contact: 3NO Closed Open
11–12
15–16 Auxiliary contact: 1NC Open Closed
Single-phase
17–18 – –
200 V power supply
1 2 3 4 5 6
7 8 9 10 11 12
HV- AP4㧘HV-‫ޓޓ‬AP4/UL
5-10
5.3.4 Installation Orientation

Use the following method to install a magnetic contactor for winding selection.
Mounting Model: HV-75AP4, HV-75AP4/UL Model: HV-150AP4, HV-150AP4/UL
r
ve al
Co ermin
T Terminal C
over
Possible
Terminal
Te
Cover rm
Co ina
ve l
r
Cover
Terminal
Cover
Terminal
Cover
Terminal
Terminal
Cover
Not
possible
Co
Te ver r
ve l
rm
ina Co mina
l r
Te
Terminal Cover
Terminal
Cover
Peripheral Devices
5
5-11
5.4 Noise Filter

Power Regeneration
Noise Filter
Converter
Rated Leakage
Input Rated
Model Model Current Classification Current Manufacturer
Voltage Voltage
(A) (mA)
CACP-JU15A3 HF3060C-SZC-47EDD 60
7
CACP-JU19A3 HF3080C-SZC-47EDD 80 (for 200
CACP-JU22A3 HF3100C-SZC-47EDD 100 VAC,
Three- 60 Hz) SOSHIN
Three-phase 480
phase, CACP-JU30A3 HF3150C-SZC-47EDD 150 ELECTRIC
three-wire VAC
200 VAC CO., LTD
25
(for 200
CACP-JU45A3B HF3200C-SZC-49EDE* 200
VAC,
60 Hz)
CACP-JU15D3 HF3030C-SZC-47DDD 30 12
Three- SOSHIN
Three-phase 480 (for 400
phase, CACP-JU19D3 HF3040C-SZC-47EDD 40 ELECTRIC
three-wire VAC VAC,
400 VAC CO., LTD
CACP-JU22D3 HF3050C-SZC-47EDD 50 50 Hz)
∗ Also use the following compact AC power supply block-type capacitor (X capacitor).
Compact AC power supply block-type capacitor (X capacitor) model: LDA106M-AA (from Soshin Electric Co., Ltd.)
Refer to 10.2.1 EMC Installation Conditions for the installation location of the capacitor.
5-12
5.4 Noise Filter

(1) Model: HF3030C-SZC-47DDD, HF3040C-SZC-47EDD to HF3060C-SZC-47EDD
1 H 5 J 2 3 4 H
F
(L)
C±4
Nameplate
D±2
(L)
(K)
G
B±2 E±4
A±4
5
SOSHIN
EL. CO.
PBT Example of Nameplate (HF3030C-SZC)
1 SOSHIN 4
LINE
EMI FILTER LOAD
2
TYPE HF3030C-SZC
5
Model name
RATING 500 VAC 30 A Rated voltage and current
50 / 60 Hz
LOT.No, Rated frequency
3 6
SOSHIN ELECTRIC CO., LTD.
Lot No.
1 Input terminal 4 Output terminal
Unit: mm
2 Case 5 Earth terminal
3 Nameplate
Unit: mm
Noise Filter Model A B C D E F G H J K L
HF3030C-SZC-47DDD 220 210 66 55 78 R2.25 × 6 4.5 dia. M4 M4 10.5 12.5
HF3040C-SZC-47EDD
HF3050C-SZC-47EDD 270 260 80 70 84 R2.75 × 7 5.5 dia. M5 M4 13 16
HF3060C-SZC-47EDD
Peripheral Devices
5
5-13
(2) Model: HF3080C-SZC-47EDD, HF3100C-SZC-47EDD

1 5 2 3 5 4
6.5
(20.5)
100±5
75±2
Nameplate
(20.5)
(17.5)
290±2 6.5 dia. 172±5

310±5 (196)
210±5
Example of Nameplate (HF3080C-SZC)
1 C US SOSHIN ..
TUV 4
EMI FILTER
25/85/21
50
LINE LOAD
TYPE HF3080C-SZC Model name
2 5
50 / 60 Hz
LOT.No,
3 6 Rated frequency
Lot No.
1 Input terminal: M6 4 Output terminal: M6 Unit: mm
2 Case 5 Earth terminal: M6
3 Nameplate
(3) Model: HF3150C-SZC-47EDD

1 5 2 3 4
6.5
(32)
110±5
80±2
Nameplate
(32)
(29)
375±2 24±5
395±5 (208)
6.5 dia. 5
230±5
Example of Nameplate: HF3150C-SZC
1 C US SOSHIN ..
4
TUV
EMI FILTER
25/85/21
50
LINE LOAD
TYPE HF3150C-SZC
5
Model name
2 RATING 500 VAC 150 A Rated voltage and current
50 / 60 Hz
LOT.No,
3 6 Rated frequency
Lot No.
1 Input terminal: M8 4 Output terminal: M8 Unit: mm
2 Case 5 Earth terminal: M6
3 Nameplate
5-14
5.4 Noise Filter
(4) Model: HF3200C-SZC-49EDE

1 5 2 3 4
6.5
(32)
90±2
120±5
Nameplate
(32)
(29)
380±2 260±5
400±5 6.5 dia. 5
Example of Nameplate: HF3200C-SZC

1 C US SOSHIN ..
4
TUV
EMI FILTER
25/85/21
50
LINE LOAD
2
TYPE HF3200C-SZC
5
Model name
50 / 60 Hz Rated frequency
3
LOT.No,
6 Lot No.
1 Input terminal: M10 4 Output terminal: M10
2 Case 5 Earth terminal: M8 Unit: mm

3 Nameplate
Note: Also use a compact AC power supply block-type capacitor (X capacitor).

Model: LDA106M-AA (Soshin Electric Co., Ltd.)
Compact AC Power Supply Block-type Capacitor (X Capacitor) Model: LDA106M-AA
106
94
82±2
Peripheral Devices
43±2
a.
di
5
5.
2-
3-UL1015 AWG18
(R) Red (S) White (T) Black 5

270 min.
(R) (S) (T)

SE
࡮
࡮
㨀㨁㨂 R
56±2
㧾㨔㨑㨕㨚㨘㨍㨚㨐
(R)
LDA106M-AA
C1,C2,C3=10μF±20% C1 C3
250V 㨪
40/100/21
1209 (S) (T)
C2
(5)
Unit: mm
5-15
5.5 Base Mounting Units

When mounting servo drivers to bases, use the following base mounting units.
Cooling Fan Terminal Block

Unit Width Input Input Tightening
Model Terminal Wire Sizes
(mm) Voltage Current Torque
Screw (AWG)
(VDC) (A) (N m)
JUSP-JUBM050AA 50 0.42
0.8 to 1.2
JUSP-JUBM075AA 75 0.94 Nm
24 M3.5 24 to 12
JUSP-JUBM100AA 100 0.94 (7.1 to 10.6
lbf in)
JUSP-JUBM150AA 150 1.88
Note: The input current that is given above is the current for one base mounting unit.
5.5.2 Power Regeneration Converter and SERVOPACK Combinations

(1) Power Regeneration Converter
Power Regeneration Converter Base Mounting Unit
Input Voltage Model Model
CACP-JU15A3
CACP-JU19A3 JUSP-JUBM100AA
Three-phase 200 VAC
CACP-JU22A3
CACP-JU30A3 JUSP-JUBM150AA
CACP-JU15D3
Three-phase 400 VAC CACP-JU19D3 JUSP-JUBM100AA
CACP-JU22D3
(2) SERVOPACK
SERVOPACK Base Mounting Unit
CACR-JU028ACA
JUSP-JUBM050AA
CACR-JU036ACA
CACR-JU065ACA JUSP-JUBM075AA
270 VDC
CACR-JU084ACA
CACR-JU102ACA JUSP-JUBM150AA
CACR-JU125ACA
CACR-JU014DCA
JUSP-JUBM050AA
CACR-JU018DCA
540 VDC CACR-JU033DCA JUSP-JUBM075AA
CACR-JU042DCA
JUSP-JUBM150AA
CACR-JU051DCA
5-16

SERVOPACK Base Mounting Unit
CACR-JUM23ACA
JUSP-JUBM050AA
270 VDC CACR-JUM24ACA
CACR-JUM25ACA JUSP-JUBM075AA
CACR-JUM23DCA
540 VDC CACR-JUM24DCA JUSP-JUBM075AA
CACR-JUM25DCA
Peripheral Devices
5
5-17

(1) Model: JUSP-JUBM050AA
Unit: mm
Air Flow
15 2-6 Dia.
20
12
460
425
440
Nameplate
4.6 6
(15)
(8)
Air Flow 10 30 (10)

105 (23) 50
Cooling Fan
Approx.Mass: 2.7 kg
<Mounting Hole Diagram> <Unit Mounted Diagram>
4-M5 Screw Holes

12
440±0.5(Mounting Pitch)
Base Mounting
Unit Rear View
460
10 30±0.5 (305)
50 (Mounting Pitch)
5-18

Unit: mm
Air Flow
15 2-6 Dia.
20
12
460
425
440
Nameplate
4 (8) 6
(15)
Air Flow 10 55 (10)

105 (23) 75
Cooling Fan
Approx.Mass: 2.7 kg
Peripheral Devices
4-M5 Screw Holes

12
5
Base Mounting
Unit Rear View

460
10 55±0.5
(Mounting Pitch) (305)
75
5-19

Unit: mm
Air Flow
15 2-6 Dia.
20
12
460
440
425
Nameplate
4 6
(8)
(15)
Air Flow 10 80 (10)

105 (23) 100
Cooling Fan
Approx.Mass: 2.8 kg
4-M5 Screw Holes

12
Base Mounting
Unit Rear View

460
10 80±0.5
100 (Mounting Pitch) (305)
5-20
Unit: mm
Air Flow
15
2-6 Dia.
20
12
460
440
425
Nameplate
4
(8) 6
(15)
Air Flow 10 130 (10)

105 (23) 150
Cooling Fan
Approx.Mass: 3.5 kg
Peripheral Devices
4-M5 Screw Holes

12
5
Base Mounting
Unit Rear View

460
10 130±0.5
(Mounting Pitch) (305)
150
5-21
5.5.4 Wiring
5.5.4 Wiring
Connect the 24-VDC and 0-VDC lines to the terminals on the base mounting unit to power the cooling fan.
Note 1. The power supply for the cooling fan on the base mounting unit is separate from the control power supply for the
power regeneration converter and SERVOPACK and separate from the power supply for the sequence signals.
2. The output current that is required from the power supply when one power supply is connected to more than one
base mounting unit is the total input current for all of the connected units. Use a suitable wire size for the required
current and do not exceed the wire size range of the terminal block.
Terminal Name: 0 V
Terminal Name: 24 V
5-22
5.5.5 Mounting Method

Mount the power regeneration converter and SERVOPACK to the base mounting units as described in this
section.
As shown in the following figure, insert the heat sink on the power regeneration converter or SERVOPACK
into the base mounting unit and secure it with the enclosed screws (four).
The side of the base mounting unit with the terminal block is the bottom of the unit.
For instructions on installation in a control panel, refer to 6.2 Σ-V-SD Driver.
Model Size of Enclosed Screws Tightening Torque

JUSP-JUBM050AA
JUSP-JUBM075AA 2.6 to 3.2 N m
M5
Peripheral Devices
JUSP-JUBM100AA (23.0 to 28.3 lbf in)
JUSP-JUBM150AA
5-23
6
Installation
6.1 Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6.1.1 Installation Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.1.2 Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.1.3 Installation Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.1.4 Coupling Motor and Machinery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.2 Σ-V-SD Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6

6.2.1 Installation Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.2.2 Thermal Design of Control Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6.2.3 Control Panel Dust-proof Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
6.2.4 Installation Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
6.2.5 Installation Orientation and Space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
Installation
6-1
6 Installation
6.1.1 Installation Environment
6.1 Motors
The service life of the motor will be shortened or unexpected problems will occur if the motor is installed
incorrectly or in an inappropriate location. Always observe the following installation instructions.
6.1.1 Installation Environment

Item Condition
Ambient Temperature 0 to 40°C (no freezing)
Ambient Humidity 20% to 80%RH (no condensation)
• Free of corrosive or explosive gases
• Well-ventilated and free of dust and moisture
• Facilitates inspection and cleaning.
Installation Site
• Elevation:1,000 m max.
• Free of high magnetic field
• Free of oil
Store the motor in the following environment if it is stored with the power cable disconnected.
Storage Environment Ambient temperature during storage: -20 to +60°C (no freezing)
Ambient humidity during storage: 20% to 80%RH (no condensation)
Note these additional points when using spindle motors.
CAUTION
• Provide sufficient space so that cooling air will be provided to the cooling fan. Keep a space of at least 100
mm between the machine and the ventilation outlet of the motor.
If ventilation is not proper, the motor temperature fault protective function will work regardless of whether or not the
load is at the rated value or not.
• Install the motor in a clean location free from oil mist and water drops. If the motor is likely to come in con-
tact with water or oil, protect the motor with a cover.
The intrusion of water or dirty oil into the interior of the motor will decrease the insulation resistance, which may
result in a ground fault.
• Check that the mounting bed, base, or stand of the motor is of robust construction.
The weight of the motor as well as the dynamic load of the motor in operation will be imposed on it, possibly causing
vibration.
• Use seal connectors, conduits, or similar devices to seal the cable openings of the motor terminal box.
Failure to observe this caution may result in cuttings, mist of cutting oil, or other foreign matter entering the motor
through the cable opening, possibly causing malfunction.
• If you install the motor so that the shaft faces vertically downward, do not allow the motor shaft to come
into contact with the frame, ground surface, or other objects.
Doing so would press the motor shaft into the motor, possibly damaging the bearings.
6-2
6.1 Motors
6.1.2 Enclosure
The motor enclosure* is described table as follows. Flange
Shaft opening
Spindle motor Servomotor This refers to the gap where
the shaft protrudes from
Enclosure IP44 IP67 the end of the motor.
∗ Except shaft opening. The enclosure specification can be satisfied

Shaft
only when using a specified cable.
(1) Spindle motor

If the spindle motor is used in a location that is subject to water or oil mist, contact your Yaskawa representa-
tive.
(2) Servomotor
If the servomotor is used in a location that is subject to water or oil mist, order a servomotor with an oil seal to
seal the through shaft section.
Precautions on Using Servomotor with Oil Seal

• Put the oil surface under the oil seal lip.
• Use an oil seal in favorably lubricated condition.
• When using a servomotor with its shaft upward direction, be sure that oil will not stay in the oil seal lips.
6.1.3 Installation Orientation

(1) Spindle motor
Flange type
• Mount the motor with the motor shaft on the load side at any angle between horizontal and the downward
vertical direction. If the motor shaft is facing up, excessive force will be imposed on the motor shaft. As a
result, the service life of the motor will be adversely affected.
• Use the motor UAKAJ-45 or UAKBJ-30 (outer diameter 380) with the terminal box facing upward and
the motor shaft facing horizontal. If the terminal box is in the horizontal or downward direction, dust may
intrude from the ventilation mouth on the bottom of the load-side bracket. As a result, the motor may fail to
operate or unexpected accidents may occur.
Foot-mounted type
• Mount the legs on the floor. If the legs are installed upward, excessive force will be imposed on the legs. As
a result, the service life of the motor will be adversely affected.
Installation
(2) Servomotor
Mount the servomotor either horizontally or vertically. Horizontal Vertical
When mounting the servomotor vertically, make cable
traps to keep out water. When mounting the servomo-
tor with the shaft up, take measures with the connected 6
machine to prevent oil from getting into the servomo-
tor through gear boxes etc.
Cable trap
6-3
6 Installation
6.1.4 Coupling Motor and Machinery
6.1.4 Coupling Motor and Machinery

Consider the following conditions when coupling the motor with the machinery. For the servomotor, only the
direct coupling is available.
(1) Direct Coupling

Couple the motor with the machinery so that the center of the motor shaft and that of the machinery shaft are
on a straight line. Insert a liner for adjustment, if necessary.
• Install the servomotor so that alignment accuracy falls within the following range.
Vibration that will damage the bearings and encoders if the shafts are not properly
aligned.
* Level
B *㧦Alignment Accuracy
Coupling Spindle Motor
Servomotor
Standard High-speed type
Tolerance A 0.03 mm max. 0.01 mm max. 0.03 mm max.
Surface irregularity B 0.03 mm max. 0.01 mm max. 0.03 mm max.
Note: Turn together with coupling.
* A
• Do not allow any direct impact to the shafts when installing the couplings. Do not hit
the area near encoders with a hammer etc., as impacts may damage the encoders.
• Before installation, thoroughly remove the anticorrosive paint from the end of the
motor shaft. Only after removing the paint can motors be installed on the machines.
Anticorrosive
paint is
coated here.
6-4
6.1 Motors
(2) Belt Coupling

• Check that the motor shaft is parallel to the machinery shaft and that the line connecting the centers of the
pulleys and the shafts are at right angles to each other. If the angularity of the belt is improper, the belt will
vibrate or slip.
• The radial load imposed on the motor shaft edge must not exceed the permissible value specified in 3.1.4
Tolerance Radial Loads. If an excessive radial load is imposed on the motor shaft, the motor bearings will
be adversely affected and the service life of the bearings will be decreased.
• Be sure that no axial load is imposed on the motor shaft.
• Check that the angle of contact of the belt and pulley will be 140° or more, or otherwise the belt may slip.
d
࡮If C is 1,000 mm or less, d < 1 mm.
࡮If C is more than 1,000 mm, d/C < 1/1000.
࡮β < 1/3°
࡮Angle of contact φ > 140°
Belt
C C
Motor shaft
Machinery shaft
Belt Installation
(3) Gear Coupling
Check that the motor shaft is parallel to the machinery shaft and that the centers of the gears are engaged prop-
erly. Refer to 3.1.5 Motor Total Indicator Readings for the precision of the peripheral parts connecting to the
motor shaft. The gears may grate if they do not engage properly.
Be sure that no axial load is imposed on the motor shaft.
(4) Mounting a Pulley or Gear to the Motor Shaft

When mounting a pulley or gear to the motor shaft, consider the mounting balance of the motor. The dynamic
balance of the motor is kept with a half key (for motors with a keyway), which is a half as thick as the key (T)
specified in the motor shaft dimensional drawing. The motor rotates at high speed and a little imbalance in the
mechanism may cause the motor to vibrate.
Installation
6-5
6 Installation
6.2.1 Installation Requirements
6.2 Σ-V-SD Driver

6.2.1 Installation Requirements
Item Specifications
Surrounding Air 0°C to 40°C: at 100% load
Temperature 0°C to 55°: at 70% load
Storage
-20°C to 85°C
Temperature
Ambient/
90%RH or less (with no freezing or condensation)
Storage Humidity
Vibration
Resistance 4.9 m/s2
Shock Resistance 19.6 m/s2

An environment that satisfies the following conditions.
Protection Class IP10
• Free of corrosive or flammable gases
• Free of exposure to water, oil, or chemicals
Pollution Degree 2 • Free of dust, salts, or iron dust
Free of static electricity, strong electromagnetic fields, magnetic fields or
Others
exposure to radioactivity
6-6
6.2 Σ-V-SD Driver
6.2.2 Thermal Design of Control Panel

Install the Σ-V-SD drivers, host controllers, and other units in a control panel.
Use a control panel with an enclosed structure that provides protection against corrosive gases, water, and oil.
Also, design the system so that the temperature rise in the control panel does not cause the temperature to
exceed the ambient operating temperature.
(1) Calorific Value

Calorific Value at Continuous Rated Operation
Model Loss of Control Loss of Power Block (W)
Total (W)
Block (W) Total Inside Duct
CACP-JU15A3 116.4 13.1 103.3 10.3 93.0
CACP-JU19A3 154.3 13.1 141.2 14.1 127.1
CACP-JU22A3 183.8 13.1 170.7 17.1 153.6
CACP-JU30A3 247.2 14.7 232.5 23.2 209.3
CACP-JU45A3B 394.7 14.7 380.0 38.0 342.0
CACP-JU15D3 66.8 13.1 53.7 5.4 48.4
CACP-JU19D3 90.5 13.1 77.4 7.7 69.7
CACP-JU22D3 104.8 13.1 91.7 9.1 82.6

Total (W)
CACR-JU028ACA 151.4 16.3 135.1 27.0 108.1
CACR-JU036ACA 178.3 16.3 162.0 32.4 129.6
CACR-JU065ACA 321.5 16.2 305.3 30.5 274.8
CACR-JU084ACA 421.9 18.9 403.0 40.3 362.7
CACR-JU102ACA 476.1 18.9 457.2 45.7 411.5
CACR-JU125ACA 611.8 25.9 585.9 58.6 527.3
CACR-JU196ACA 1319.7 27.1 1292.6 129.3 1163.3
CACR-JU014DCA 139.4 16.9 122.5 24.5 98.0
CACR-JU018DCA 165.9 16.9 149.0 29.8 119.2
Installation
CACR-JU033DCA 305.7 16.3 289.4 28.9 260.5
CACR-JU042DCA 365.8 18.9 346.9 34.7 312.2
CACR-JU051DCA 422.2 18.9 403.3 40.3 363.0
SERVOPACK for Two Axes 6

Total (W)
CACR-JUM23ACA 134.4 23.4 111.0 22.2 88.8
CACR-JUM24ACA 199.4 23.4 176.0 35.2 140.8
CACR-JUM25ACA 248.8 26.8 222.0 22.2 199.8
CACR-JUM23DCA 113.2 23.4 89.8 9.0 80.8
CACR-JUM24DCA 145.6 23.4 122.2 12.2 110.0
CACR-JUM25DCA 215.2 26.8 188.4 18.8 169.6
6-7
6 Installation
6.2.2 Thermal Design of Control Panel
(2) Air Temperature Rise inside Control Panel (Average Temperature Rise)
Design the control panel so that the internal air temperature will be no more than 10°C higher than the refer-
ence value. If the rise in air temperature in the control panel exceeds 10°C, a cooling system must be installed.
For details, refer to 6.2.2 (3) Cooling System Installation.
The calculation formula for internal temperature rise for a control panel made of metal sheets is as follows:
P P
∆T = =
qe k A
• ∆T: Temperature rise in the control panel (°C)

• P: Calorific value in the control panel (W)
• qe: Heat flow through ratio of the control panel (W/°C)
• k: Heat pass through ratio of a metal plate (W/m2°C)
With a stirring fan: 6 W/m2°C
Without a stirring fan: 4 W/m2°C
• A: Effective radiation area of the control panel (m2)*
∗ Radiation available area of the control panel surface area (Exclude the surface which contacts other object)
<Example>
Allowable Watt Data Loss for a Control Panel with a Stirring Fan
790 mm
450 mm 150 mm
• Effective radiation area of the control panel: A=1.0155 (m2)

(Exclude the base area because control panel is type of putting on the floor.)
• Calorific value in the control panel: P=60 (W)
P P 60
• Temperature rise value in the control panel: ∆T= qe = = 6 ×1.0155 =9.8 (°C)
k A
This example is correct design because ∆T is equal to 9.8 (°C).
6-8
6.2 Σ-V-SD Driver
(3) Cooling System Installation

Use the following calculation formula to select a cooling system and install it in the control panel so that the
air temperature in the control panel will be no more than 10°C higher than the reference value.
P P
∆T = qe =
k (A–B)+qh
• ∆T: Temperature rise in the control panel (°C)

• P: Calorific value in the control panel (W)
• qe: Heat flow through ratio of the control panel (W/°C)
• qh: Heat flow through ratio of the cooling system (W/°C)
• k: Heat pass through ratio of a metal plate (W/m2°C)
With a stirring fan: 6 W/m2°C
Without a stirring fan: 4 W/m2°C
• A: Effective radiation area of the control panel (m2)*
• B: Installation area of the cooling system (m2)
∗ Radiation available area of the control panel surface area (Exclude the surface which contacts other object)
An installation example is given below.
Install the cooling system so that internal air is taken into the control panel at the top and returned at the bot-
tom, and so that the external air is taken in at the bottom and exhausted at the top.
(Top)
Heat sink
Flow of the
internal air
Flow of the
external air
Installation
Control panel
Cooling system
(Bottom)
6
Cooling System Installation
6-9
6 Installation
6.2.3 Control Panel Dust-proof Design
6.2.3 Control Panel Dust-proof Design

The host controller and other printed circuit boards mounted in the control panel may malfunction due to the
effects of airborne particles (dust, cuttings, oil mist, etc.). Observe the following precautions to prevent air-
borne particles from entering the control panel.
• Always use a sealed structure for the control panel.

• Block cable openings with packing. (Refer to the figure labeled Cable Openings given below.)
• Install packing on the door and external cover to seal them. (Refer to the figure labeled Door Packing given
below.)
• Block all gaps.
• Oil may collect on the top surface and may enter the control panel through screw holes. Take special coun-
termeasures, such as using oil-proof packing.
Pendant Box
Packing
Cable
Packing
Cable Openings Door Packing
Operation panel External cover

Packing
Packing Control panel
Host controller
Operation Box
6-10
6.2 Σ-V-SD Driver
6.2.4 Installation Precautions

Observe the following precautions when designing the control panel.
(1) General Precautions

General precautions are given below.
• Always use a sealed structure for the control panel.

• Install the units so that maintenance inspections, removal, and installation can be performed easily.
• Provide about 100 mm of space between components and the control panel surfaces so that the flow of air is
not blocked inside the control panel.
• Design the control panel so that the average internal air temperature will be no more than 10°C higher than
the external air.
• We recommend the use of a fan to stir the air to increase cooling efficiency and prevent localized tempera-
ture increases in the sealed control panel.
• Separate the units from cables or components of 90 VDC or higher and cables or components for AC power
supply by at least 10 mm to help prevent malfunction due to noise.
• Separate the primary and secondary sides of transformer and noise filters.
(2) Installation Precautions

Precautions for installing the Σ-V-SD driver are given below.
• Always secure the Σ-V-SD driver on a vertical surface using screws or bolts.
• Provide the specified space on the left, right, top, and bottom of the driver to enable maintenance and venti-
lation. For details, refer to 6.2.5 Installation Orientation and Space.
• Place the heat sink of the Σ-V-SD driver outside of the ventilation ducts to allow external air flow through
the heat sink. The loss from the control panel will be reduced, and the majority of the loss from the unit will
be cooled directly by the external air.
• Cooling the heat sink requires an air flow of 2.5 m/s in the ventilation duct.
• Make sure that cooling air flows through the heat sink for each Σ-V-SD driver.
• We recommend a metal cooling fan. Plastic fans will deteriorate when exposed to cutting oil, which may
cause Σ-V-SD driver failure or other problems.
Flow of the external air
Cooling fan
Installation
Ventilation duct
Heat sink
6
Flow of the external air
Unit
Σ-V-SD Driver Installation
6-11
6 Installation
6.2.5 Installation Orientation and Space
6.2.5 Installation Orientation and Space

Precautions for the mounting the Σ-V-SD driver, including the mounting orientation and mounting space, are
given below.
5 mm max.
5 mm max. 5 mm max.
5 mm min. 5 mm min.
Air Ventilation
Σ-V-SD Driver 120 mm min. Flow
Duct
Fan
Heat
Sink
120 mm min.
5 mm min.
Cooling Air
2.5 m/s min.
Installation Orientation and Space for Σ-V-SD Driver

• Always install the power regeneration converter on the left side of the SERVOPACK.
• We recommend that you install the SERVOPACKs in order of capacity, with the SERVOPACK with the
largest capacity closest to the power regeneration converter.
• All of the Σ-V-SD drivers have external heat sinks for cooling.
• Refer to the external dimension diagrams for external dimensions and mounting dimensions of the products
(4.1.2 External Dimensions and 4.2.2 External Dimensions).
• Make sure that the ambient air temperature of the Σ-V-SD driver is 0 to 55°C near the heat sink and inside
the control panel at a 70% load, and 0 to 40°C inside the control panel at a 100% load.
• To prevent oil penetration, seal the mounting screw sections of the power regeneration converter and the
SERVOPACK.
• Always install the Σ-V-SD driver with the fan at the top to ensure efficient cooling.
• When mounting the Σ-V-SD driver, allow space above and below it to prevent heat buildup.
• When stirring the air inside the control panel, do not allow the airflow to fall directly on the Σ-V-SD driver
to prevent dirt from collecting on the Σ-V-SD driver.
• Provide the following spaces between the units.
Unit: mm
20.5 ± 0.3
(0.5)
10 10
Mounting hole Mounting hole
Unit Unit
6-12
7
Wiring
7.1 Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7.1.1 Precautions on Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.1.2 Spindle Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7.1.3 Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12
7.2 Σ-V-SD Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-19

7.2.1 Main Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-19
7.2.2 Control Circuit Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-25
7.2.3 DC-bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-26
7.2.4 Local Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-27
7.2.5 I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-28
7.2.6 EtherCAT (CoE) Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-31
7.3 Winding Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-32
Wiring
7-1
7 Wiring
7.1.1 Precautions on Wiring
7.1 Motors
CAUTION
• Separate the motor main circuit cable wiring from the I/O signal cable and encoder cable at least 30 cm,
and do not bundle or run them in the same duct.
• The maximum wiring length is 3 m for I/O signal cables, 20 m for encoder cables or motor main circuit
cables, and 10 m for control power supply cables (+24 V, 0 V).
• Do not connect the motor directly to a commercial power supply.

The motor may be damaged. Connect the motor to the correct SERVOPACK.
7.1.1 Precautions on Wiring

(1) Cables
Standard Cables
Standard motor main circuit cables, encoder cables, and relay cables cannot be used in cases where high flexi-
bility is needed, as when the cables themselves move or are twisted or turned. Use flexible cables for flexible
applications.
Flexible Cables
Even if the recommended bending radius R is followed in the mechanical design, incorrect wiring may cause
the early disconnection. Observe the following precautions when wiring.
• Cable twisting
Straighten the flexible cables wiring.
Twisted cables cause the early disconnection. Check the indication on the cable surface to make sure that the
cable is not twisted.
• Fixing method
Do not fix the moving points of the flexible cable, or stress on the fixed points may cause early disconnec-
tion.
Fix the cable at the minimum number of points. Do not put stress on the motor-end and SERVOPACK-end
connectors.
• Cable length
If the cable length is too long, it may result the cable sagging. If the cable length is too short, excessive ten-
sion on the fixed points will cause the early disconnection. Use a flexible cable with the optimum length.
• Interference between cables
Avoid interference between cables.
Interference limits the motion of flexible cable, which causes early disconnection. Keep enough distance
between cables, or provide a partition when wiring.
(2) Cable Stress
Make sure there is no bending or tension on the cables themselves, the connections, or the cable lead inlets.
Be especially careful to wire encoder cables and brake cables for main circuit so that they are not subject to
stress because the core wires of encoder cables and brake cables for main circuit are very thin at only 0.2 to 0.3
mm2.
7-2
7.1 Motors
(3) Connectors
Observe the following precautions:
• When the connectors are connected to the motor, be sure to connect the end of motor main circuit cables
before connecting the encoder cable’s end.
If the encoder cable’s end is connected before connecting the end of motor main circuit cables, the encoder
may break because of the voltage differences between FG.
• Make sure there is no foreign matters such as dust and metal chips in the connector before connecting.
• Do not apply shock to resin connectors. Otherwise, they may be damaged.
• Make sure of the pin arrangement.
• When handling a motor with its cables connected, hold the motor or the connectors and cables will be dam-
aged.
Observe the following precautions also when using servomotors:
• Make sure that the connector is securely fixed with screws. If the cable connector is not secure, the require-
ments for the protective structure’s specifications may not be met.
• Be sure not to apply stress on the connector, when using flexible cables. The connector may be damaged by
stress.
• Fix the cable connector to SGMGV-05 servomotors with screws. Refer to 7.1.3 Servomotors.
Wiring
7-3
7 Wiring
7.1.2 Spindle Motors

(1) Main Circuit Cable Wiring
Terminal Screws and Tightening Torques (200 V)
Tightening
Terminal Terminal
Spindle Motor Model Torque Wire Sizes
Symbols Screw
[N m]
U, V, W, FG M5 2.0 to 2.4 AWG8
04
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
U, V, W, FG M5 2.0 to 2.4 AWG8
06
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
U, V, W, FG M5 2.0 to 2.4 AWG8
08
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
U, V, W, FG M5 2.0 to 2.4 AWG6
11
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
U, V, W, FG M8 6.0 to 9.0 AWG4
15
UAKAJ- CZ Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
(Single Winding) U, V, W, FG M8 6.0 to 9.0 AWG2

19
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
U, V, W, FG M8 6.0 to 9.0 AWG1
22
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
U, V, W, FG M10 10.0 to 15.0 AWG2/0
30
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
U, V, W, FG M10 10.0 to 15.0 AWG4/0
37
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
U, V, W, FG M10 10.0 to 15.0 AWG4/0
45
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
U1, V1, W1,
M6 2.5 to 3.75 AWG8
06 U2, V2, W2, FG
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
U1, V1, W1,
M6 2.5 to 3.75 AWG8
08 U2, V2, W2, FG
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
U1, V1, W1,
M6 2.5 to 3.75 AWG6
11 U2, V2, W2, FG
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
UAKBJ- CZ U1, V1, W1,
M8 6.0 to 9.0 AWG4
15 U2, V2, W2, FG
(Winding Selection) Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
U1, V1, W1,
M8 6.0 to 9.0 AWG2
19 U2, V2, W2, FG
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
U1, V1, W1,
M8 6.0 to 9.0 AWG1
22 U2, V2, W2, FG
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
U1, V1, W1,
M10 10.0 to 15.0 AWG2/0
30 U2, V2, W2, FG
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
7-4
7.1 Motors
Terminal Screws and Tightening Torques (400 V)

Tightening
Terminal Terminal
Spindle Motor Model Torque Wire Sizes
Symbols Screw
[N m]
U, V, W, FG M5 2.0 to 2.4 AWG12
06
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
U, V, W, FG M5 2.0 to 2.4 AWG10
08
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
U, V, W, FG M5 2.0 to 2.4 AWG10
11
UAKAJ- CZ Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
(Single Winding) U, V, W, FG M8 6.0 to 9.0 AWG8
15
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
U, V, W, FG M8 6.0 to 9.0 AWG6
19
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
U, V, W, FG M8 6.0 to 9.0 AWG6
22
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
U1, V1, W1,
M6 2.5 to 3.75 AWG12
06 U2, V2, W2, FG
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
U1, V1, W1,
M6 2.5 to 3.75 AWG10
08 U2, V2, W2, FG
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
U1, V1, W1,
M6 2.5 to 3.75 AWG10
11 U2, V2, W2, FG
UAKBJ- CZ Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
(Winding Selection) U1, V1, W1,
M8 6.0 to 9.0 AWG8
15 U2, V2, W2, FG
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
U1, V1, W1,
M8 6.0 to 9.0 AWG6
19 U2, V2, W2, FG
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
U1, V1, W1,
M8 6.0 to 9.0 AWG6
22 U2, V2, W2, FG
Z1, Z2, Z3 M4 1.2 to 1.8 AWG14
Wiring
7-5
7 Wiring
Wiring
• CACR-JU028ACA, -JU014DCA
SERVOPACK End (CN8) Motor End
Pin No. Signal Name Terminal Name
A1 U U
B1 V V
B2 W W
A2
Pin No. Signal Name Terminal Name
1 U U
2 V V
3 W W
4
• CACR-JU065ACA, -JU084ACA, -JU102ACA, -JU125ACA, -JU196ACA, -JU033DCA, -JU042DCA,

-JU051DCA
SERVOPACK End Motor End
Terminal Name Terminal Name
U U
V V
W W
7-6
7.1 Motors
(2) Encoder Wiring

Pulse Encoder (SERVOPACK-end connector: CN3)
• Connections
Signal Signal
Pin No. I/O Function Pin No. I/O Function
Name Name
Common for magnetic
Power supply for encoder
1 PG0V – 11 CC O contactor for winding
0V
selection
2 PG0V – 12 CA1 I
0V Winding selection status
Power supply for encoder signal
3 PG0V – 13 CA2 I
0V
4 PG5V O 14 PC I
5V Encoder phase C signal
Power supply for encoder input
5 PG5V O 15 /PC I
5V
6 PG5V O 16 PA I Encoder phase A signal
5V
input
7*1 (NC) – – 17 /PA I
8*2 THM1+ I Motor winding tempera- 18 PB I Encoder phase B signal

*2 THM1– I ture detection 19 /PB I input
9
+24 V DC power supply
10 C24V O for magnetic contactor 20*1 (NC) – –
for winding selection
∗1. Do not use NC signal.
∗2. Use CN1 or CN3 for motor winding temperature detection.
Wiring
7-7
7 Wiring
Spindle Motor
R Z1
Three-phase, 200 VAC S Z2
or Fan
Three-phase, 400 VAC T Z3
U
U
V
V M
W
W
CN3-8 THM1+ 11
TS
CN3-9 THM1- 12
E E
FG
CN3-4 PG5 V 1
CN3-1 PG0 V 2
CN3-5 PG5 V
CN3-2 PG0 V PG
CN3-6 PG5 V
CN3-3 PG0 V
CN3-16 PA 3
CN3-17 /PA 4
CN3-18 PB 5
CN3-19 /PB 6
CN3-14 PC 7
CN3-15 /PC 8
10
Case
Shielded twisted-pair cable, 0.2 mm2
FG
Connecting Diagram of Pulse Encoder for Spindle Motor
7-8
7.1 Motors
Serial Encoder (SERVOPACK-end connector: CN2)

• Connections
Signal Signal
Name Name
Power supply for
1 PG5V O 2 GND – 0V
encoder 5 V
3 PGBAT+ O Battery for encoder (+) 4 PGBAT- O Battery for encoder (–)
Encoder serial signal Encoder serial signal
5 PS I/O 6 /PS I/O
(+) (–)
7* (NC) – – 8* (NC) – –
9* (NC) – – 10* (NC) – –
∗ Do not use NC signal.

Signal Signal
Pin No. Pin No.
Name Name
6 /PS 6 /PS
5 PS 2 PS
4 PGBAT– – PGBAT–
3 PGBAT+ – PGBAT+
2 GND 5 GND
1 PG5V 1 PG5V
Shell FG Shell FG
Spindle Motor
R Z1
Three-phase, 200 VAC
SERVOPACK or S Z2
for One Axis Fan
Three-phase, 400 VAC T Z3
U
U
V
V M
W
W
E E
CN3-8 THM1+ 11
TS
Wiring
CN3-9 THM1- 12
CN2-1 PG5 V 1
7
CN2-2 GND 5
CN2-5 PS 2
PG
CN2-6 /PS 6
Shell
Shielded twisted-pair cable, 0.2 mm2
FG
Connection Diagram of Serial Encoder for Spindle Motor
7-9
7 Wiring
• Wiring in Terminal Box

When connecting the motor main circuit cable and fan cable inside the terminal box, connect them so that the
they do not come into contact with the serial converter unit or analog signal input section shield plate.The
encoder may operate incorrectly if the connections are not appropriate.
The following figure is a wiring example for a 320 spindle motor.
Fan cable
Serial converter unit Motor main circuit cable
Analog signal input section shield plate
7-10
7.1 Motors
• Connections of Serial Encoder in Terminal Box

2-M4 socket head cap screws
Protective cover
Shield wires
2-No.4-40 UNC screws
M4 ground screw
Approx. 40 mm
Serial converter unit
Plug housing : JEC-9P
Insulock (with head)
M4 screw
Cable
(serial data output side)
Note 1. When tightening No.4-40 UNC screws, the positioning hinders inserting the screwdriver. Make sure that the
screws are not inserted at an angle.
2. Ensure that stress is not applied to the connection areas of the cables and plug housings when cables are secured
using Insulock binders.
3. Make sure that the signal lines and shield wires do not become stuck in the protective cover.
4. The depth for M4 screws is 7 mm max.
Wiring
7-11
7 Wiring
7.1.3 Servomotors
7.1.3 Servomotors
CAUTION
• Install the I/O signal cables and encoder cable at least 30 cm away from the motor’s main circuit cable.
Never place them in the same duct or bundle them together.
• When the encoder cable length exceeds 20 m, be sure to use a relay encoder cable.
• When the main circuit cable length exceeds 20 m, the intermittent duty zone will shrink due to the voltage
drop.
(1) Main Circuit Cable Wiring (Model: SGMGV-05)

Procedure
CAUTION
• When you connect the cables, do not touch with your bare hands the motor connector pins or the encoder
connector pins that are provided with the motor.
Particularly the encoder may be damaged by static electricity.
1. Remove the protective cap from the servomotor connector.

Protective cap
7-12
7.1 Motors
2. Mount the cable connector on the servomotor and fix it with screws as shown in the figure
below.
Encoder cable
,All models
molex
U
O-ring
V
Servomotor main circuit cable

,SGMGV-05
4-M3 pan-head screws
Tightening torque: 0.44 N-m
Lead on Non-load Side
Lead on Load Side*

∗ In this case, contact your Yaskawa representative.
• First, connect the servomotor to the servomotor main circuit cable end.
• Do not remove the O-ring. Mount the connector so that the O-ring is seated properly.
If the O-ring is not seated properly, the requirements for the protective structure
specifications may not be met.
Wiring
7-13
7 Wiring
7.1.3 Servomotors
Servomotor Without Holding Brake

• Cable Specifications for Servomotor-end Connector
PE FG (Frame ground)
PE
5
4 5 –
4 –
3
2
3 Phase U
1
2 Phase V
1 Phase W
Manufacturer: Japan Aviation Electronics Industry, Ltd.
• Wiring Specifications
• CACR-JUM23ACA, -JUM23DCA
SERVOPACK End
Motor End
(CN18/CN28)
Signal Signal
Pin No. Pin No.
Name Name
A1 U 3 U
B1 V 2 V
B2 W 1 W
A2 FG PE FG
Servomotor With Holding Brake

PE FG (Frame ground)
PE
5 Brake terminal
5
4
4 Brake terminal
3
2
3 Phase U
1
2 Phase V
1 Phase W
Manufacturer: Japan Aviation Electronics Industry, Ltd.
• CACR-JUM23ACA, -JUM23DCA
SERVOPACK End
Motor End
(CN18/CN28)
Signal Signal
Pin No. Pin No.
Name Name
A1 U 3 U
B1 V 2 V
B2 W 1 W
A2 FG PE FG
4 Brake
Brake 5 Brake
Brake
Note: No polarity for connection to the brake terminals.
7-14
7.1 Motors
(2) Main Circuit Cable Wiring (Model: SGMGV-09 to -75)

Servomotor Without Holding Brake
A Phase U
D A
B Phase V
C B C Phase W
D FG (Frame ground)
Manufacturer: DDK Ltd.
SERVOPACK End
Motor End
(CN8)
Signal Signal
Pin No. Pin No.
Name Name
1 U A U
2 V B V
3 W C W
4 D
• CACR-JU065ACA, -JU084ACA, -JU102ACA, -JU033DCA, -JU042DCA, -JU051DCA

Terminal Name Pin No. Signal Name
U A U
V B V
W C W
• CACR -JU028ACA, -JUM23 CA, -JUM24 CA, -JUM25 CA, -JU014DCA

SERVOPACK End
Motor End
(CN8/CN18/CN28)
Pin No. Signal Name Pin No. Signal Name
A1 U A U
B1 V B V
B2 W C W
A2 D Wiring
7-15
7 Wiring
7.1.3 Servomotors
Servomotor With Holding Brake

A Phase U
D A
B Phase V
C B C Phase W
D FG (Frame ground)
• Cable Specifications for Brake-end Connector

Receptacle: CM10-R2P-D
1
Applicable plug (To be provided by the customer)
Plug: CM10-AP2S- -D (L-shaped)
2 CM10-SP2S- -D (Straight)
(Boxes ( ) indicate a value that varies, depending on cable size.)
1 Brake terminal
2 Brake terminal

SERVOPACK End
Motor End
(CN18)
1 U A U
2 V B V
3 W C W
4 D
Motor End
Pin No. Signal Name
Brake 1 Brake
Brake 2 Brake
• CACR-JU065ACA, -JU084ACA, -JU102ACA, -JU033DCA, -JU042DCA, -JU051DCA

Terminal Name Pin No. Signal Name
U A U
V B V
W C W
D
Motor End
Pin No. Signal Name
Brake 1 Brake
Brake 2 Brake
7-16
7.1 Motors
• CACR-JU028ACA, -JUM23 CA, -JUM24 CA, -JUM25 CA, -JU014DCA

SERVOPACK End
Motor End
(CN8/CN18/CN28)
A1 U A U
B1 V B V
B2 W C W
A2 D
Motor End
Pin No. Signal Name
Brake 1 Brake
Brake 2 Brake
Wiring
7-17
7 Wiring
7.1.3 Servomotors
(3) Serial Encoder Wiring (SERVOPACK-end Connector: CN21/CN22)

• Connections
Signal Signal
Name Name
Power supply for
1 PG5V ∗ O encoder 2 GND – 0V
5V
3 PGBAT+ O Encoder for battery 4 PGBAT– O Encoder for battery (–)
Encoder serial signal Encoder serial signal
5 PS ∗ I/O
(+)
6 /PS ∗ I/O
(–)
Power supply for Power supply for
7 FCPG5V ∗ O external encoder 8 GND – external encoder
5V 0V
External encoder serial External encoder serial
9 FCPS ∗ I/O
signal (+)
10 /FCPS ∗ I/O
signal (–)
∗ For a SERVOPACK for two axes, an axis name (1 or 2) will be displayed in .
• Cable Specifications for Encoder-end Connector (20-bit Encoder)

Receptacle: CM10-R10P-D
Applicable plug (To be provided by the customer)
3 1
Plug: CM10-AP10S- -D (L-shaped)
7 4 CM10-SP10S- -D (Straight)
10 8 (Boxes ( ) indicate a value that varies, depending on cable size.)
1 PS 6 BAT (+)
2 /PS 7 –
3 – 8 –
4 PG5 V 9 PG0 V
5 BAT (–) 10 FG (Frame ground)
SERVOPACK End
Motor End
(CN2/CN21)
Signal Signal
Pin No. Pin No.
Name Name
/PS ∗ 6 2 /PS
∗ 5 1 PS
PS
PGBAT– 4 5 BAT(–)
PGBAT+ 3 6 BAT(+)
GND 2 9 PG0V
PG5V ∗ 1 4 PG5V
FG Shell 10 FG
∗ For a SERVOPACK for two axes, an axis name (1 or 2) will be displayed in .
7-18
7.2 Σ-V-SD Driver
7.2 Σ-V-SD Driver

7.2.1 Main Circuit
• Do not touch the power terminals before the main-circuit capacitor has had time to dis-
charge because high voltage may still remain in the converter and SERVOPACK. Refer
to the following table for the discharge time of main-circuit capacitor.
• When two or more SERVOPACKs are used in combination, use the longest discharge
time of those SERVOPACKs for the main-circuit capacitor.
Input Discharge Time Needed for

SERVOPACK Model
Voltage Main-Circuit Capacitor (min)
CACR-JU028ACA 15
CACR-JU036ACA 20
CACR-JU065ACA 20
For
one CACR-JU084ACA 20
Three- axis
CACR-JU102ACA 25
phase,
200 VAC CACR-JU125ACA 25
CACR-JU196ACA 25
For CACR-JUM23ACA 15
two CACR-JUM24ACA 15
axes CACR-JUM25ACA 15
CACR-JU014DCA 10
CACR-JU018DCA 15
For
one CACR-JU033DCA 15
Three- axis
CACR-JU042DCA 15
phase,
400 VAC CACR-JU051DCA 15
CACR-JUM23DCA 15
For
two CACR-JUM24DCA 15
axes
CACR-JUM25DCA 15
• First make sure the charge indicator is turned OFF and that the DC-bus (symbol: P and
N) voltage value is correct by using a tester or other device before wiring or starting an
inspection.
Wiring
7-19
7 Wiring
7.2.1 Main Circuit
(1) Wire Sizes and Tightening Torques

Model: Terminal Tightening
Input Voltage Terminal Screw Wire Sizes
CACP-JU Symbols Torque [N m]
L1, L2, L3 M6 2.5 to 3.0 AWG6
15A3 B1, B2 M5 2.0 to 2.4 AWG14
M5 2.0 to 2.4 AWG6
L1, L2, L3 M6 2.5 to 3.0 AWG4
19A3 B1, B2 M5 2.0 to 2.4 AWG14
M5 2.0 to 2.4 AWG4
L1, L2, L3 M6 2.5 to 3.0 AWG3
Three-phase,
22A3 B1, B2 M5 2.0 to 2.4 AWG14
200 VAC
M5 2.0 to 2.4 AWG4
L1, L2, L3 M6 2.5 to 3.0 AWG2
30A3 B1, B2 M5 2.0 to 2.4 AWG14
M6 2.5 to 3.0 AWG4
L1, L2, L3 M10 30 AWG3/0
45A3B B1, B2 M5 2.0 to 2.4 AWG14
M6 2.5 to 3.0 AWG1/0
L1, L2, L3 M6 2.5 to 3.0 AWG8
15D3 B1, B2 M5 2.0 to 2.4 AWG14
M5 2.0 to 2.4 AWG7
L1, L2, L3 M6 2.5 to 3.0 AWG8
Three-phase,
19D3 B1, B2 M5 2.0 to 2.4 AWG14
400 VAC
M5 2.0 to 2.4 AWG7
L1, L2, L3 M6 2.5 to 3.0 AWG7
22D3 B1, B2 M5 2.0 to 2.4 AWG14
M5 2.0 to 2.4 AWG7
7-20
7.2 Σ-V-SD Driver

Wire Sizes
Input Voltage Terminal Screw For Spindle For
CACR-JU Symbols Torque [N m]
Motor Servomotor
U, V, W (connector) – AWG8 AWG10
028ACA motor (connector) – AWG8 AWG10
M4 1.2 to 1.4 AWG8 AWG10
036ACA motor (connector) – AWG8 AWG8
M4 1.2 to 1.4 AWG8 AWG8
AWG4
U, V, W M6 2.5 to 3.0 AWG6
(AWG6)*1
AWG4
065ACA motor M6 2.5 to 3.0 AWG6
(AWG6)*1
AWG4
M4 1.2 to 1.4 AWG6
(AWG6)*1
Three-phase,
200 VAC U, V, W M6 2.5 to 3.0 AWG2 AWG4
084ACA motor M6 2.5 to 3.0 AWG2 AWG4
M5 2.0 to 2.4 AWG4 AWG4
U, V, W M6 2.5 to 3.0 AWG1 AWG4
102ACA motor M6 2.5 to 3.0 AWG1 AWG4
M5 2.0 to 2.4 AWG4 AWG4
U, V, W M8 2.5 to 3.0 AWG2/0 –
125ACA motor M8 2.5 to 3.0 AWG2/0 –
M6 2.5 to 3.0 AWG2 –
U, V, W M10 30 AWG4/0 –
196ACA motor M10 30 AWG4/0 –
M6 2.5 to 3.0 AWG1/0 –
014DCA motor (connector) – AWG12 AWG14
M4 1.2 to 1.4 AWG12 AWG14
018DCA motor (connector) – AWG10 AWG10
M4 1.2 to 1.4 AWG10 AWG10
AWG8
U, V, W M6 2.5 to 3.0 AWG10 Wiring
(AWG10)*2
Three-phase, AWG8
033DCA motor M6 2.5 to 3.0 AWG10
400 VAC (AWG10)*2
M4 1.2 to 1.4
AWG8
AWG10
7
(AWG10)*2
U, V, W M6 2.5 to 3.0 AWG6 AWG8
042DCA motor M6 2.5 to 3.0 AWG6 AWG8
M5 2.0 to 2.4 AWG6 AWG8
U, V, W M6 2.5 to 3.0 AWG6 AWG8
051DCA motor M6 2.5 to 3.0 AWG6 AWG8
M5 2.0 to 2.4 AWG6 AWG8
∗1. For motor model: UAK J-11CZ (Input voltage: Three-phase 200 VAC)
∗2. For motor model: UAK J-11CZ (Input voltage: Three-phase 400 VAC)
7-21
7 Wiring
7.2.1 Main Circuit

Input Voltage Terminal Screw Wire Sizes
CACR-JUM2 Symbols Torque [N m]
U, V, W (connector) – AWG14
3ACA motor (connector) – AWG14
M4 1.2 to 1.4 AWG14
Three-phase,
200 VAC
M4 1.2 to 1.4 AWG10
M4 1.2 to 1.4 AWG8
3DCA motor (connector) – AWG14
M4 1.2 to 1.4 AWG14
Three-phase,
400 VAC
M4 1.2 to 1.4 AWG14
M4 1.2 to 1.4 AWG14
(2) Installing a Molded-case Circuit Breaker

Install a molded-case circuit breaker (MCCB) between the power supply and the main circuit power supply
input terminals (R/L1, S/L2, and T/L3). Always install a molded-case circuit breaker if you do not install a
ground fault detector.
(3) Installing a Ground Fault Detector

Install a ground fault detector between the power supply and the main circuit power supply input terminals (R/
L1, S/L2, and T/L3). Always install a ground fault detector if you do not install a molded-case circuit breaker
(MCCB).
(4) Installing a Magnetic Contactor

Install a magnetic contactor (MC) if you need to turn the control power supply or main circuit power supply
sequence ON and OFF.
(5) Terminal Block Connection Sequence

You can connect the main circuit power supply terminals in any order without considering the phase order (R/
L1, S/L2, T/L3).
(6) Installing a Surge Absorber

Always install surge absorbers or diodes on all inductive loads that are connected near the Σ-V-SD servo
driver. (Inductive loads include magnetic contactors, magnetic relays, magnetic valves, solenoids, and mag-
netic brakes.)
• Never connect a surge absorber to the output terminals (U, V, and W) from the SER-
VOPACK.
• Always install surge absorbers. If you do not install surge absorbers, the surge voltage
from the coil that occurs when the inductive load is turned ON and OFF will affect the
SERVOPACK control signal lines and could cause incorrect signals.
7-22
7.2 Σ-V-SD Driver
(7) Prohibition of Installation of Phase Advancing Capacitor

Do not connect a phase advancing capacitor or surge absorber to main circuit power supply input (R/L1, S/L2,
or T/L3) of a power regeneration converter. The phase advancing capacitor or surge absorber may become
overheated and damaged by the harmonic components of the Σ-V-SD driver. Also, the Σ-V-SD driver may
malfunction because of overcurrent.
(8) Designing the Power ON Sequence

Take the following points into consideration when designing the power ON sequence.
• The main circuit power supply must turn ON only after it has been confirmed that no servo alarm has
occurred.
• The main circuit power supply must turn OFF when a servo alarm occurs during operation. The state of the
motor must be considered when the main circuit power supply is turned OFF during operation. For details,
refer to 7.2.1 (9) Typical Main Circuit Wiring Example.
(9) Typical Main Circuit Wiring Example
The typical main circuit wiring examples is shown below.
WARNING
• Do not touch the power terminals before the main-circuit capacitor has had time to discharge because
high voltage may still remain in the converter and SERVOPACK. Refer to this section for the details of dis-
charge time of main-circuit capacitor.
After the charge indicator goes out, check the voltage on the DC bus line (i.e., between the P and N terminals) with a
voltage tester or other device and confirm safety before you perform wiring or inspection work.
R S T
1QF
4SA CACP-JU!!!3! CACR-JU!!!!CA
Converter SERVOPACK
1FLT AC Reactor
2KM
U X L1
V Y L2
P P P
Z N N N
W L3
1KM Control CN7A
power supply + 24 V
24 VDC − 0V CN7B CN7A CN7B
㧔For servo alarm

1Ry display㧕
Main power Main power 1PL

supply ON supply OFF 1KM
1KM 1SA
1KM 3KM 1Ry 2KM Wiring
2SA
+24 V Emergency Host controller∗ +24 V
stop 3KM 1Ry
ESP+ ALM+ 7
3SA 1D
ESP- ALM-
0V 0V
1QF: Molded-case circuit breaker

3KM: Magnetic contactor
1FIL: Noise filter 2SA: Surge absorber
(for emergency stop)
1KM: Magnetic contactor 3SA: Surge absorber
1Ry: Relay
(for control power supply) 4SA: Surge absorber
1PL: Indicator lamp
2KM: Magnetic contactor 1D: Flywheel diode
1SA: Surge absorber
(for main circuit power supply)
∗ A host controller is not provided by Yaskawa.
7-23
7 Wiring
7.2.1 Main Circuit
(10) Grounding
Use the following information to ensure that the ground is sufficient.
• Make sure to ground the ground terminal ( ).
200 V class: Ground to 100 Ω or less
400 V class: Ground to 10 Ω or less
• Never ground the Σ-V-SD driver in common with welding machines, motors, or other large current electri-
cal equipment. Wiring for grounding cable must be separated from the large-current electrical equipment.
• Always use a ground wire that complies with technical standards on electrical equipment. Minimize the
length of the ground wire. Leakage current flows through the Σ-V-SD driver. Therefore, if the distance
between the ground terminal and the ground terminal is too long, the potential on the ground terminal of the
Σ-V-SD driver will become unstable.
• Always ground Σ-V-SD driver and motors using a ground terminal even when equipment is grounded
through sill channel or steel plate.
• Ground each Σ-V-SD driver directly to the ground as shown in the following figure (a). Do not make a loop
as shown in (b).
Correct Incorrect
(a) Acceptable (b) Not Acceptable

Grounding
• Ground the Σ-V-SD driver and motor as shown in the following figure (a). Do not ground both the Σ-V-SD
driver and motor as shown in (b).
Correct Incorrect
(a) Acceptable (b) Not Acceptable

Grounding of Motor and Σ-V-SD Driver
7-24
7.2 Σ-V-SD Driver
7.2.2 Control Circuit Power Supply

(1) Specifications
Specifications
Voltage 24 VDC ± 15%
Device Model Amperes

CACP-JU45A3B 1.5 A
Power regeneration converter
Others 1A
Current
CACP-JU196ACA 2A
SERVOPACK for one axis
Others 1.5 A
SERVOPACK for two axes All models 1.5 A
• The allowable current for the control power supply is 10 A. Perform wiring so that the
total current when combined with the Σ-V-SD driver is 10 A or less.
• Refer to 2.1.3 Power Regeneration Converter, SERVOPACK, and Motor for the max-
imum number of connected drives.
(2) Connections
Control
power
supply
CN7A/B
Control
power
cable
Power
regeneration
SERVOPACK
converter
Control Power Supply Cable Wiring

Wiring
Pin No. Signal Name I/O Function Pin No. Signal Name I/O Function
A 24 VDC I/O +24 VDC B 0V I/O 0V
CN7A/B CN7A/B 7
Signal Signal
Pin No. Pin No.
Name Name
A 24 VDC A 24 VDC
B 0V B 0V
7-25
7 Wiring
7.2.3 DC-bus
7.2.3 DC-bus
A bus bar built into the Σ-V-SD driver connects the power regeneration converter and a SERVOPACK or two
SERVOPACKs.
The bus bar connection procedure is given below.
1. Remove the barriers between the devices to connect.
Barrier of SERVOPACK
Barrier of power regeneration converter
2. Rotate the bus bar of the device on the right 180° clockwise, and then hook it on the terminals
of the device on the left.
7-26
7.2 Σ-V-SD Driver
7.2.4 Local Bus

A local bus communication cable connects the power regeneration converter (CN5) and SERVOPACK
(CN5A and CN5B).
Local bus
communication
cable
CN5
Local bus
terminating resistor*
CN5A/B
Power
regeneration
converter SERVOPACK
∗ Connect only one resistor on the SERVOPACK on the right.
If you connect two or more SERVOPACKs to one power regeneration converter, do not
set the same value for the rightmost digit of the SERVOPACK address in Pn010
(5C00h).
For details, refer to 8.4.8 Setting Local Bus Addresses.
Wiring
7-27
7 Wiring
7.2.5 I/O Signals
7.2.5 I/O Signals

Do not use CN1 on the SERVOPACK as the I/O signal for an emergency stop.
Use CN1 on the power regeneration converter.
(1) Connections
Connector Pin Arrangement (CN1) for I/O Signals of the Power Regeneration Converter
Signal Signal
Name Name
Main circuit connector
1 /MCON+ O
ON output 8* (NC) – –
Main circuit connector

2 /MCON– O
ON output 9* (NC) – –
3* (NC) – – 10* (NC) – –

* (NC) – – 11 /ESP+ I Emergency stop input
4
* (NC) – – 12 /ESP– I Emergency stop input
5
* (NC) – – 13* (NC) – –
6
* (NC) – – 14* (NC) – –
7

Connector Pin Arrangement (CN1) for I/O Signals of the SERVOPACK for One Axis
Signal Signal
Name Name
+24V external power
1 COM24V I
supply input 14*1 (NC) – –
Probe 1 latch signal

2 /Probe1 I
input 15*1 (NC) – –

3 /Probe2 I
input 16*1 (NC) – –
4 /Home I Home switch input 17 /HWBB1– I Baseblock input 1

5*1 (NC) – – 18 /HWBB1+ I Baseblock input 1
6 P-OT1 I Forward overtravel 19 /HWBB2– I Baseblock input 2
7 N-OT1 I Reverse overtravel 20 /HWBB2+ I Baseblock input 2
Baseblock monitoring
8*1 (NC) – – 21 EDM1– O
signal
9 /BK1+ O Brake 22 EDM1+ O
signal
External dynamic
10 /BK1– O Brake 23 DBA1 I
brake answer signal
Motor winding temper- External dynamic
11*2 THM1+ I
ature detection
24 DBA2 I
brake answer signal
Motor winding temper- External dynamic
12*2 THM1– I
ature detection
25 DBON O
brake
External dynamic
13*1 (NC) – – 26 DB24V O
brake
∗1. Do not use NC signal.

∗2. Use CN1 or CN3 for motor winding temperature detection.
7-28
7.2 Σ-V-SD Driver
Connector Pin Arrangement (CN1) for I/O Signals of the SERVOPACK for Two Axes
Signal Signal
Name Name
+24 V external power
1 COM24V I
supply input 26* (NC) – –

2 /Probe1 I
input 27* (NC) – –

3 /Probe2 I
input 28* (NC) – –
Home switch input for Baseblock input 1 for

4 /Home1 I 29 /HWBB11– I
axis 1 1st axis
Home switch input for Baseblock input 1 for
5 /Home2 I 30 /HWBB11+ I
axis 2 1st axis
Baseblock input 2 for
6* (NC) – – 31 /HWBB12– I
1st axis
Baseblock input 2 for
7* (NC) – – 32 /HWBB12+ I
1st axis
Forward overtravel for Baseblock input 1 for
8 P-OT1 I 33 /HWBB21– I
1st axis 2nd axis
Reverse overtravel for Baseblock input 1 for
9 N-OT1 I 34 /HWBB21+ I
1st axis 2nd axis
Forward overtravel for Baseblock input 2 for
10 P-OT2 I 35 /HWBB22– I
2nd axis 2nd axis
Reverse overtravel for Baseblock input 2 for
11 N-OT2 I 36 /HWBB22+ I
2nd axis 2nd axis
12* (NC) – – 37* (NC) – –
13* (NC) – – 38* (NC) – –

* (NC) – – 39* (NC) – –
14
* (NC) – – 40* (NC) – –
15
16* (NC) – – 41 EDM1– O
signal for 1st axis
17 /BK1– O Brake for 1st axis 42 EDM1+ O
signal for 1st axis
18 /BK1+ O Brake for 1st axis 43 EDM2– O
signal for 2nd axis
19 /BK2– O Brake for 2nd axis 44 EDM2+ O
signal for 2nd axis
20 /BK2+ O Brake for 2nd axis 45* (NC) – –
21* (NC) – – 46* (NC) – – Wiring

Motor winding temper-
22* (NC) – – 47 THM2+ I ature detection for 2nd
axis
Motor winding temper- 7
23 THM1+ I ature detection for 1st 48* (NC) – –
axis
24 THM1– I ature detection for 1st 49* (NC) – –
axis
25* (NC) – – 50 THM2– I ature detection for 2nd
axis
7-29
7 Wiring
7.2.5 I/O Signals
(2) Connection Diagrams

Sink (source) CN1 +5 V Sink (source) CN1 +5 V
+24 V(0 V) COM24V 1 +24 V(0 V) COM24V 1
0 V(+24 V) /Probe1, /Probe2 2, 3 0 V(+24 V) /Probe1, /Probe2 2, 3
/Home 4 /Home1, /Home2 4, 5
P-OT1 6
P-OT1,
N-OT1 7 P-OT2 8,10
+24 V
N-OT1,
/HWBB1+ 18 N-OT2 9,11
0V /HWBB1- 17
/HWBB11+,
+24 V /HWBB21+ 30,34
/HWBB2+ 20
0V /HWBB11-, 29,33
19 /HWBB21-
/HWBB2-
/HWBB12+,
/HWBB22+ 32,36
/HWBB12-,
/HWBB22- 31,35
EDM1+ 22
EDM1- 21
THM1+ 11
Thermister EDM1+,
THM1- 12 EDM2+ 42,44
EDM1-,
EDM2- 41,43
/BK1+ 9 THM1+ 23
/BK1- Thermister 24
10 THM1-
㩅㨺㩚㩇㩊 THM2+ 47
+24 V
DB24V 26 Thermister THM2- 50
External 3Ry DBON 25
㩅㨺㩚㩇㩊 /BK1+, GND
dynamic 3Ry /BK2+ 18,20
DBA1 23
brake unit∗ /BK1-,
17,19
24 /BK2-
DBA2
(*)ߪゲ⇟ภ
GND
I/O Connections for SERVOPACKs for One Axis I/O Connections for SERVOPACKs for Two Axes
∗ Not provided by Yaskawa. For details, contact your Yaskawa representative.
Note: If the HWBB function is not used, connect CN1-17 to CN1-20 and CN1-29 to CN1-36 as shown in the following
figures.
CN1 +5 V CN1 +5 V
/HWBB11+,
+24 V /HWBB1+ 18 +24 V /HWBB21+ 30,34
/HWBB11-,
0V /HWBB1- 17 0V /HWBB21- 29,33
/HWBB12+,
/HWBB2+ 20 /HWBB22+ 32,36
/HWBB12-,
/HWBB2- 19 /HWBB22- 31,35
GND
GND
I/O Connections for SERVOPACKs for One Axis I/O Connections for SERVOPACKs for Two Axes
7-30
7.2 Σ-V-SD Driver
7.2.6 EtherCAT (CoE) Communications

Connect the host controller and connectors CN9A and CN9B on the SERVOPACK with the EtherCAT (CoE)
communications cable.
Connect CN9A to the master and CN9B to the slave. If reversed, communication will not be successfully per-
formed.
Host controller
EtherCAT
controller EtherCAT (CoE)
communications cable
EtherCAT (CoE) signal

input connector (CN9A)
EtherCAT (CoE) signal
EtherCAT (CoE) signal input connector (CN9A)
output connector (CN9B)
EtherCAT (CoE)
communications cable

SERVOPACKs
Note: Do not allow any one EtherCAT (CoE) communications cable to exceed 100 m.
• Connector Specifications
Connector Description
CN9A EtherCAT (CoE) signal input
CN9B EtherCAT (CoE) signal output
• Connector Pin Arrangement

Pin No. Signal Name Remarks
1 TD+
Send data
2 TD- Wiring
3 RD+ Receive data
4 – N.C.*
5 – N.C.* 7
6 RD- Receive data
7 – N.C.*
8 – N.C.*
∗ Pins denoted as N.C. do not connect to any signal.
7-31
7 Wiring
7.3 Winding Selection

Winding selection for an AC spindle motor is an effective way to extend the constant output control range of a
servo (spindle) drive.
Contact your Yaskawa representative for details on changing the winding from the SERVOPACK.
7-32
8
Operation
8.1 EtherCAT (CoE) Communications Settings . . . . . . . . . . . . . . . . . . . . . . . 8-3

8.1.1 EtherCAT Secondary Address Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.1.2 EtherCAT (CoE) Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.2 EtherCAT State Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4

8.3 Device Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5
8.4 Settings for Common Basic Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
8.4.1 Servomotor Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8
8.4.2 Overtravel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-9
8.4.3 Holding Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-12
8.4.4 Stopping Servomotor after SV_OFF Command or Alarm Occurrence . . . . . . . . . . . 8-17
8.4.5 Instantaneous Power Interruption Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-19
8.4.6 Setting Motor Overload Detection Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-20
8.4.7 Spindle Motor Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-22
8.4.8 Setting Local Bus Addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-23
8.5 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-24

8.5.1 Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-24
8.5.2 Trial Operation via EtherCAT (CoE) Communication . . . . . . . . . . . . . . . . . . . . . . . . 8-24
8.6 Limiting Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-25

8.7 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-27
8.7.1 Encoder Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-27
8.7.2 Backup of the Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-27
8.7.3 Battery Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-28
8.7.4 Absolute Encoder Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-29
Operation
8.7.5 Multiturn Limit Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-32

8.7.6 Multiturn Limit Disagreement Alarm (A.CC0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-33
8.7.7 Absolute Encoder Home Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-36
8-1
8 Operation
8.8 Hard Wire Base Block (HWBB) Function . . . . . . . . . . . . . . . . . . . . . . . . 8-37

8.8.1 Precautions for the Hard Wire Base Block (HWBB) State . . . . . . . . . . . . . . . . . . . . .8-37
8.8.2 Operation Example for the Hard Wire Base Block . . . . . . . . . . . . . . . . . . . . . . . . . . .8-38
8.8.3 HWBB Status Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-38
8.8.4 Restoring Operation from a HWBB State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-38
8.8.5 Error Detection in HWBB Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-38
8.8.6 Connection Example and Specifications of Input Signals (HWBB Signals) . . . . . . . .8-39
8.8.7 Operation with SigmaWin for Σ-V-SD (MT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-40
8.8.8 Brake Signal (/BK1, /BK2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-40
8.8.9 Dynamic Brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-40
8.8.10 External Device Monitor (EDM ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-41
8.8.11 Application Example of HWBB Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-43
8.8.12 Confirming HWBB Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-44
8-2
8.1 EtherCAT (CoE) Communications Settings
8.1 EtherCAT (CoE) Communications Settings

This section describes the switch settings necessary for EtherCAT (CoE) communications.
8.1.1 EtherCAT Secondary Address Settings

The EtherCAT secondary address (Station Alias) can be used for identification or for addressing of a device.
The station address is set using the rotary switches S1 and S2.
Rotary switch (S1)

Rotary switch (S2)
Manufacturer adjustment connector (CN55)

DIP switch (S3)
Panel Display
SERVOPACK
(1) Settings
The combination of the settings of rotary switches S1 and S2 determine the station alias number.
Station alias number = (Setting of S1) × 16 + (Setting of S2)
<Notes>
When you turn the power supply to the SERVOPACK OFF and back ON, the station alias number is set in the
Configured Station Alias Register of the EtherCAT slave controller (ESC).
• Always keep the DIP switch pins (S3) set to OFF.

• Do not use connector CN55 (manufacturer adjustment connector).
(2) General Identification Process during Start Up

During start up the master detects the slaves by using the Auto Increment Addressing. The Identity object will
be read from the slave and compared with the values from the master's configuration (which was provided by
the EtherCAT configuration tool before). So the order of the slaves in the network has to be the same as in the
master's configuration. To allow a different network topology a Station Alias is defined.
(3) Example Scenario

With a machining center there might be two identical drives to work in X and Y direction. It might happen that
Operation
the cabling order is mixed up after a device replacement. To avoid that the drives receive wrong process data,
an explicit address of the device is used with a Station Alias.
(4) Identification of Devices with Station Alias

The master reads the Station Alias by using the Auto Increment Addressing. The detected Station Alias will be 8
compared with the values from the master's configuration to get the relation of the network topology and the
configured topology.
8.1.2 EtherCAT (CoE) Commands

For information on the EtherCAT (CoE) commands, refer to Σ-V-SD series User’s Manual For Command Pro-
file EtherCAT (CoE) Communications Reference (manual no.: SIEP S800000 95).
8-3
8 Operation
8.2 EtherCAT State Machine

The EtherCAT State Machine (ESM) is responsible for the coordination of master and slave applications at
start up and during operation. State changes are typically initiated by requests of the master.
The states of the EtherCAT State Machine are as follows.
Power ON INIT
(PI) (IP)
PRE-OPERATIONAL
(SI)
(PREOP)
(OI) (PS) (SP)
SAFE-OPERATIONAL
(OP)
(SAFEOP)
(SO) (OS)
OPERATIONAL
(OP)
State Description
• No mailbox communication is possible.
INIT
• No process data communication is possible.
• Master configures DL Address and SyncManager channels for Mailbox communication.
• Master initializes DC clock synchronization.
INIT => PREOP • Master requests ‘Pre-Operational’ state.
• Master sets AL Control register.
• Slave checks whether the mailbox was initialized correctly.
• Mailbox communication is possible.
PREOP
• No process data communication is possible.
• Master configures SyncManager channels and FMMU channels for process data.
• Master configures PDO mapping and the sync manager PDO assignment parameters via
SDO.
PREOP => SAFEOP
• Master requests ‘Safe-Operational’ state.
• Slave checks whether the sync manager channels for process data communication and, if
required, the distributed clocks settings are correct.
SAFEOP • Process Data communication is possible, but only Inputs are evaluated – Outputs remain in
‘Safe’ state.
• Master sends valid Outputs.
SAFEOP => OP
• Master requests ‘Operational’ state.
OP
• Process data communication is possible.
8-4
8.3 Device Control
8.3 Device Control

The device control for the servo drive is carried out in the order shown in the following flowchart. Control-
word (Object 6040h) controls the operating status of the servo drive, and Statusword (Object 6041h) is used to
monitor this status.
Power ON
(A): Control power is on.

Not ready to Switch on Power is not supplied to the
motor. (Servo off state.)
(STW: xxxx xxxx x0xx 0000)
Switch on Disabled Fault reset

Disable voltage,
(or main power off) Fault
Shutdown Disable voltage,
(or HWBB signal input) (STW: xxxx xxxx x0xx 1000)
(or Quick stopped)*1 or Quick stop
Ready to Switch on
Disable voltage,
or Quick stop (STW: xxxx xxxx x01x 0001) Disable voltage,
(or main power off) (or main power off)
(or HWBB signal input)*4
(or HWBB signal input)
(or SERVO JOG operation)*2 Switch on Shutdown
(and main-circuit power on)
(and ECAT OP state)*3
(B): Main-circuit power is on.

Switched on Power is not supplied to the
Shutdown motor. (Servo off state.)
(STW: xxxx xx1x x 011 0011)
Enable operation Fault reaction active

Disable operation (C): Power is supplied to the
Quick stop active
motor. (Servo on state.)
(STW: xxxx xxxx x00x 0111)
Operation enabled
Drive Error
Quick stop (STW: xxxx xx1x x 011 0111)
(e.g., ECAT state down error)
∗1. In Quick stop Active state, the SERVOPACK automatically transits to the Switch on Disabled state at the following
cases:
-The main power supply was turned off.
-HWBB signal was inputted.
-The motor was stopped.
∗2. In Switched on state, the SERVOPACK automatically transits to the Switch on Disabled state at the following cases:
-Motor operation was already enabled by the engineering tool (SigmaWin for Σ-V-SD (MT)).
Operation
∗3. In Ready to Switch on state, the SERVOPACK transits to the next state in the following cases:
-The main power supply was turned on.
-EtherCAT State Machine (ESM) is in Operational state.
-The servomotor is not run by SigmaWin for Σ-V-SD (MT).
∗4. In Operation Enabled state, the SERVOPACK automatically transits to the Switch on Disabled state at the following
cases: 8
Note 1. shows state.
2. STW means the Statusword of Object 6041h.
3. ______ (underline) means the control command of Controlword (Object 6040h).
8-5
8 Operation
(1) State Machine Controlling Command

Bits of the Controlword (6040h)
Command
Bit7 Bit3 Bit2 Bit1 Bit0
Shutdown 0 – 1 1 0
Switch on 0 0 1 1 1
Switch on
0 1 1 1 1
+ Enable operation
Disable voltage 0 – – 0 –
Quick stop 0 – 0 1 –
Disable operation 0 0 1 1 1
Enable operation 0 1 1 1 1
Fault reset 0→1 – – – –
(2) Bits of Statusword (6041h)

Bit No Data Description Note
0 Ready to switch on
1 Switched on
2 Operation enabled
3 Fault
4 Voltage enabled
5 Quick stop
6 Switch on disabled
7 Warning For details, refer to Σ-V-SD series User’s Manual For Command Profile
EtherCAT (CoE) Communications Reference (manual no.: SIEP S800000
8 Reserved 95)
9 Remote
10 Target reached
11 Internal limit active
12
Operation mode specific
13
14 Torque limit active
15 HWBB active
(3) Related Objects

PDO
Index Sub Name Access Units Type
Mapping
6040h – Controlword RW Yes – UINT
6041h – Statusword RO Yes – UINT
605Ah – Quick Stop Option Code RW No – INT
605Bh – Shutdown Option Code RW No – INT
605Ch – Disable Operation Option Code RW No – INT
605Dh – Halt Option Code RW No – INT
605Eh – Fault Reaction Option Code RW No – INT
8-6
8.4 Settings for Common Basic Functions

The following table lists basic parameters to be set up for motor operation.
Step Items Reference Parameters (Index Numbers)

Servomotor Rotation
1 8.4.1 Servomotor Rotation Direction Pn000 (2000h)
Direction
Pn50A (2110h:1)
Pn50B (2110h:2)
Pn001 (2001h)
2 Overtravel 8.4.2 Overtravel
Pn406 (20A2h)
Pn430 (20AAh:1)
Pn431 (20AAh:2)
PnB02 (2301h:1)
Position
PnB04 (2301h:2)
Σ-V-SD series User’s Manual For Command PnB06 (2302h:1)
3 Unit Settings Velocity Profile EtherCAT (CoE) Communications
Reference (manual no.: SIEP S800000 95) PnB08 (2302h:2)
Accelera- PnB0A (2303h:1)
tion PnB0C (2303h:2)
Pn506 (2112h:1)
4 Holding Brakes 8.4.3 Holding Brakes Pn507 (2112h:2)
Pn508 (2112h:4)
Stopping Servomotor after Pn001 (2001h)
8.4.4 Stopping Servomotor after SV_OFF
5 Servo OFF Command or
Command or Alarm Occurrence Pn00B (200Bh)
Alarm Occurrence
Instantaneous Power 8.4.5 Instantaneous Power Interruption Set-
6 –
Interruption Settings tings
Setting Motor Overload 8.4.6 Setting Motor Overload Detection Pn52B (2104h:1)
7
Detection Level Level Pn52C (2104h:2)
Pn01E (2030h:3)
8 Spindle Motor Specification 8.4.7 Spindle Motor Settings
Pn01F (2030h:4)
9 Local Bus Addresses 8.4.8 Setting Local Bus Addresses Pn010 (5C00h)
Note: After you change any of the above settings for basic functions, use one of the following methods to enable the
changes.
• Turn the power supply to the Σ-V-SD Driver OFF and back ON.
• Write 1 to object 2300h in the Switch on Disabled state.
Operation
8-7
8 Operation
8.4.1 Servomotor Rotation Direction
8.4.1 Servomotor Rotation Direction

The servomotor rotation direction can be reversed with parameter Pn000.0 without changing the polarity of
the speed/position reference. The standard setting for forward rotation is counterclockwise (CCW) as viewed
from the load end of the servomotor.
Parameter Forward/Reverse Applicable

Direction of Motor Rotation
(Index Number) Reference Overtravel (OT)
Rotation speed
+ Torque reference
Forward Reference Time

P-OT
Forward
n. 0 (CCW) Rotation speed
The encoder counts
up by a forward
+ Rotation speed
reference. Torque reference
[Factory setting]
Time
Reverse Reference N-OT
Rotation speed
Reverse
Pn000 (CW)
(2000h)
Rotation speed
+ Torque reference
Forward Reference Time P-OT
Reverse
n. 1 (CW)
Rotation speed
The encoder counts
up by a reverse Rotation speed
reference. + Torque reference
Reverse Reference Time N-OT

Forward
(CCW) Rotation speed
Note: SigmaWin for Σ-V-SD (MT) trace waveforms are shown in the above table.
8-8
8.4.2 Overtravel
If movable machine parts overtravel and exceed the allowable range of motion, the overtravel limit function
forces the parts to stop by activating the 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.
The overtravel function is not affected by the set value of Pn01E.0 (Motor Type/Application Selection Set-
ting).
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.
Motor forward rotation direction
Servomotor
SERVOPACK Note: For pin numbers of CN1,
Limit CN1 refer to 7.2.5 I/O Signals.
Limit N-OT
switch switch 8
P-OT
7
• 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 (Pn001.1 = 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 (Pn001.1 = 1) to bring the servomotor to
zero clamp state after stopping.
For details on how to set the parameter, refer to (3) Servomotor Stopping Method When Overtravel Occurs.
(1) Signal Setting

Connector
Type Name Setting Meaning
Pin Number
Forward run allowed.
ON
P-OT Note: For pin num- Normal operation status.
Input bers of CN1, refer to OFF Forward run prohibited. Forward overtravel.
7.2.5 I/O Signals. ON Reverse run allowed. Normal operation status.
N-OT
OFF Reverse run prohibited. Reverse overtravel.
Rotation in the opposite direction is possible during overtravel by inputting the reference.
(2) Overtravel Function Setting

Operation
Parameters Pn50A and Pn50B can be set to enable or disable the overtravel function.
If the overtravel function is not set to use, no wiring for overtravel input signals will be required.
Parameter When
Meaning Classification
(Index Number) Enabled 8
n.1 Inputs the Forward Run Prohibited (P-OT) signal from
Pn50A [Factory setting] CN1-6*1.
(2110h:1) Disables the Forward Run Prohibited (P-OT) signal.
n.8
Allows constant forward rotation.
After restart Setup
n. 2 Inputs the Reverse Run Prohibited (N-OT) signal from
Pn50B [Factory setting] CN1-7*2.
(2110h:2) Disables the Reverse Run Prohibited (N-OT) signal.
n. 8
Allows constant reverse rotation.
∗1. For a SERVOPACK for two axes: CN1-8 (P-OT1), CN1-10 (P-OT2)
∗2. For a SERVOPACK for two axes: CN1-9 (P-OT1), CN1-11 (P-OT2)
8-9
8 Operation
8.4.2 Overtravel
(3) Servomotor Stopping Method When Overtravel Occurs

There are three servomotor stopping methods when overtravel occurs.
• Dynamic brake
By short-circuiting the electric circuits, the servomotor comes to a quick stop.
For the spindle motor, it coasts to a 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 motor in operation.
After servomotor stopping, there are two modes.
• Coast mode
Stopped naturally, with no control, by using the friction resistance of the motor in operation.
• Zero clamp mode
A mode forms a position loop by using the position reference zero.
The servomotor stopping method can be set in parameter Pn001. The factory setting of Pn001 differs
depending on the model. For details, refer to 12.1 SERVOPACK Parameters.
Parameter Mode After

Stop Method When Enabled Classification
(Index Number) Stopping
n. 00
DB
n. 01 Coast
Pn001
n. 02 Coast After restart Setup
(2001h)
n. 1 Zero clamp
Deceleration to a stop
n. 2 Coast
• 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 8.4.4 Stopping Servomotor after SV_OFF Command or Alarm Occurrence.
Note: A coasting to a stop is always performed regardless of the set values of Pn001 if a spindle motor is used.
When Servomotor Stopping Method is Set to Decelerate to Stop
Emergency stop torque can be set with Pn406.
Emergency Stop Torque Speed Position

Pn406* Classification
(20A2h) Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 800 Immediately Setup
∗ If a spindle motor is used, a stop will be performed using the torque values that are set for Pn430 and Pn431.
• 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.
8-10
(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
Controlword (6040h) Switched on Enable operation Fault reset
Servomotor power OFF ON
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.
• Use the Fault Reset command to clear the warning, and not the servo ON/OFF or the overtravel signal.
• If the warning is cleared during overtravel status with the Fault Reset command, a warning will not be detected
again until the overtravel status has been cleared.
• The overtravel warning will be detected when the software limit is in effect.
CAUTION
• The overtravel warning function only detects warnings. It has no 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 program-
ming 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 controller.
• 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.
Related Parameter
Operation
Parameter (Index Number) Meaning When Enabled Classification

n.0
Pn00D Does not detect overtravel warning.
[Factory setting] Immediately Setup
(200Dh)
n.1 Detects overtravel warning.
8
8-11
8 Operation
8.4.3 Holding Brakes

A holding brake is a brake used to hold the position of the movable part of the machine when the SERVO-
PACK is 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

Servomotor
External Movable part of machine
Holding brake force Servomotor
Prevents the
movable part from Holding brake
moving due to its
own weight when the
power is OFF.
Prevents the movable part (table)
Movable part of from moving due to external force.
machine
• 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 motor.
• The servomotor power should not continue to be ON when activating the brake.
There is a delay in the braking operation. Set the following ON/OFF timing.
OFF ON OFF
Servo ON signal (/S-ON)
OFF ON OFF
Servomotor power
*3
OFF ON OFF
Brake signal (/BK1, /BK2)
Brake release
Brake contact part (lining)
*1 *1
0V
Position/speed reference
Motor speed
*2
∗1. The operation delay time of the brake depends on the model. For details, refer to Brake Operation Delay Time shown
in the following page.
∗2. Allow a period of 50 ms or more after the brake signal (/BK) is turned ON until the speed reference is input.
∗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.
Brake Operation Delay Time
Model Voltage Brake Release Time (ms) Brake Applied Time (ms)
SGMGV-05 to 20 100 80
24 VDC,
SGMGV-30, -44 170 100 (24 VDC), 80 (90 VDC)
90 VDC
SGMGV-55, -75 170 80
Note: The above operation delay time is an example when the power supply is turned ON and OFF on the DC side.
The holding brake release time and holding brake operating time depend on the discharge circuit that is used.
Always confirm the operation delay time on the actual equipment before actual operation.
8-12
(1) Wiring Example

Use the brake signals (/BK1, /BK2) and the brake power supply to form a brake ON/OFF circuit. The follow-
ing diagram shows a standard wiring example.
The timing can be easily set using the brake signals (/BK1, /BK2).
Servomotor
Converter: SERVOPACK: with holding
CACP-JU!!!3! CACR-JU!!!!CA brake
AC reactor
Power supply U X
L1 U
V Y P P
L2 V
W Z N N M
L3 W
CN7A
Control power + 24 V
supply (24 VDC) − 0V
CN7B CN7A CN2! ENC
+24 V BK
CN1 (/BK1+,
/BK2+) BK-RY Surge
absorber
(/BK1-,
1D 0V
/BK2-)
AC side DC side
Brake power
supply BK-RY
Blue or yellow Red
White AC DC Black
BK-RY: 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 is not included. The user is responsible for providing the power supply.
Operation
8-13
8 Operation
• 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 Corpora-
tion)
When using the LPDE-1H01-E power supply: Z10D271 (Made by SEMITEC Corpora-
tion)
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 holding break stops operating if the signal line is disconnected when positive
logic is the reverse of the polarity of the break signals (/BK1 and /BK2). If it is neces-
sary to use this type of setting, be sure to check operation and confirm that there are
no safety problems.
• A short-circuit fault may occur in the output circuit due to a wiring error or the applica-
tion of an incorrect voltage. If such a fault occurs, the holding break will not operate,
which may result in damage to machinery or an accident causing injury. Always imple-
ment safety measures to ensure safety in case such a fault should occur.
(2) Brake Signal (/BK) Setting

This output signal controls the brake.
The /BK signals turn OFF (applies the brake) when an alarm is detected or the servomotor power is OFF.
The brake OFF timing can be adjusted with Pn506.
Connector
Type Name Setting Meaning
Pin Number
For pin numbers of ON (close) Releases the brake.
Output /BK1, /BK2 CN1, refer to 7.2.5 I/
O Signals. OFF (open) Applies the brake.
The /BK signals remain ON during overtravel. The brake is released.
8-14
(3) Brake ON Timing after the Servomotor Stops

When the servomotor stops, the /BK signals turn OFF at the same time as the Disable operation command is
received. Use Pn506 to change the timing to turn OFF the servomotor power after the Disable operation com-
mand has been received.
Brake Reference-Servo OFF Delay Time Speed Position Torque

Pn506 Classification
(2112h:1) Setting Range Setting Unit Factory Setting When Enabled
0 to 50 10 ms 0 Immediately Setup
• When using the servomotor to control a vertical axis, the

Disable operation
machine movable part may shift slightly depending on command Servo ON Servo OFF
the brake ON timing due to gravity or an external force.
To eliminate this slight shift, set parameter so that the /BK output Brake released Brake applied
(ON) (OFF)
power to the servomotor turns OFF after the brake is
applied. Power to motor Power to motor No power to motor
• This parameter changes the brake ON timing while 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 during the time until the brake operates.
Operation
8-15
8 Operation
(4) Brake (/BK) Signal Output Timing during Servomotor Rotating

If an alarm occurs while the servomotor is rotating, the servomotor will come to a stop and the brake signals
will be turned OFF. The timing of brake signal output can be adjusted by setting the brake reference 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 (3) 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

0 to 10000 1 min-1 100 Immediately Setup
Waiting Time for Brake Signal When Motor
Speed Position Torque
Running Classification
Pn508
10 to 100 10 ms 50 Immediately Setup
/BK Signal Output Conditions When

Disable operation
Servomotor Rotating command Servo ON Servo OFF
or alarm or
The /BK signal goes to high level (brake power OFF
ON) when either of the following condi-
tions is satisfied:
Pn-507 Motor stopped by applying
Motor speed DB or by coasting Pn001.0
• When the motor speed falls below the
level set in Pn507 after the power to the
servomotor is turned OFF.
• When the time set in Pn508 is exceeded Power to motor OFF
ON
after the power to the servomotor is
turned OFF.
Brake
/BK output released Brake applied
(ON) (OFF)
Pn508
The servomotor will be limited to its maximum speed even if the value set in Pn507 is
higher than the maximum speed.
8-16
8.4.4 Stopping Servomotor after SV_OFF Command or Alarm Occurrence

The 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.
Use speed input references or position references to start and stop the servomotor.
• Dynamic braking is an auxiliary function for an emergency stop. It is not intended to
stop the motor. The motor may coast to a stop due to a fault. For protection, install
stopping equipment to ensure safety at the machinery if an error occurs.
• Do not use the servo drive with a load moment of inertia that exceeds the allowable
value. Doing so may result in damage or failure of the resistors or power elements in
the SERVOPACK.
• Parameters cannot be used to set the stopping method for the servomotor if the main
circuit power supply (L1, L2, L3) or the control power supply (24 V or 0 V) is turned
OFF during operation without turning OFF the servo. The stopping method depends
on the conditions, as given below.
• Turning OFF the main circuit power supply without turning OFF the servo: The
alarm stopping method is used. For details, refer to 11.2.1 List of Servo Drive
Alarms.
• Turning OFF the control power supply without turning OFF the servo: Refer to the
following table.
SERVOPACK Model: Stopping

Condition
CACR- Method
JU036ACA,
– Coast
JU018DCA
JUM2 CA,
JU028ACA, – DB
JU014DCA
JU065ACA, JU084ACA, External DB circuit is not connected to a
Coast
JU102ACA, JU125ACA, SERVOPACK.
JU196ACA, JU033DCA, External DB circuit is connected to a
JU042DCA, JU051DCA DB
SERVOPACK.
• If the servomotor must be stopped by coasting rather than by dynamic braking when
the main circuit power supply or the control power supply is turned OFF but the
SV_OFF command has not been received, arrange the sequence externally so the
current will be cut off for servomotor wires U, V, and W.
• 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-
Operation
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 8
DB stopping method.
• If an induction motor is used (Pn01E.0 = 1, 3, or 5), a coasting to a stop is performed
without dynamic braking even if a combination with a DB circuit is specified. If an
induction motor is used, always set Pn001.0 to 2.
8-17
8 Operation
8.4.4 Stopping Servomotor after SV_OFF Command or Alarm Occurrence
(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.
The factory setting of Pn001.0 depends on the model. For details, refer to 12.1 SERVOPACK Parameters. If a
spindle motor is used, a coasting to a stop is performed for the motor stopping method when the servo is
turned OFF, regardless of the setting of Pn001.0.
Parameter (Index Number) Stop Mode Mode After Stopping When Enabled Classification
n. 0 DB
Pn001 DB
(2001h)
n. 2 Coast Coast
Note: Similar to the Coast Mode, the setting (Pn001.0 = 1) (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.
Gr.1: The alarm stopping method depends on the setting of Pn01E.0.

If Pn01E.0 = 0 and a SERVOPACK with a capacity of 5 kW max. is used: The stopping method set in
Pn001.0 is used. Stopping is performed with dynamic braking (DB) in the factory setting.
If Pn01E.0 = 0 and a SERVOPACK with a capacity that exceeds 5 kW max. is used: A coasting to a stop
is performed.
If Pn01E.0 = 1 to 8: A coasting to a stop is performed.
Gr.2: The motor is stopped according to the setting in Pn00B.1 if an alarm occurs. Pn00B.1 is factory-set to
stop the motor by setting the speed reference to “0.” The motor under torque control will always use the
Gr.1 method to stop. By setting Pn00B.1 to 1, the motor stops using the same method as Gr.1. When
coordinating a number of motors, use this alarm stop method to prevent machine damage that may result
due to differences in the stop method.
Refer to 11.2.1 List of Servo Drive Alarms to determine if the alarm that occurred is Gr.1 or Gr.2.
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 (Index Number) Stop Mode When Enabled Classification
Stopping
n. 0 DB*
Pn001 DB*
(2001h)
n. 2 Coast Coast
∗ If a spindle motor is used, a coasting to a stop is performed.

Stopping Method for Servomotor for Gr.2 Alarms
Parameter (Index Number)
Mode After
Pn00B Pn001 Stop Mode When Enabled Classification
Stopping
(200Bh) (2001h)
n. 0 DB*2
n. 0 *1
[Factory setting] n. 1 Zero-speed stopping
Coast
n. 2
After restart Setup
n. 0 DB*2
DB*2
n. 1 n. 1
Coast
n. 2 Coast
∗1. Zero-speed stopping: The speed reference is set to 0 to stop quickly.
∗2. If a spindle motor is used, a coasting to a stop is performed.
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.
8-18
8.4.5 Instantaneous Power Interruption Settings

If the power interruption time is shorter than 50 ms, the servomotor will continue operation. If it is longer than
50 ms, a power failure during converter drive operation alarm (A.41C) will occur and the servomotor’s power
will be turned OFF.
Note: The time that is treated as an instantaneous power interruption is 50 ms for a Σ-V-SD driver with EtherCAT (CoE)
communications reference. You cannot change this time.
50 ms ≥ OFF time (t) 50 ms < OFF time (t)
Instantaneous power interruption Instantaneous power interruption
Main circuit Main circuit

power supply OFF time (t) power supply
OFF time (t)
50 ms ≥ OFF time (t) 50 ms < OFF time (t)
Power OFF
Operation
Servomotor continues. Servomotor Power ON
Power ON
status status
Forced OFF
Instantaneous power interruption Instantaneous power interruption
• The holding time of the control power supply (24 VDC) depends on the capability of
the power supply (provision of power supply: user’s responsibility). Check the power
supply before using the application.
• If the load on the servomotor during the power interruption is large, an undervoltage
alarm (A.410) or a converter DC undervoltage alarm (A.41A) may occur.
Operation
8-19
8 Operation
8.4.6 Setting Motor Overload Detection Level
8.4.6 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
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 [%]
Overload Warning Level Speed Position

Pn52B Classification
8-20
(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. 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.
As a guideline of motor heating conditions, the relationship between the heat sink sizes and deratings of base
current is shown in a graph in:
Servomotor Heating Conditions in Rotary Servomotors General Instruction in Σ-V Series Product Catalog
(KAEP S800000 42).
Set Pn52C to a value in accordance with the heat sink size and derating shown in the graph, so that an over-
load alarm can be detected at the best timing to protect the servomotor from overloading.
Overload detection time
Detection curve of
overload alarm when
Pn52C = 100% (factory setting)
Detection curve of
overload alarm
when Pn52C = 50%
50% 100% 200% Torque reference [%]
Derating of Base Current at Detecting Overload of

Speed Position
Motor Classification
Pn52C
Operation

10 to 100 1% 100 After restart Setup
8-21
8 Operation
8.4.7 Spindle Motor Settings
8.4.7 Spindle Motor Settings

If a spindle motor is used, set the parameters as given below by using SigmaWin for Σ-V-SD (MT).
Make the correct settings for the items described in this section.
An incorrect setting may result in spindle motor operation failure or incorrect operation.
(1) Spindle Motor Constant Settings

Write the motor constants of the spindle motor to use to the SERVOPACK. Ask your Yaskawa representative
for information on motor constants.
(2) Settings for the Motor Type, Application Selection, and Winding Selection
Set the motor type, application setting, and winding selection in Pn01E.0 and Pn01E.1 to match the specifica-
tions of the spindle motor.
Parameter
No. Meaning
Name Setting
(Index Number)
n. 0
Servomotor
[Factory setting]
n. 1 SPM type spindle motor*
n. 2 Induction type servomotor*
Pn01E.0
Motor Type
(2030h:3) n. 3 Spindle motor
n. 4 IPM type servomotor*
n. 5 IPM type spindle motor
n. 6 IPM built-in spindle motor
n. 0
Pn01E.1 None
Winding Selection [Factory setting]
(2030h:3)
n. 1 Mechanical winding selection
∗ Under development
<Setting Example for the UAKBJ-22CZ100E>
This motor is used as the spindle axis, so Pn01E.0 is set to 3. Also, a winding selection motor is used, so
Pn01E.1 is set to 1.
(3) Encoder Type Setting

Set the encoder type using Pn01F.0 according to the spindle motor specifications.
After making the setting, turn the power supply OFF and then ON again, check to be sure that the system mon-
itor in SigmaWin for Σ-V-SD (MT) shows Power OFF (BB), and then confirm operation by jogging. When
doing so, pay careful attention to safety if the machinery is connected.
Parameter
No. Meaning
Name Setting
(Index Number)
n. 0
Serial encoder (servomotor)
Pn01F.0 [Factory setting]
Encoder Type
(2030h:4) n. 1 Pulse encoder (spindle motor)
n. 2 Serial encoder (spindle motor)
(4) Motor Rotation Direction Setting

Set the motor rotation direction using Pn000.0.
For setting details, refer to 8.4.1 Servomotor Rotation Direction.
8-22
8.4.8 Setting Local Bus Addresses

If you connect two or more SERVOPACKs to one power regeneration converter, set the SERVOPACK
address in Pn010 (5C00h). The setting range is 0000 to 007F hex. Set the rightmost digit to a unique value for
each SERVOPACK.
If the same value is set for more than one SERVOPACK, an alarm will occur.
The settings are valid after the power supply is turned OFF and ON again.
The following setting example is for two SERVOPACKs.
• Correct Settings
SERVOPACK 1: Pn010 = 0021h
SERVOPACK 2: Pn010 = 003Ah
• Incorrect Settings
Operation
8-23
8 Operation
8.5.1 Inspection and Checking before Trial Operation
8.5 Trial Operation

This section describes a trial operation using EtherCAT (CoE) communications.
8.5.1 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 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 11.1 Inspection and Maintenance.
(2) SERVOPACKs
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?
8.5.2 Trial Operation via EtherCAT (CoE) Communication

An example procedure for EtherCAT (CoE) communications using Profile Position Mode for trial operation is
provided in the following table.
For details, refer to Σ-V-SD series User’s Manual For Command Profile EtherCAT (CoE) Communications
Reference (manual no.: SIEP S800000 95).
Step Operation
Make sure that the wires are connected correctly and then connect the I/O connector (CN1) and the Ether-
1
CAT (CoE) communications connectors (CN9A and CN9B).
Turn ON the power supply to the Σ-V-SD Driver.
When the control power is supplied, the SERVOPACK RDY indicator will light.
When the main circuit power is supplied normally, the SERVOPACK charge indicator (CHARGE) will light.
2
When a master or slave that has its power supply turned ON is connected, the LINK1 and LINK2 indicators
for the CN9A and CN9B connectors to which the EtherCAT (CoE) communications cables are connected
will light.
3 Change the EtherCAT communication state to Operational.
4 Set the Modes of operation to Profile Position mode.
Change the drive state to “Operation enabled” by command of the Controlword.
5
When the power is supplied to the motor, the Statusword indicates “Operation enabled” state.
Set the Target position, Profile velocity, Profile acceleration, and Profile deceleration, and then set Control-
6
word to start positioning.*
Check the following points while performing in step 6.
• Check whether the motor is moving to the reference direction.
If motor is moving to reverse direction to the reference, then change the setting of servomotor direction
rotation.
7 • Check to make sure that there is no abnormal vibration, noise, or heating. If any abnormality is found, clear
the problem.
Note: Because the running-in of the load machine is not sufficient at the time of the trial operation, the servo-
motor may become overloaded.
∗ Use PDO for objects that are PDO mapped.

The values will not be changed even if SDO is changed.
8-24
8.6 Limiting Torque
8.6 Limiting Torque

The SERVOPACK provides the following four methods for limiting output torque to protect the machine.
Each method uses the set minimum torque to limit the output.
Limiting Method Parameters (Index Numbers)

Pn402 (20A0h:1)
Torque limited by parameter setting only.
Pn403 (20A0h:2)
PnB11 (6040h)
Torque limit set by parameter enabled by
Pn404 (20A3h:1)
command from controller.
Pn405 (20A3h:2)
PnB38 (6072h)
Torque limit controlled from controller. PnB80 (60E0h)
PnB82 (60E1h)
Internal Torque Limit

This function always limits maximum output torque by setting values of following parameters.
• Servomotor (Pn01E.0 = 0, 2, 4)
Forward Torque Limit Speed Position

(20A0h:1) Setting Range Setting Unit Factory Setting When Enabled
Reverse Torque Limit Speed Position

(20A0h:2) Setting Range Setting Unit Factory Setting When Enabled
The setting unit is a percentage of the rated torque.
Note 1. If the settings of Pn402 and Pn403 are too low, the torque may be insufficient for acceleration or deceleration of
the servomotor.
2. The maximum torque of the servomotor is used whenever the value exceeds the maximum torque.
Trace Waveform
No Internal Torque Limit
Internal Torque Limit
(Maximum Torque Can Be Output)
Maximum torque Limiting torque

Speed Speed
Pn402
Operation
t t
Pn403
8-25
8 Operation
• Spindle motor (Pn01E.0 = 1, 3, 5)

Set the torque limit for motor acceleration in Pn430. Set the torque limit for motor deceleration in Pn431. The
direction of motor rotation is not affected.
Torque Limit (Powering) Speed Position

(20AAh:1) Setting Range Setting Unit Factory Setting When Enabled
Torque Limit (Regeneration) Speed Position

(20AAh:2) Setting Range Setting Unit Factory Setting When Enabled
The setting unit is a percentage of the rated torque.
Note 1. If the setting is too low, the torque may be insufficient for acceleration or deceleration of the motor.
2. The maximum torque of the motor is used whenever the value exceeds the maximum torque.
8-26
8.7 Absolute Encoders

If a motor with an absolute encoder is used, a system to detect the absolute position can be made in the host
controller. Consequently, operation can be performed without zero point return operation immediately after
the power is turned ON.
8.7.1 Encoder Resolution

The encoder resolution is shown below.
Servomotor Model Encoder Resolution
SGMGV 20 bit
The absolute encoder can be used as an incremental encoder by setting the Pn002.
Parameter When
(Index Number) Enabled
n. 0
Pn002 Uses the absolute encoder as an absolute encoder.
[Factory setting] After restart Setup
(2002h)
n. 1 Uses the absolute encoder as an incremental encoder.
A battery is not required when using the absolute encoder as an incremental encoder.
8.7.2 Backup of the Settings

A battery is required to save position data in the absolute encoder.
Install a battery to the power regeneration converter.
For the battery, refer to 2.3.3 Absolute Encoder Battery.
Operation
8-27
8 Operation
8.7.3 Battery Replacement
8.7.3 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.
Use Pn008.0 to set either an alarm (A.830) or a warning (A.930).
Parameter When
(Index Number) Enabled
n. 0 Outputs the alarm A.830 when the battery voltage
Pn008 [Factory setting] drops.
After restart Setup
(2008h) 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
OFF
Control
power
Alarm status Normal status
ALM
Max. 5 s 4s
Battery
Alarm A.830 voltage being
(Pn008.0 = 0) monitored
Warning A.930 Battery voltage

(Pn008.0 = 1) being monitored
8-28
Battery Replacement Procedure

1. Turn ON the control power supply of the Σ-V-SD driver only.
2. Remove the old battery from the CN8 of the power regeneration converter and mount the new battery
(model: BA000518).
3. 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 Σ-V-SD driver operates normally.
Battery Connector
Battery CN8
Before removing the battery or the encoder cable, turn ON the control power supply of
the Σ-V-SD driver. If the power is not turned ON first, the data in the absolute encoder
will be lost.
8.7.4 Absolute Encoder Setup
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.
Operation
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 the absolute encoder is necessary in the following cases.
• When starting the machine for the first time 8

• 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 using SigmaWin for Σ-V-SD (MT).
Setup (Initialization) can be performed using EtherCAT (CoE) command (Object 2310h:1).
For EtherCAT (CoE) command, refer to Σ-V-SD series User’s Manual For Command Profile EtherCAT (CoE)
Communications Reference (manual no.: SIEP S800000 95).
8-29
8 Operation
8.7.4 Absolute Encoder Setup
Procedure for Setup

Follow the steps below to setup the absolute encoder.
1. Make sure that the motor power is OFF.

2. In the SigmaWin for Σ-V-SD (MT) component main window, click Setup, point to Set Absolute
Encoder and click Reset Absolute Encoder. A warning message appears confirming if you
want to continue the processing.
Click Cancel to return to the main window without resetting the absolute encoder.
3. Click Continue, and the Absolute encoder Setup box appears.
The Alarm Name box displays the code and name of the alarm that is occurring now.
4. Click Execute setting, and a verification message appears confirming if you want to continue
although the coordinate system will change.
Click Cancel to return to the previous window without resetting the absolute encoder.
8-30
5. Click Continue to set up the encoder.

< If Setup is Unsuccessful >
If setting up is attempted with the servo ON, a reset conditions error occurs, and the processing is
aborted.
Click OK to return to the main window.
< If Setup Completes Normally >
If the encoder is set up successfully, a warning message will appear reminding you that the coordinate
system has changed and must also be reset.
6. Click OK to return to the main window.

7. Restart the servo, and perform an origin search.
Operation
8-31
8 Operation
8.7.5 Multiturn Limit Setting
8.7.5 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
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
Motor rotations
Multiturn Limit Setting Speed Position

(20C0h) Setting Range Setting Unit Factory Setting When Enabled
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. Set the value, the desired rotational amount -1, to Pn205.
8-32
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
8.7.6 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.
Use SigmaWin for Σ-V-SD (MT) to change the multiturn limit.
Setup (Initialization) can be performed using EtherCAT (CoE) command (Object 2310h:1).
For EtherCAT (CoE) command, refer to Σ-V-SD series User’s Manual For Command Profile EtherCAT (CoE)
Communications Reference (manual no.: SIEP S800000 95).
Follow the steps below to set the multiturn limit to the Σ-V-SD driver and the servomotor.
1. In the SigmaWin for Σ-V-SD (MT) component main window, click Setup, print to Set Absolute
Encoder and click Multi-Turn Limit Setting. A verification message appears confirming if you
want to continue although the position data will change.
Operation
Click Cancel to return to the main window without setting the multiturn limit.
2. Click Continue, and the Multi-Turn Limit Setting box appears.
8-33
8 Operation
8.7.6 Multiturn Limit Disagreement Alarm (A.CC0)
3. Change the setting to the desired number of revolutions.
4. To save the settings, click Writing into the Servopack, and a warning message appears.
5. Click OK and the settings are changed to the new ones.

6. After turning off the power, restart the Σ-V-SD driver. Because only the settings for the Σ-V-SD
driver were made, the settings for the motor are still incomplete and Multiturn Limit
Disagreement alarm (A.CC0) occurs.
8-34
7. Return to the SigmaWin for Σ-V-SD (MT) component main window. To make the settings for the
motor, click Setup and then click Multi-Turn Limit Setting again. A verification message
appears confirming if you want to continue although the position data will change.
8. Click Continue, and the Multi-Turn Limit Setting box appears. To change the settings, click Re-
Change.
9. To save the settings, click Writing into the Motor, and a warning message appears.
10. Click OK.

Operation
8-35
8 Operation
8.7.7 Absolute Encoder Home Offset
8.7.7 Absolute Encoder Home Offset

If you use an absolute encoder, you can set an offset between the encoder position and the machine position.
The setting is not made with a parameter. A Σ-V-SD EtherCAT (CoE) command is used as shown below.
If you use an absolute encoder, the offset between the encoder position and the machine position (Position
Actual Value: index 6064h) is set in reference units. When the power supply is turned OFF and ON again or
when parameters are enabled with index 2300h, the offset is added to the Position Actual Value at 6064h.
Sub Data Default

Index Name Access Setting Range EEPROM
Index Type Value
-536870912 to
607Ch 0 Home offset DINT RW 0 Yes
536870911
Zero
Position actual value

(Object 6064h)
Home offset:
Object 607Ch
(PnB46) Encoder position
Encoder position
Encoder home
8-36
8.8 Hard Wire Base Block (HWBB) Function

This HWBB function is not relevant to Machinery directive, 2006/42/EC.
The Hard Wire Base Block function (hereinafter referred to as HWBB function) is a function designed to
baseblock the motor (shut off the motor current) by using the hardwired circuits.
This section describes the HWBB signals (/HWBB1 and /HWBB2) for a single axis of the servo drive.
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
Control
circuit
24-V power supply
signal
Switch
Run
Block
Block
0V
Power module
Motor
Note: For HWBB function signal connections, the input signal is the 0 V common and the output signal is the source out-
put. This is opposite to other signals described in this manual. To avoid confusion, the ON and OFF status of signals
for HWBB function 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.
8.8.1 Precautions for the Hard Wire Base Block (HWBB) State
Observe the following precautions in the HWBB state.
• The motor will rotate in an application where external force is applied to the motor (for example, gravity on
the vertical axis). Take measures to secure the motor, such as installing a mechanical brake.
• The motor may move within the electric angle of 180 degrees in case of the power module failure, etc. The
Operation
spindle motor coasts to a stop. Make sure that safety is ensured even in that situation. The rotation angle
depends on the motor type. The maximum rotation angle is given below.
Rotational motor: 1/6 rotation max. (rotation angle at the motor shaft)
• The HWBB function does not shut off the power to the SERVOPACK or electrically isolate it. Take mea-
sures to shut off the power to the SERVOPACK when performing maintenance on it. 8
8-37
8 Operation
8.8.2 Operation Example for the Hard Wire Base Block
8.8.2 Operation Example for the Hard Wire Base Block

An operation example of the HWBB function is shown below.
If the /HWBB signal is received (OFF) while power is being supplied to the motor, power to the motor will be
shut OFF and the Statusword (Object 6041h) will change to the Switch on Disabled state.
[Operation when /HWBB Signal Is Received (OFF) during Motor Operation]
ON OFF ON
/HWBB signal
Controlword Switch on +
(6040h) Enable operation Shutdown Enable operation
Statusword Operation enabled Switch on Ready to Switch on

Disabled Operation enabled
(6041h)
Digital inputs 0 1 0
(60FDh bit 24, 25)
SERVOPACK state Motor power ON Motor power OFF Motor power ON
8.8.3 HWBB Status Monitor

The status of HWBB function execution can be monitored using the following objects.
Statusword (6041h)
Bit State Display Contents
0: –
15 HWBB active
1: The HWBB function is operating.
8.8.4 Restoring Operation from a HWBB State

Restoring operation from a HWBB state are as follows.
(1) Conditions for Restoring Operation

Satisfy all of the following conditions to return to normal operation.
• The input states of all HWBB signals must be ON.

• The servo ON command must be OFF.
• If the SigmaWin for Σ-V-SD (MT) is connected, the Servo ON command from the SigmaWin for Σ-V-SD
(MT) must not be active.
(2) Procedure to Return to Normal Operation
1. Specify a Shutdown command in the Controlword (Object 6040h bits 0 to 3) to reset the drive state.
2. Specify a Switch on + Enable operation command in the Controlword (Object 6040h bits 0 to 3).
Power will be supplied to the motor.
8.8.5 Error Detection in HWBB Signal

If only the /HWBB1 or /HWBB2 signal is input, an A.Eb1 alarm (HWBB 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.
8-38
8.8.6 Connection Example and Specifications of Input Signals (HWBB Signals)

A connection example and specifications of input signals (HWBB signals) are shown below.
For HWBB 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 HWBB function 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 cur-
rent flows into the signal line.
(1) Connection Example
24-V power supply Switch

/HWBB1+
/HWBB1-
Use a
switch that has /HWBB2+
micro-current
contacts.
/HWBB2-
0V
(2) Specifications
Signal Pin
Type SERVOPACK State Meaning
Name Number
CN1-18, ON Does not use the HWBB function. (normal operation)
/HWBB1
CN1-17 OFF Uses the HWBB function. (motor current shut-off request)
For one axis
/HWBB2
CN1-19 OFF Uses the HWBB function. (motor current shut-off request)
/HWBB11
1st CN1-29 OFF Uses the HWBB function. (motor current shut-off request)
Input
axis ON Does not use the HWBB function. (normal operation)
CN1-32,
/HWBB12
For CN1-31 OFF Uses the HWBB function. (motor current shut-off request)
two
axes CN1-34, ON Does not use the HWBB function. (normal operation)
/HWBB21
2nd CN1-33 OFF Uses the HWBB function. (motor current shut-off request)
axis ON Does not use the HWBB function. (normal operation)
CN1-36,
/HWBB22
CN1-35
Operation
OFF Uses the HWBB function. (motor current shut-off request)
The input signals (HWBB signals) have the following electrical characteristics.
Items Characteristics Remarks

Internal Impedance 8.2 kΩ – 8
Operation Movable
+24 V±5% –
Voltage Range
Time from the /HWBB1 and /HWBB2 signals are OFF to
Maximum Delay Time 20 ms
the HWBB function operates.
8-39
8 Operation
8.8.7 Operation with SigmaWin for Σ-V-SD (MT)
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 motor 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: The OFF status is not recognized if the total OFF time of the /HWBB1 and /HWBB2 signals is 0.5 ms or shorter.
8.8.7 Operation with SigmaWin for Σ-V-SD (MT)

The HWBB function works while the SERVOPACK operates with SigmaWin for Σ-V-SD (MT).
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 mode again and restart operation.
• JOG operation
• Origin search
• Program JOG operation
• Advanced autotuning
• EasyFFT
• Automatic offset-adjustment of motor current detection signal
8.8.8 Brake Signal (/BK1, /BK2)

When the /HWBB1 or /HWBB2 signal is OFF and the HWBB function operates, the brake signal (/BK1, /
BK2) will turn OFF. At that time, Pn506 (brake reference - servo OFF delay time) will be disabled. Therefore,
the motor may be moved by external force until the actual brake becomes effective after the brake signal (/
BK1, /BK2) turns OFF.
CAUTION
• The brake signal output is not related to the safety functions. Be sure to design the system so that the sys-
tem will not be put into danger if the brake signal fails in the HWBB state. Moreover, if a motor with a brake
is used, keep in mind that the brake for the motor 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 motor.
8.8.9 Dynamic Brake

If the dynamic brake is enabled in Pn001.0 (stopping method after SV_OFF command), the motor will come
to a stop under the control of the dynamic brake when the HWBB function works while the /HWBB1 or /
HWBB2 signal is OFF.
CAUTION
• Be sure to design the system so that the system will not be put into danger if the motor coasts to a stop in
the HWBB state. Usually, use a sequence in which the HWBB state occurs after the motor is stopped
using the reference.
• If the application frequently uses the HWBB function, do not use the dynamic brake to stop the motor. Oth-
erwise element deterioration in the SERVOPACK may result. To prevent internal elements from deteriorat-
ing, use a sequence in which the HWBB state occurs after the motor has come to a stop.
8-40
8.8.10 External Device Monitor (EDM )

The external device monitor (EDM ) functions to monitor failures in the HWBB function. The relation of the
EDM , /HWBB1, and /HWBB2 signals is shown below.
Signal
Logic
Name
/HWBB1 ON ON OFF OFF
/HWBB2 ON OFF ON OFF
EDM OFF OFF OFF ON
For HWBB 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 HWBB function 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 cur-
rent flows into the signal line.
Failure Detection Signal for EDM Signal

Detection of failures in the EDM circuit can be checked using the following four status of the EDM signal
in the table.
Connection Example
The connection example of EDM signal is shown below.
SERVOPACK Host controller
24-V power supply

EDM!+
EDM!-
0V
Operation
8-41
8 Operation
8.8.10 External Device Monitor (EDM )
Specifications
Signal Pin
Type SERVOPACK State Meaning
Name Number
Both the /HWBB1 and the /HWBB2 signals are working
EDM1 ON
CN1-22, normally.
For one axis
CN1-21 The /HWBB1 signal, the /HWBB2 signal or both are not
EDM1 OFF
working normally.
Both the /HWBB1 and the /HWBB2 signals are working
EDM1 ON
Out- 1st CN1-42, normally.
put axis CN1-41 The /HWBB1 signal, the /HWBB2 signal or both are not
For EDM1 OFF
working normally.
two
axes Both the /HWBB1 and the /HWBB2 signals are working
EDM2 ON
2nd CN1-44, normally.
axis CN1-43 The /HWBB1 signal, the /HWBB2 signal or both are not
EDM2 OFF
working normally.
Electrical characteristics of EDM signal are as follows.
Items Characteristics Remarks

Maximum Allowable Voltage 30 VDC −
Maximum Current 50 mADC −
Voltage between EDM1+ and EDM1- or EDM2 + and
Maximum Voltage Drop at ON 1.0 V
EDM2- when current is 50 mA
Time from the change in /HWBB1 or /HWBB2 until the
Maximum Delay Time 20 ms
change in EDM
8-42
8.8.11 Application Example of HWBB Function

An example of using HWBB function is shown below.
(1) Connection Example

Close
Guard Limit switch
Device
24-V power
supply manufactured
Open by OMRON Corp.
G9SX-BC202
A1 T11 T12 T21 T22

Power Input
supply
input Output
A2 T31 T32 T33 S24 S14
Σ-V-SD driver
/HWBB1+
0V
/HWBB1-
/HWBB2+
/HWBB2-
EDM!+
EDM!-
When a guard opens, both of signals, the /HWBB1 and the /HWBB2, turn OFF, and the EDM signal is ON.
Since the feedback is ON when the guard closes, the device is reset, and the /HWBB1 and the /HWBB2 sig-
nals turn ON, and the operation becomes possible.
Note: The EDM signal is used as a sourcing output. Connect the EDM so that the current flows from EDM1+ to
EDM1- or EDM2+ to EDM2-.
(2) Failure Detection Method

In case of a failure such as the /HWBB1 or the /HWBB2 signal remains ON, the device is not reset when the
guard closes because the EDM 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 must be considered. Find the cause and correct the problem.
Operation
8-43
8 Operation
8.8.12 Confirming HWBB Function
(3) Usage Example

1 Request to open the guard.
When the moter is operating, the host

2 controller stops the motor and sends 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 servo ON

6
command (SV_ON).
8.8.12 Confirming HWBB Function

When starting the equipment or replacing the SERVOPACK for maintenance, be sure to conduct the confirma-
tion test on the HWBB function after wiring.
8-44
9
Adjustments
9.1 Type of Adjustments and Basic Adjustment Procedure . . . . . . . . . . . . . . 9-2

9.1.1 Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.1.2 Basic Adjustment Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3
9.1.3 Monitoring Analog Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-4
9.1.4 Safety Precautions on Adjustment of Servo Gains . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
9.2 Advanced Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9

9.2.1 Advanced Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
9.2.2 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-19
9.3 Advanced Autotuning by Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-20

9.3.1 Advanced Autotuning by Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-20
9.4 One-parameter Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-27

9.4.1 One-parameter Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-27
9.5 Anti-Resonance Control Adjustment Function . . . . . . . . . . . . . . . . . . . . 9-35

9.5.1 Anti-Resonance Control Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-35
9.6 High-speed Control Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-46
Adjustments
9-1
9 Adjustments
9.1.1 Adjustments
9.1 Type of Adjustments and Basic Adjustment Procedure

This section describes type of adjustments and the basic adjustment procedure.
9.1.1 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,
moment of inertia ratio. These parameters influence each other. Therefore, the servo gain must be set consid-
ering 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 stable values. The following utility function can be used to adjust the servo
gain to increase the responsiveness of the machine in accordance with the actual conditions. With this func-
tion, parameters related to adjustment above will be adjusted automatically and the need to adjust them indi-
vidually will be eliminated.
This section describes the following utility adjustment functions. These functions are adjusted with SigmaWin
for Σ-V-SD (MT).
Utility Function for Applicable Control

Outline
Adjustment Method
The following parameters are automatically adjusted using internal
references in the SERVOPACK during automatic operation.
• Moment of inertia ratio
Advanced Autotuning Speed and Position
• Gains (position loop gain, speed loop gain, etc.)
• Filters (torque reference filter, notch filter)
The following parameters are automatically adjusted with the posi-
tion reference input from the host controller while the machine is in
Advanced Autotuning by operation.
Position
Reference • Gains (position loop gain, speed loop gain, etc.)
The following parameters are manually adjusted with the position or
speed reference input from the host controller while the machine is in
operation.
One-parameter Tuning • Gains (position loop gain, speed loop gain, etc.) Speed and Position
Anti-Resonance Control
This function effectively suppresses continuous vibration. Speed and Position
Adjustment Function
9-2
9.1.2 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.
Adjust using Advanced Autotuning.

Adjust automatically the moment of inertia ratio, gains, and filters
with internal references in the SERVOPACK.
Refer to 9.2 Advanced Autotuning.
Adjust using Advanced Autotuning by Reference.

Adjust automatically gains and filters with user reference inputs.
Refer to 9.3 Advanced Autotuning by Reference.
Yes
Results OK? Completed.
No
Adjust using One-parameter Tuning.
Adjust manually gains and filters.
Position loop gain, speed loop gain, and filters are available.
Refer to 9.4 One-parameter Tuning.
Yes
Results OK? Completed.
No
Continuous vibration occurs.

Reduce the vibration using Anti-resonance Control Adjustment Function.
Refer to 9.5 Anti-Resonance Control Adjustment Function.
Residual vibration occurs at positioning.
Reduce the vibration by manual adjustments.
Refer to 9.6 High-speed Control Adjustments.
No
Results OK?
Yes
Completed.
Adjustments
9-3
9 Adjustments
9.1.3 Monitoring Analog Signals

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 connectors CN61 and CN62 analog monitor connector on the
SERVOPACK to monitor analog signal waveform.
The settings and parameters for monitoring analog signals are described in the following sections.
(1) Connectors CN61 and CN62 for Analog Monitor

To monitor analog signals, connect a measuring instrument with cable (model: JZSP-CA01-E) to the connec-
tors CN61 and CN62.
CN62 (2nd axis)
CN61 (1st axis)
Panel display
JZSP-CA01-E
Red
Black
Black
White
Measuring
White Probe
Black
Probe GND Measuring
Connect it Measuring Instrument*
when monitoring Red Probe
the 2nd axis. Black
Probe GND
∗Measuring instrument is not included.
The user is responsible for providing it.
Line Color Signal Name Factory Setting

Torque reference: 1 V/100% rated torque
White Analog monitor 1
(Applicable motor: servomotor)
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
Speed feedforward Torque feedforward
Torque
reference
Position reference speed Speed reference
Speed
reference Torque
Speed Position
conversion amplifier error reference
Position loop
Position
reference + Error + + +
Electronic Speed Current
gear counter Kp loop loop M Load
− −
(U/V/W)
1
+ − CN2
Electronic Motor speed External
gear
Speed
ENC
ENC
Error conversion
counter
+ 1
Position error Error
Electronic counter
− gear
Positioning
completed
Completion of position
reference
9-4
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.
Parameter Description
(Index Number) Monitor Signal Unit Remarks
n. 00
[Pn007
Motor speed 1 V/1000 min-1 −
Factory
Setting]
n. 01 Speed reference 1 V/1000 min-1 −
n. 02 Servomotor:
[Pn006 1 V/100% rated torque
Torque reference −
Factory Spindle motor:
Setting] 1.2 V/max. torque
n. 03 Position error 0.05 V/1 reference unit 0 V at speed/torque control
n. 04 Position amplifier error 0.05 V/1 encoder pulse unit −
n. 05 Position reference speed 1 V/1000 min-1 −
Pn006 n. 06 Reserved − −
(2006h) Motor-external encoder posi-
n. 07 0.01 V/1 reference unit −
Pn007 tion error
(2007h) Completed: 5 V Completion indicated by out-
n. 08 Positioning completed
Not completed: 0 V put voltage.
n. 09 Speed feedforward 1 V/1000 min-1 −
n. 0A Torque feedforward 1 V/100% rated torque −
n. 0B Reserved − −
Completion of position refer- Completed: 5 V Completion indicated by out-
n. 0C
ence Not completed: 0 V put voltage.
n. 0D External encoder speed 1 V/1000 min-1 Value at motor shaft
Output reference of the load
n. 46 Load meter 6 V/100% meter is set in Pn01C.
Quadrant Error Compensa-
n. 47 1 V/100% −
tion
Adjustments
9-5
9 Adjustments
(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!!) (Pn552) (Pn550)
Analog monitor 2 output voltage = (-1) × Signal selection × Multiplier + Offset voltage [V]
(Pn007=n.00!!) (Pn553) (Pn551)
<Example>
Analog monitor output at n. 00 (motor speed setting)
When multiplier is set to × 1: When multiplier is set to × 10:

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
(4) Related Parameters

Use the following parameters to change the monitor factor and the offset.
Analog Monitor 1 Offset Voltage Speed Position

-10000 to 10000 0.1 V 0 Immediately Setup
Analog Monitor 2 Offset Voltage Speed Position
-10000 to 10000 0.1 V 0 Immediately Setup
Analog Monitor Magnification (× 1) Speed Position
-10000 to 10000 × 0.01 100 Immediately Setup
Analog Monitor Magnification (× 2) Speed Position
-10000 to 10000 × 0.01 100 Immediately Setup
9-6
9.1.4 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 motor 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.
Failure to observe this caution may result in injury or damage to the product.
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 8.4.2 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 may occur.
For details, refer to 8.6 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] Encoder Resolution*1

Position Error = ×
60 Pn102 (1/s)*2
• Excessive Position Error Alarm Level (Pn520 [1 reference unit])

Max. Motor Speed [min-1] Encoder Resolution*1 × (1.2 to 2)*3
Pn520 > ×
60 Pn102 (1/s)*2
∗1. The 10th digit of the model number of the servomotor provides information about the encoder resolution.
SGMGV-‫غغغغغغغ‬
Adjustments
Symbol Specifications Encoder resolution

8 20-bit absolute 1048576
∗2. To check the Pn102 setting, change the parameter display setting to display all parameters (Pn00B.0 = 1).
∗3. This coefficient is used to add a margin that prevents 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 generated
during normal operation. The servomotor will be stopped, however, if it does not operate according to the reference 9
and the SERVOPACK detects an excessive position error.
If the servomotor’s maximum number of rotations is 6000 min-1 and Pn102 is set to 40 with an encoder resolution of
20-bit (1048576), the setting of Pn520 is calculated as shown with the following equation.
9-7
9 Adjustments
9.1.4 Safety Precautions on Adjustment of Servo Gains
6000 1048576
Pn520 = × ×2
60 40
= 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
1 to 1073741823 1 reference unit 5242880 Immediately Setup
Related Alarm
Alarm
Alarm Name Meaning
Display
A.d00 Position Error Overflow Position errors exceeded parameter Pn520.
(4) Excessive Position Error Alarm Level at Servo ON

If the SV_ON command is received when position errors remain in the error counter, the servomotor will
move to return to the home position and change the value of position errors to zero. To prevent the servomotor
from moving suddenly, select the appropriate level for the excessive position error alarm level at servo ON
(Pn526) to restrict operation of the servomotor.
Related Parameters
Excessive Position Error Alarm Level at Servo ON Position

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

Speed Limit Level at Servo ON Position

0 to 10000 1 min-1 10000 Immediately Setup
Related Alarms
Alarm
Alarm Name Meaning
Display
Position Error Overflow
A.d01 The position error is greater than the set value of Pn526.
Alarm at Servo ON
When the position error remain in the error counter, Pn529 limits the speed
Position Error Overflow if the SV_ON command is received. 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 11 Inspection, Maintenance, and Troubleshooting and take the corrective
actions.
9-8
9.2 Advanced Autotuning

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.
• 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.
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.)
9.2.1 Advanced Autotuning

Advanced autotuning automatically operates the servo system (in reciprocating movement in the forward and
reverse directions) within set limits and adjusts 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 force
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.
Σ-V-SD Movement Rated motor
Speed speed × 2/3
t: time
Travel
Reference distanc
e Rated motor
speed × 2/3
Response
Rated motor
torque
Execute advanced autotuning Approx. 100%
after using a JOG operation to
move the position to one where a t: time
Rated motor
suitable of movement range is ensured
torque
Approx. 100% Automatic operation
Advanced autotuning performs the following adjustments.
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
Refer to 9.2.2 Related Parameters for parameters used for adjustments.
9
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.
9-9
9 Adjustments
(1) Preparation
Check the following settings before performing advanced autotuning.
• 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.
• Gain setting 1 must be selected.
• All alarms and warning must be cleared.
• The hardwire baseblock (HWBB) must be disabled.
• The write prohibited setting must not be set to write-protect parameters.
(2) When Advanced Autotuning Cannot Be Performed
Advanced autotuning cannot be performed normally under the following conditions. Refer to 9.3 Advanced
Autotuning by Reference and 9.4 One-parameter Tuning for details.
• The machine system can work only in a single direction.

• The operating range is within 0.5 rotation.
(3) When Advanced Autotuning Cannot Be Performed Successfully
Advanced autotuning cannot be performed successfully under the following conditions. Refer to 9.3
Advanced Autotuning by Reference and 9.4 One-parameter Tuning for details.
• The operating range is not applicable.

• The moment of inertia changes within the set operating range.
• The machine has high dynamic friction.
• The rigidity of the load 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 OPTION field 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.
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 50%, the allowable amount
of overshooting is the half 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

(2148h) Setting Range Setting Unit Factory Setting When Enabled
9-10
(4) Advanced Autotuning Procedure

The following procedure is used for advanced autotuning.
Advanced autotuning is performed from the SigmaWin for Σ-V-SD (MT).
WARNING
Autotuning without reference input involves motor operation, and it is therefore hazardous.
Refer to the SigmaWin for Σ-V-SD (MT) Operation Manual before performing autotuning without reference input.
Be particularly careful of the following point.
• Ensure safety near all moving parts.
Vibration may occur during autotuning without a host frequency. Provide an emergency stop means to shut OFF
the power supply during implementation. The motor will move in both directions within the movement range.
Check the movement range and direction, and provide overtravel prevention means and other safety measures as
required.
CAUTION
Two methods are available to stop autotuning without reference input while the motor is running, and the motor will
stop according to the method selected. Make sure to select the best method for the situation.
• If the SERVO OFF button is used, the motor will stop according to the stopping method after servo off specified
by the parameters.
• If the CANCEL button is used, the motor will decelerate to a stop and then enter a zero clamp state.
Note: The CANCEL button may be invalid in some SERVOPACKs.
The operating procedure from the SigmaWin for Σ-V-SD (MT) is described here.
CAUTION
• When using the SERVOPACK with Jcalc = OFF (load moment of inertia is not calculated), be sure to set a
suitable 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.
1. In the SigmaWin Σ-V-SD (MT) component main window, click Tuning and then click Tuning.
Adjustments
Click Cancel to return to the SigmaWin Σ-V-SD (MT) component main window without executing tun-
ing.
9-11
9 Adjustments
2. Click Execute. The following window appears.
Speed Loop Setting

Set the speed loop gain and integral time constant.
If the response of the speed loop is poor, the moment of inertia (mass) ratio cannot be measured accu-
rately.
The speed loop setting to get the required response for the moment of inertia (mass) setting is already
set to the default setting. Normally, this setting does not have to be changed.
If this speed loop gain is too high, and is causing excitation in the machine, lower the setting.
Identification Start Level
Set the moment of inertia (mass) identification start level.
With a heavy load or low-rigidity machine, torque limit may be applied and the moment of inertia iden-
tification may fail.
In this case, double the identification start level and execute identification again.
Edit
Click Edit to view the Speed Loop-Related Setting Change box or the Identification Start Level Setting
Change box.
Help
Click Help to open the window for guidelines on the reference condition settings.
9-12
Reference Selection
Select a reference pattern from the Reference Selection box or create the reference pattern by directly
entering the values.
As the setting for maximum acceleration increases, the accuracy of the inertia identification tends to
improve.
Consider the pulley diameter or the speed reduction ratio such as the ball screw pitches, and set the
maximum acceleration within the operable range.
Confirm
Click Confirm to view the driving pattern.
Detailed Setting
Create the reference pattern for setting the moment of inertia (mass) by changing the values with the
slider or by directly entering the values.
Next>
Click Next to view the Reference Transmission box.
Cancel
Click Cancel to return to the main window without changing the conditions.
CAUTION
• The amount of movement is the value for each operation (a forward run or a reverse run). After several opera-
tions, the operation starting position may have moved in either direction. Confirm the operable range before each
measurement and operation.
• Certain settings for the parameters or inertia size of the machine may result in overshooting or undershooting, and
cause the speed to temporarily exceed the maximum speed. Allow a margin when making the settings.
<If the moment of inertia (mass) ratio cannot be measured accurately>

If the torque (force) is limited, the moment of inertia (mass) ratio identification cannot be made correctly. Adjust the set-
ting of the limit or decrease the acceleration in Reference Selection so that the torque (force) will not be limited
4. Click Next. The following window appears.
Adjustments
Start
Click to Start to transfer the reference conditions to the SERVOPACK. A progress bar displays the
progress status of the transfer.
9-13
9 Adjustments
Cancel
The Cancel button is available only during the transfer to the SERVOPACK. After the transmission is
finished, it is unavailable and cannot be selected.
<Back
Click Back to return to the Condition Setting box. The Back button is unavailable during a data trans-
fer.
Next>
The Next button is available if the data is transferred successfully. If an error occurs or if the transmis-
sion is interrupted, it is unavailable and cannot be selected.
Click Next to view the Operation/Measurement box.
Cancel
Click Cancel to stop processing and return to the main window.
5. Click Start to transfer the reference conditions to the SERVOPACK.

7. Click Servo On.

8. Click Forward to take measurements by turning (moving) the motor forward. After the
measurements and the data transmission are finished, the following window appears.
9-14
9. Click Reverse to take measurements by turning (moving) the motor in reverse. After the
measurements and the data transmission are finished, the following window appears.
10. Repeat steps 7 through 9 until all the measurements have been taken.
Measurements will be made from two to seven times and then verification will be performed. The actual
number of times the measurements have been taken is displayed in the upper left part on the screen. The
progress bar displays the percentage of data that has been transferred.
11. After the measurement has been successfully completed, click Servo ON to turn to the servo
OFF status.
Identified Moment of Inertia (Mass) Ratio

Displays the moment of inertia (mass) ratio calculated in the operation/measurement.
Writing Results
Click Writing Results to assign the value displayed in the identified moment of inertia (mass) ratio to
SERVOPACK parameter Pn103.
Pn103: Moment of Inertia (Mass) Ratio
Adjustments
Displays the value assigned to the parameter.

Click Writing Results, and the new ratio calculated from the operation/measurement will be displayed.
<Back
The Back button is unavailable.
Cancel
Click Cancel to return to the main window. 9
<Supplement>
When Next is clicked without turning to the servo OFF status, the following message appears. Click OK
to turn to the servo OFF status.
9-15
9 Adjustments
13. Click Writing Results to set the moment of inertia (mass) ratio calculated in the operation/
measurement to the parameters.
14. After confirming that the value displayed in the identified moment of inertia (mass) ratio and the
value displayed in the Pn103: Moment of Inertia Ratio are the same, click Finish. The following
window appears.
15. Click OK. The following window appears.
16. Click Execute to save the change of Pn103 (Moment of Inertia (Mass) Ratio) to SERVOPACK.
After the saving is finished, the tuning main window appears.
17. Select the No reference input option under Reference input from host controller in the
Tuning main window, and then click Autotuning. The following window appears.
9-16
18. Select whether or not to use the load moment of inertia (load mass) identification from the
Switching the load moment of inertia (load mass) identification box, the mode from the
Mode selection box, the mechanism from the Mechanism selection box, and enter the
moving distance. Then, click Next.
When the Start tuning using the default settings. check box is selected in the Autotuning-Setting Con-
ditions box, tuning will be executed using the tuning parameters set to the default values.
19. Click Servo ON. The following window appears.
20. Click Start tuning. The following box appears.

Adjustments
9-17
9 Adjustments
21. After confirming the safety of the area adjoining the drive unit, click Yes. The motor will start
rotating and tuning will start.
Vibration generated during tuning is automatically detected, and the optimum setting for the detected
vibration will be made. When the setting is complete, the LED indicator lamps (bottom left of the box) of
the functions used for the setting will light up.
22. When tuning is completed, click Finish to return to the main window. The results of tuning will
be written in the parameters.
9-18
9.2.2 Related Parameters

The following table lists parameters related to this function and their possibility of being changed while
executing 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 for Σ-V-SD (MT) while this function is being exe-
cuted.
No : Parameters cannot be changed using SigmaWin for Σ-V-SD (MT) while this function is being exe-
cuted.
• 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
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
Pn104 2nd Speed Loop Gain No Yes
Pn105 2nd Speed Loop Integral Time Constant No Yes
Pn106 2nd Position Loop Gain No Yes
Pn12B 3rd Speed Loop Gain No Yes
Pn12C 3rd Speed Loop Integral Time Constant No Yes
Pn12D 3rd Position Loop Gain No Yes
Pn12E 4th Speed Loop Gain No Yes
Pn12F 4th Speed Loop Integral Time Constant No Yes
Pn130 4th Position Loop Gain No Yes
Pn160 Anti-Resonance Control Related Switch Yes Yes
Pn161 Anti-Resonance Frequency No Yes
Pn163 Anti-Resonance Damping Gain No Yes
Pn401 1st Step 1st Torque Reference Filter Time Constant No Yes
Pn408 Torque Related Function Switch Yes Yes
Pn409 1st Notch Filter Frequency No Yes
Pn40A 1st Notch Filter Q Value No Yes
Pn40C 2nd Notch Filter Frequency No Yes
Adjustments
Pn40D 2nd Notch Filter Q Value No Yes

Pn412 1st Step 2nd Torque Reference Filter Time Constant No Yes
Pn413 1st Step 3rd Torque Reference Filter Time Constant No Yes
Pn414 1st Step 4th Torque Reference Filter Time Constant No Yes
Pn531 Program JOG Movement Distance No No
9
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
9-19
9 Adjustments
9.3.1 Advanced Autotuning by Reference
9.3 Advanced Autotuning by Reference

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 start-
ing adjustments. In this case, make adjustments after lowering the speed loop gain
(Pn100) until vibration is eliminated.

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
Reference Reference
Travel
d istance
Response
Host controller
Advanced autotuning by reference performs the following adjustments.

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.
• Be sure to set a suitable value for the moment of inertia ratio (Pn103) using advanced autotuning before
executing the advanced autotuning by reference. 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.
9-20
(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.

• There must be no overtravel.
• The servomotor power must be OFF.
• The position control must be selected when the servomotor power is ON.
• Gain setting 1 must be selected.
• All warnings must be cleared.
(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. Refer to 9.4 One-parameter Tuning 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 stopped time is 10 ms or less. (The stop time is the time that bit 10 (target reached) of the Statusword
(6041h) is 1.)
• The rigidity of the load 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 to small.
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 50%, the allowable amount
of overshooting is the half 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

(2148h) Setting Range Setting Unit Factory Setting When Enabled
Adjustments
9-21
9 Adjustments
(3) Advanced Autotuning by Reference Procedure

The following procedure is used for advanced autotuning by reference.
Advanced autotuning by reference is performed from the SigmaWin for Σ-V-SD (MT).
1. Confirm that the correct moment of inertia ratio in Pn103 is set by using the advanced
autotuning.
ing.
9-22
4. After confirming that there is no problem, click OK. The following window appears.
5. Select the Position reference input option under Reference input from host controller in
the Tuning main window, and then click Autotuning. The following window appears.
Adjustments
9-23
9 Adjustments
6. Select the mode from the Mode selection combo box and the mechanism from Mechanism
selection combo box, and then click Next. When the Start tuning using the default settings.
check box is selected in the Autotuning-Setting Conditions box, tuning will be executed using tuning
parameters set to the default value.
7. Click Yes. The following box appears.
8. Enter the correct moment of inertia ratio and then click Next. The following window appears.
9-24
9. Turn the servo on and then input the reference from the host controller. Click Start tuning.
10. After confirming the safety of the area adjoining the drive unit, click Yes. The motor will start
rotating and tuning will start.
Vibration generated during tuning is automatically detected, and the optimum setting for the detected
vibration will be made. When the setting is complete, the LED indicator lamps (bottom left of the box) of
the functions used for the setting will light up.
11. When tuning is completed, click Finish to return to the main window. The results of tuning will
be written in the parameters.
Adjustments
9-25
9 Adjustments



cuted.
cuted.

Parameter Name
Changes Changes
9-26
9.4 One-parameter Tuning

Adjustments with one-parameter tuning are described below.
9.4.1 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 tuning level.
One-parameter tuning performs the following adjustments.

Perform one-parameter tuning if satisfactory responsiveness is not obtained with advanced autotuning or
advanced autotuning by reference.
To fine-tune each servo gain after one-parameter tuning, refer to 9.6 High-speed Control Adjustments.
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.
Failure to observe this caution may result in injury or damage to the product.
• Be sure to set a suitable value for the moment of inertia ratio (Pn103) before executing the one-parameter
tuning.
If the setting greatly differs from the actual moment of inertia ratio, normal control of the machine may not be possi-
ble, and vibration may result.
(1) Preparation
Check the following settings before performing one-parameter tuning.
The message “NO-OP” indicating that the settings are not appropriate will be displayed, if the following con-
dition is not met.
(2) Tuning Mode

There are two one-parameter tuning modes.
Adjustments
• Tuning Mode 0: Emphasizes stability.

• Tuning Mode 1: Emphasizes response.
Adjustments are made for applications other than positioning.

Operations in one tuning level can be performed to change more than one servo gain during stable control.
When vibration is detected, the notch filter, the anti-resonance control settings, and other parameters are set 9
automatically. The anti-resonance control can be also made manually.
Also, automatic adjustment is supported to achieve gain balance.
9-27
9 Adjustments
(3) One-parameter Tuning Procedure

One-parameter tuning is performed from the SigmaWin for Σ-V-SD (MT).
WARNING
Be sure to carefully read the SigmaWin for Σ-V-SD (MT) Operation Manual before executing this function.
Special care must be taken for the following.
• Before executing this function, make sure that the emergency stop (power off) can be activated when
needed.
When tuning is initiated by this function, some parameters will be overwritten with the recommended values. As a
result, the response speeds may change considerably. Before executing this function, make sure that the emergency
stop (power off) can be activated when needed.
• Set a correct moment of inertia (mass) ratio to execute this function.
If not correctly set, vibration may be generated.
• When the feedforward level is changed, the new value is applied after the positioning completed signal is
output (after bit 10 (target reached) of the Statusword (6041h) is changed to 1).
1. Confirm that the correct moment of inertia ratio in Pn103 is set.

ing.
9-28
4. Click OK. The following window appears.
5. Click Advanced adjustment. The following box appears.
6. Click Custom tuning. The following box appears.
Adjustments
7. Select the tuning mode and the mechanism.

The tuning modes that can be selected will vary according to the SERVOPACK setting.
9-29
9 Adjustments
8. Click Next. The following box appears.
9-30
10. Turn the servo on and then input the reference from the host controller. Click Start tuning.
11. Change the tuning level by clicking the setting arrows. Continue to raise the level until an
overshoot occurs.
Note: The new tuning level is applied after the positioning completion signal is output (after bit 10 (target reached)
of the Statusword (6041h) is changed to 1).
The notch filter/anti-resonance control auto setting function, the anti-resonance control adjustment func-
tion, or autotuning with reference input can be used as required.
For details, refer to Functions To Suppress Vibration.
To reset to the original settings and status, click Back.
Adjustments
12. When tuning is complete, click Completed to return to the main window. The settings will be
written in the SERVOPACK.
9-31
9 Adjustments
Functions To Suppress Vibration

For vibration frequencies above 1,000 Hz when servo gains are increased, the notch filter auto setting function
provides effective suppression. For vibration frequencies between 100 and 1,000 Hz, the anti-resonance con-
trol adjustment auto setting function is effective.
• Auto Setting
To use auto settings, enable automatically setting the notch filter and anti-resonance control in the parameter
settings.
Notch filter frequencies that are suitable for the vibration that was detected during tuning will be set for 1 step
and 2 step. If automatic setting is enabled for anti-resonance control, the anti-resonance control frequency will
be set automatically.
The window that is used to automatically set the notch filters is shown below.
Window with Notch Filter Automatically Set

Cancel
If the automatically set notch filter frequency (or anti-resonance control frequency) does not effectively
suppress vibration, click Cancel to reset to the preceding frequency.
When the frequency is reset, vibration detection will restart.
Vib Detect (vibration detection)

When automatically setting the notch filters and anti-resonance control is enabled, vibration detection is
performed manually. Click Vib Detect (vibration detection). The SERVOPACK will detect the current
vibration and set 1 step and 2 step to values that are suitable for the detected vibration. If you automati-
cally set anti-resonance control, the anti-resonance control frequency will be set. Even if the SERVO-
PACK does not detect vibration during one-parameter tuning, you can execute vibration detection
manually.
Anti-res Ctrl Adj (anti-resonance control)

Click Anti-res Ctrl Adj (anti-resonance control) to execute the anti-resonance control function if further
adjustment is required. See 9.5 Anti-Resonance Control Adjustment Function for details.
9-32
To Autotuning
Click To Autotuning to execute autotuning using reference inputs from the host controller. See 9.3.1
Advanced Autotuning by Reference for details.
(4) Related Functions on One-parameter Tuning

This section describes functions related to one-parameter tuning.
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 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.
Parameter
Function When Enabled Classification
(Index Number)
Does not set the 1st notch filter automatically with
n. 0
the utility function.
n. 1 Sets the 1st notch filter automatically with the util-
Pn460 [Factory setting] ity function.
Immediately Tuning
(20A9h:7) Does not set the 2nd notch filter automatically with
n. 0
the utility function.
n. 1 Sets the 2nd notch filter automatically with the
[Factory setting] utility function.
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 one-parameter tun-
ing and anti-resonance control will be automatically adjusted and set.
Parameter
Function When Enabled Classification
(Index Number)
Does not use the anti-resonance control automati-
n. 0
Pn160 cally with the utility function.
Immediately Tuning
(206Bh:1) n. 1 Uses the anti-resonance control automatically with
[Factory setting] the utility function.
Adjustments
9-33
9 Adjustments



cuted.
cuted.

Parameter Name
Changes Changes
9-34
9.5 Anti-Resonance Control Adjustment Function

This section describes the anti-resonance control adjustment function.
9.5.1 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 1,000 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 or use another method to increase the responsiveness after performing this
function. If the anti-resonance gain is increased with one-parameter tuning performed, vibration may result. 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) 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 1,000 Hz. Vibration will not be
detected for frequencies outside of this range, and instead, “F----” will be displayed.
• 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) Preparation
Check the following settings before performing anti-resonance control adjustment function.
The message “NO-OP” indicating that the settings are not appropriate will be displayed, if the following con-
dition is not met.

(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.
Adjustments
Anti-resonance control adjustment function is performed from the SigmaWin for Σ-V-SD (MT).
The following methods can be used for the anti-resonance control adjustment function.
• With Undetermined Vibration Frequency

• With Determined Vibration Frequency 9
9-35
9 Adjustments
CAUTION
Be sure to carefully read the SigmaWin for Σ-V-SD (MT) Operation Manual before executing this function.
Special care must be taken for the following.
• Before executing this function, make sure that the emergency stop (power off) can be activated when
needed.
This function will automatically set parameters when used. As a result, the response speeds may change considerably
after execution. Before executing this function, make sure that the emergency stop (power off) can be activated when
needed.
• The moment of inertia (mass) must be correctly set to execute this function.
If it is not correctly set, satisfactory anti-resonance control cannot be achieved.
• This function is generally only used to adjust the servo gain, as you should avoid considerable change in
the frequency.
If the frequency is changed while the anti-resonance control adjustment function is being used, the current anti-reso-
nance control effect will be lost. Care must be taken when automatic frequency detection is executed in Auto Detect
mode.
• If vibration cannot be suppressed by executing this function, cancel execution and reduce the servo gain
by other methods such as custom tuning.
• Use an adjustment method such as custom tuning to improve response characteristics after executing this
function.
When the servo gain is increased during an adjustment such as custom tuning, vibration may be gener-
ated. In this case, execute the anti-resonance control adjustment function again for fine adjustment.
The anti-resonance control adjustment function supports the adjustment of anti-resonance control effective for
vibration frequencies from 100 to 1,000 Hz when servo gain is increased. Vibration can be suppressed by set-
ting vibration frequency by auto detection or by manual setting to adjust damping gain. Input a reference and
execute this function when there is vibration.
9-36
With Undetermined Vibration Frequency

ing.
Adjustments
9-37
9 Adjustments
5. Select the tuning mode and the mechanism, and then click Next. The following box appears.
9-38
7. Click Anti-res Ctrl Adj. The following window appears.
Adjustments
9-39
9 Adjustments
8. Click Auto Detect to set the frequency and click Start adjustment. The following window
appears.
9. Adjust the damping gain by clicking the setting arrows.
Click Reset to reset the settings to their original values during adjustment.
10. When the adjustment is complete, click Finish to return to the main window. The set values will
be written in the SERVOPACK.
9-40
With Determined Vibration Frequency

ing.
Adjustments
9-41
9 Adjustments
5. Select the tuning mode and the mechanism, and then click Next. The following box appears.
9-42
7. Click Anti-res Ctrl Adj. The following window appears.
Adjustments
9-43
9 Adjustments
8. Click Manual Set to set the frequency and click Start adjustment. The following window
appears.
9. Adjust the frequency by clicking the setting arrows.
10. Adjust the damping gain by clicking the setting arrows.
11. When the adjustment is complete, click Finish to return to step 6. The set values will be written
in the SERVOPACK.
9-44



cuted.
cuted.

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
9-45
9 Adjustments
9.6 High-speed Control Adjustments

After performing advanced autotuning or one-parameter tuning, servo tuning can be performed according to
machine operation to enable high-speed, high-precision machine operation.
The procedure is described here.
1. Select the control functions according to the machine operation.

Select the control functions to use based on the following table.
Operation Mode Required Operations Control Functions That Are Used
Predictive control and quadrant projection
Cutting operation High-precision cutting
compensation
High-speed feeding Machine vibration sup- Internal speed feedforward control and model
operation pression following control
Spindle axis
Changing the gain Gain selection
operation
2. Set Machine tool function (23C8h:1)* and the related parameters.

Refer to the following table to make the required settings for Machine tool function and the parameters.
∗ For details, refer to Σ-V-SD series User’s Manual For Command Profile EtherCAT (CoE) Communications Refer-
ence (manual no. SIEP S800000 95).
Machine Tool Function Control Function
Bit5 Bit4 Bit1 Bit0 Pn070.0 Pn070.1 Pn071.0
Operation
Internal speed Remark
Mode Quadrant
Operation Gain Predictive feedforward
Projection
Mode Selection Control Compensation control and model
following control
0 0 – Cannot use
0 1 – internal speed
Cutting Gain bank 0
0 feedforward
operation (Fixed) 1 0 – control func-
1 1 – tion.
High-speed
Gain bank 1
feeding 1 – – 0 or 1 or 2 –
operation (Fixed)
Cannot use
Select gain internal speed
Spindle axis bank from
2 – – – feedforward
operation
0 to 3. control func-
tion.
• Related Parameters
Parameter (Index Number) Function When Enabled Classification
n. 0
Disables predictive function.
[Factory setting]
n. 1 Enables predictive function.
Pn070
n. 0 Disables quadrant projection After restart Setup
(2030h:5)
[Factory setting] compensation function.
Enables quadrant projection
n. 1
compensation function.
n. 0
No function
Pn071.0 [Factory setting]
After restart Setup
(2030h:6) n. 1 Uses internal speed FF function.
n. 2 Uses model following control function.
9-46
9.6 High-speed Control Adjustments
• Parameters for Gain Bank 0 to 3

Gain Bank
Parameter
0 1 2 3
Speed Loop Gain Pn100 Pn104 Pn12B Pn12E
Speed Loop Integral Time
Pn101 Pn105 Pn12C Pn12F
Constant
Position Loop Gain Pn102 Pn106 Pn12D Pn130
Torque Reference Filter Time
Pn401 Pn412 Pn413 Pn414
Constant
Adjustments
9-47
10
Standards Compliance
10.1 Models in Compliance with Standards . . . . . . . . . . . . . . . . . . . . . . . . . 10-2

10.2 Precautions for Complying with European Standards . . . . . . . . . . . . . . 10-3
10.2.1 EMC Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3
10.2.2 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-4
10.2.3 Compliance with Low Voltage Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-5
10.3 Precautions for Complying with UL Standards . . . . . . . . . . . . . . . . . . . 10-6
10
10-1
10 Standards Compliance
10.1 Models in Compliance with Standards

The following table shows the models that are in compliance with standards.
European Directives
Name Model UL Standards
(CE Marking)
CACP-JU15A3A
CACP-JU19A3A
CACP-JU22A3A
CACP-JU30A3A Certified Not available
CACP-JU15D3A
CACP-JU19D3A
CACP-JU22D3A
Power Regeneration
CACP-JU15A3B
Converter
CACP-JU19A3B
Certified Certified
CACP-JU22A3B
CACP-JU30A3B
CACP-JU45A3B Pending
CACP-JU15D3B
Pending
CACP-JU19D3B Certified
CACP-JU22D3B
CACR-JU028ACA
CACR-JU036ACA
CACR-JU065ACA
Certified Certified
CACR-JU084ACA
CACR-JU102ACA
CACR-JU125ACA
CACR-JU196ACA Pending
CACR-JU014DCA
CACR-JU018DCA
Pending
CACR-JU033DCA Certified
CACR-JU042DCA
CACR-JU051DCA
CACR-JUM23ACA
CACR-JUM24ACA Certified Certified
CACR-JUM25ACA
CACR-JUM23DCA
CACR-JUM24DCA Certified Pending
CACR-JUM25DCA
Note: Contact your Yaskawa representative for details on models for which certification is pending.
10-2
10.2 Precautions for Complying with European Standards

10.2.1 EMC Installation Conditions
This section describes the recommended installation conditions that satisfy EMC guidelines for the Σ-V-SD
driver.
This section describes the EMC installation conditions satisfied in test conditions prepared by Yaskawa.
The actual EMC level may differ depending on the actual system's configuration, wiring, and other conditions.
However, because this product is built-in, check that the following conditions are still met after being installed
in the user's product.
The harmonized standards are EN61800-3, EN61000-2, and EN61000-6-4.
The circuit examples are shown below.
Shield box
*1 *2 *3
Power supply: " Surge Noise AC
Clamp
L1, L2, L3
Three-phase 200 VAC absorber filter reactor
Power regeneration
*6 converter &
*4 *5 2T CACP-JU!!A3!
# Surge Noise Control ' -1
Core
Power supply: CN7A/B CN5
Single-phase 200 VAC absorber filter power 24 V, 0 V
supply 2T
24 VDC + – Core
1T
+ – Core
CN7A/B CN5A/B
2T 24 V, 0 V 2T
Clamp Clamp Clamp

I/O % -1
Core
CN1 Core Fan

control unit
U,V,W (
EtherCAT (CoE) CN9A Spindle
controller $ -1 *7 motor
CN9B
SERVOPACK Encoder
for one axis
CACR-JU!!!ACA )
CN3
+ –
' -2
$ -2 2T
*7 Core
+ –
CN7A/B CN5A/B
24 V, 0 V
*
Clamp Clamp
CN9A CN18 Servo-

2T 1T motor
I/O % -2 CN1 +
Core B
CN21
Core C
control unit Encoder

SERVOPACK
for two axes

CACR-JUM!!ACA
Clamp Clamp
CN28 Servo-
1T motor
Core B
CN22 Encoder
Symbol Cable Name Specification

Main circuit cable Shield cable
Control power cable Non-shield cable
10
-1, -2 EtherCAT (CoE) communication cable Shield cable
-1, -2 Input/output signal cable Shield cable
Spindle motor fan cable Shield cable
-1, -2 Local bus cable Shield cable
10-3
10.2.2 Precautions
(cont’d)
Symbol Cable Name Specification
Spindle motor main circuit cable Shield cable
Spindle motor encoder cable Shield cable
Servomotor main circuit cable for 1st axis Shield cable
Servomotor encoder cable for 1st axis Shield cable
Ԣ Servomotor main circuit cable for 2nd axis Shield cable
ԣ Servomotor encoder cable for 2nd axis Shield cable
∗1. Recommended surge absorber model: LT-C32G801WS (Soshin Electric Co., Ltd.)
∗2. For more information on this noise filter, refer to 5.4 Noise Filter.
∗3. For more information on this AC reactor, refer to 5.2 AC Reactor.
∗4. Install the following surge absorber on the power line between the single-phase 200 V power supply and the 24 VDC
power supply.
Surge absorber model: LT-C12G801WS (Soshin Electric Co., Ltd.)
∗5. Install the following noise filter on the power line between the single-phase 200 V power supply and the 24 VDC
power supply.
Noise filter model: HF2005A-UP (Soshin Electric Co., Ltd.)
∗6. Use a 24-VDC control power supply with double insulation against primary or reinforced insulation.
∗7. For the EtherCAT (CoE) communication cable, refer to 2.2.3 (9) Cable Specifications for Use with EtherCAT (CoE)
Communications.
10.2.2 Precautions
(1) Attachment Methods of Ferrite Cores
One turn Two turn
Cable
Cable
Ferrite core Ferrite core
(2) Recommended Ferrite Core

Core Name
Model Manufacturer
(Used in diagrams)*
Core SFT-72SN
Core B TFT-152613N TAKEUCHI INDUSTRY Co., Ltd.
Core C TFT-274015S
∗ For details, refer to diagrams in 10.2.1 EMC Installation Conditions.
(3) Fixing the Cable

Fix and ground the cable shield using a piece of conductive metal.
• Example of Cable Clamp
Cable Shield (cable sheath stripped)

Host controller side
Fix and ground the cable shield
Ground plate Cable using a piece of conductive metal.
clamp
Remove paint on mounting surface.
(4) Shield Box

A shield box, which is a closed metallic enclosure, is effective as reinforced shielding against electromagnetic
interference (EMI) from SERVOPACKs. The structure of the box should allow the main body, door, and cool-
ing unit to be attached to the ground. The box opening should be as small as possible.
Note: Do not connect the analog monitor cable to the SERVOPACK during operations.
Connect them only when the machinery is stopped during maintenance.
10-4
10.2.3 Compliance with Low Voltage Directive

This drive has been tested according to European standard IEC61800-5-1, and it fully complies with the Low
Voltage Directive.
To comply with the Low Voltage Directive, be sure to meet the following conditions when combining this
drive with other devices.
(1) Installation Location

Install the servo drive in a location with an overvoltage category of 3 and a pollution degree of 2 or lower
according to IEC 664 specifications. Install at an altitude of 1000 m max.
(2) Protection against Foreign Matter

The degree of protection of the servo drives is IP10.
(3) Grounding
Ground the neutral point of the 400-V power supply. The leakage current may exceed 3.5 mA. Therefore, use
a 10-mm2 or thicker copper grounding wire.
(4) 24-VDC Control Power Supply

Use a 24-VDC control power supply with double insulation or reinforced insulation against primary.
10
10-5
10.3 Precautions for Complying with UL Standards

This drive has been tested according to UL standard UL508C, and it fully complies with the UL requirements.
To comply with the UL standard, be sure to meet the following conditions when combining this drive with
other devices.
(1) Installation Location

Install the servo drive in a location with a pollution degree of 2 or lower according to UL specifications. Install
at an altitude of 1000 m max.
(2) Wiring the Main Circuit Terminals

Wire the main circuit terminals with the maximum tightening toque that is given in 7.2.1 (1) Wire Sizes and
Tightening Torques.
(3) Short-circuit Rating

This servo drive has undergone UL short-circuit testing using a power supply with a current of 31,000 A max-
imum and a voltage of 480 V maximum.
(4) 24-VDC Control Power Supply

Use a 24-VDC control power supply with double insulation or reinforced insulation.
(5) AC Reactor
Use an AC reactor for UL compliance according to 5.2.1 Specifications.
(6) Magnetic Contactor for Winding Selection

Use a magnetic contactor for winding selection for UL compliance according to 5.3.1 Specifications.
(7) Heat Sink Cooling

Provide an airflow of 2.5 m/s or higher in the ventilation duct to cool the heat sink. Or, use a Yaskawa base
mounting unit.
Refer to 5.5 Base Mounting Units for information on the base mounting unit.
(8) Grounding
Ground the neutral point of a 400-V power supply.
The leakage current may exceed 3.5 mA. Therefore, use a 10-mm2 or thicker copper grounding wire.
10-6
11
Inspection, Maintenance, and Troubleshooting
11.1 Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2

11.1.1 Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2
11.1.2 Σ-V-SD Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-3
11.2 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-4

11.2.1 List of Servo Drive Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-5
11.2.2 List of Alarms for EtherCAT (CoE) Communications . . . . . . . . . . . . . . . . . . . . . . . 11-10
11.2.3 Troubleshooting of the Servo Drive Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-11
11.2.4 Troubleshooting of the EtherCAT (CoE) Communications . . . . . . . . . . . . . . . . . . . 11-33
11.3 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-35

11.3.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-35
11.3.2 Troubleshooting of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-37
11.4 Monitoring Communications Data When Alarms or Warnings Occur . . 11-41

11.5 Troubleshooting Malfunction Based on Operation and Conditions
of the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-42
11
11-1
11 Inspection, Maintenance, and Troubleshooting
11.1.1 Motor
11.1 Inspection and Maintenance

11.1.1 Motor
(1) Inspection
The following table provides explanations about the inspections required for the spindle motor and the servo-
motor. The inspection and maintenance frequencies in the table are only guidelines. Increase or decrease the
frequency to suit the operating conditions and environment.
Item Frequency Procedure Comments

Touch and listen.
There is no problem as long as
Vibration and Noise Daily –
vibration and the sound level do
not increase over normal levels.
According to degree of Clean with cloth or compressed
Exterior –
contamination air.
Disconnect the SERVOPACK and
test the insulation resistance with a
Contact your Yaskawa repre-
Insulation Resistance 500-V resistance meter between
At least once a year sentative if the insulation resis-
Measurement each of the phases U, V, and W in
tance is below 10 MΩ .
the motor’s main circuit cable and
FG. Must exceed 10 MΩ.
Spindle motor:
At least once every
12,000 hours or 2
years. Contact your Yaskawa representa-
Overhaul –
Servomotor: tive.
At least once every
20,000 hours or 5
years.
During inspection and maintenance, do not disassemble the motor.
(2) Replacement Schedule

The parts of the motor have a limited service life due to mechanical wear. Perform periodic inspections for
preventive maintenance. The part replacement period varies with the usage condition and usage environment.
A part must be replaced if there is any problem, even if it is not yet time to replace it. Contact your Yaskawa
representative if a part needs to be replaced or if the standard replacement period has elapsed.
Motor Part Standard Replacement Period Remarks

Cooling fan 12,000 hours or 2 years
Spindle motor A part must be replaced if there
Bearing 12,000 hours or 2 years is any problem, even if the
Oil seal 5,000 hours standard replacement period
Servomotor has not yet elapsed.
Bearing 20,000 hours or 5 years
11-2
11.1 Inspection and Maintenance

(1) Inspection
For inspections and maintenance of the Σ-V-SD Driver, follow the inspection procedures in the table below at
least once every year.
Item Frequency Procedure Remedy

Exterior Check for dust, dirt, and oil on surfaces. Clean with compressed air or cloth.
Loose At least once a year Check for loose terminal block and con-
Tighten any loose screws.
screws nector screws.
(2) Replacement Schedule

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, 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
Part Operating Conditions
Replacement Period
Cooling Fan 4 to 5 years
Smoothing Capacitor 7 to 8 years • Surrounding Air Temperature: Annual average of
Relays – 30°C
• Load Factor: 80% max.
Fuses 10 years
• Operation Rate: 20 hours/day max.
Aluminum Electrolytic
5 years
Capacitor on Circuit Board
Note: If the above operating conditions are not used, replacement may be required sooner than the standard replacement
period. To extend the life of the parts, reduce the ambient temperature. Contact your Yaskawa representative if you
require more-detailed information.
11
11-3
11.2 Alarm Displays

If the SERVOPACK detects an alarm, it stops the motor with the motor stop method for alarms that is
described below and displays the alarm status.
Status Indications
The alarm code is displayed.
SERVOPACK panel display
Example: A. → 0 → 1 → 0
Bit 3 (Fault) in the Statusword changes to 1.
Statusword (object 6041h)
(Bit 3 is 0 when operation is normal.)
Error code (object 603Fh) The current alarm code is stored in object 603Fh.
The controller is notified of the alarm that occurred.
Emergency message* (Notification may not be possible if EtherCAT communications are unsta-
ble.)
∗ For details, refer to 11.4 Monitoring Communications Data When Alarms or Warnings Occur.
Motor Stop Method for Alarms
Gr.1: The alarm stopping method depends on the setting of Pn01E.0.
If Pn01E.0 = 0 and a SERVOPACK with a capacity of 5 kW max. is used:
The stopping method set in Pn001.0 is used. Stopping is performed with dynamic braking (DB) in the
factory setting.
If Pn01E.0 = 0 and a SERVOPACK with a capacity that exceeds 5 kW max. is used:
A coasting to a stop is performed.
If Pn01E.0 = 1 to 8:
A coasting to a stop is performed.
Gr.2: The motor is stopped according to the setting in Pn00B.1 if an alarm occurs. Pn00B.1 is factory-set to
stop the motor by setting the speed reference to “0.” The motor under torque control will always use the
Gr.1 method to stop. By setting Pn00B.1 to 1, the motor stops using the same method as Gr.1. When
coordinating a number of motors, use this alarm stop method to prevent machine damage that may result
due to differences in the stop method.
Resetting Alarms
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.
The alarm name, alarm meaning, motor stop method for alarms, and alarm reset capability are listed in order
of the alarm numbers in 11.2.1 List of Servo Drive Alarms and 11.2.2 List of Alarms for EtherCAT (CoE)
Communications.
The probable causes of alarms and corrective actions are provided in 11.2.3 Troubleshooting of the Servo
Drive Alarms and 11.2.4 Troubleshooting of the EtherCAT (CoE) Communications.
11-4
11.2 Alarm Displays
11.2.1 List of Servo Drive Alarms

The following table shows the list of servo drive alarms.
Alarm Motor Stop Alarm

Alarm Name Meaning
Display Method Reset
A.020 Parameter Checksum Error The data of the parameter in the SERVOPACK is incorrect. Gr.1 N/A
The data format of the parameter in the SERVOPACK is
A.021 Parameter Format Error Gr.1 N/A
incorrect.
A.022 System Checksum Error The data of the parameter in the SERVOPACK is incorrect. Gr.1 N/A
Motor Parameter Checksum
A.029 The motor parameter data in the SERVOPACK is incorrect. Gr.1 N/A
Error
Converter Parameter The data of the parameter in the power regeneration con-
A.02C Gr.1 N/A
Checksum Error verter is incorrect.
Converter Parameter Format The format of the parameter in the power regeneration con-
A.02D Gr.1 N/A
Error verter is incorrect.
Converter System Checksum The data of the parameter in the power regeneration con-
A.02E Gr.1 N/A
Error verter is incorrect.
A.030 Main Circuit Detector Error Detection data for main circuit is incorrect. Gr.1 Available
The parameter setting in the SERVOPACK is outside the
A.040 Parameter Setting Error Gr.1 N/A
allowable setting range.
A.042 Parameter Combination Error Combination of some parameters exceeds the setting range. Gr.1 N/A
Converter Parameter Setting The parameter setting in the power regeneration converter is
A.04B Gr.1 N/A
Error outside the allowable setting range.
The SERVOPACK and the motor capacities do not match
A.050 Combination Error Gr.1 Available
each other.
A.051 Unsupported Device Alarm The device unit unsupported was connected. Gr.1 N/A
The motor type/Application selection setting (Pn01E.0) does
A.052 Motor Type Setting Mismatch not match the motor parameter written inside the SERVO- Gr.1 N/A
PACK.
Winding Selection Setting The Winding Change Setting (Pn01E.1) does not match the
A.053 Gr.1 N/A
Mismatch motor parameter written inside the SERVOPACK.
Unsupported Winding The combination of the SERVOPACK and motor does not
A.054 Gr.1 N/A
Selection Alarm support winding selection.
Induction Motor Combination The capacity of the spindle motor is outside of the range that
A.05A Gr.1 Available
Error can be combined.
The converter and SERVOPACK are not combined cor-
A.05B Converter Combination Error Gr.1 N/A
rectly.

The host controller reference was sent to turn the Servo ON
Cancelled Servo ON
A.0B0 (Enable operation) after the Servo ON function was used Gr.1 Available
Command Alarm
with the utility function.
An overcurrent flowed through the IGBT.
A.100 Overcurrent Gr.1 N/A
Heat sink of the SERVOPACK was overheated.
An overcurrent flowed through the power transistor inside
A.10A Converter Overcurrent Gr.1 N/A
the power regeneration converter.
A ground fault occurred inside the power regeneration con-
A.11A Converter Ground Fault Gr.1 N/A
verter.
The fuse of the main power supply inside the power regener-
A.22A Converter Fuse Blowout Gr.1 N/A
ation converter is blown out.
The DC-bus voltage inside the SERVOPACK is excessively
A.400 Overvoltage Gr.1 Available
high.
The DC-bus voltage inside the power regeneration con-
A.40A Converter Overvoltage Gr.1 Available
verter is abnormally high.
The AC power supply voltage inside the power regeneration
A.40B Converter AC Overvoltage
converter is abnormally high.
Gr.1 Available 11
Abnormal Voltage in Converter An error occurred in the main circuit of the power regenera-
A.40C Gr.1 Available
Main Circuit tion converter.
A.410 Undervoltage The DC-bus voltage is excessively low. Gr.2 Available
11-5
(cont’d)
Alarm Name Meaning
The DC-bus voltage inside the power regeneration converter
A.41A Converter DC Undervoltage Gr.2 Available
is abnormally low.
The AC voltage inside the power regeneration converter is
A.41B Converter AC Undervoltage Gr.1 Available
abnormally low.
Power Failure While Motor The AC power supply was cut off while the motor was run-
Running ning.
Converter Initial Charging The charging of the main circuit capacitor did not finish
Error within the specified period of time.
Main Circuit Capacitor
A.450 The capacitor of the main circuit has deteriorated or is faulty. Gr.1 N/A
Overvoltage
A.510 Overspeed The motor speed is excessively high. Gr.1 Available
A.521 Autotuning Alarm Vibration was detected during autotuning. Gr.1 Available
The deviation between the speed reference and the actual
A.531 Excessive Speed Deviation Gr.1 Available
motor speed is abnormal.
Overspeed The low-speed winding maximum rotation speed was
A.540 Gr.1 Available
(During Low-speed Winding) exceeded during low-speed winding.
• During the winding selection operation check that is per-
formed when the power is turned ON, the electromagnetic
contactor for winding selection did not change according
to the internal command.
Winding Selection Operation
A.690 • Winding selection was not completed within two seconds Gr.1 N/A
Fault
of receiving the winding selection command.
• Chattering occurred in the electromagnetic contactor for
winding selection when the winding selection command
was not received.
The motor did not stop within 10 s after the emergency stop
A.6B0 Emergency Stop Failure Gr.1 Available
signal input.
The motor was operating for several seconds to several tens
A.710 Overload: High Load Gr.2 Available
of seconds under a torque largely exceeding ratings.
The motor was operating continuously under a torque
A.720 Overload: Low Load Gr.1 Available
largely exceeding ratings.
Continuous electrical operation was performed that
Converter Electric Operation
A.72A exceeded the rated output of the power supply regenerative Gr.2 Available
Overload
converter.
Converter Power Supply Continuous regenerative operation was performed that
A.72B Gr.1 Available
Regenerative Overload exceeded the ratings of the power regenerative converter.
A.730 When the dynamic brake was applied, rotational energy
Dynamic Brake Overload Gr.1 Available
A.731 exceeded the capacity of dynamic brake resistor.
Converter Inrush Resistance The main circuit power supply turned ON and OFF fre-
A.74A Gr.1 Available
Overload quently.
A.790 Motor Overheated The motor temperature exceeded the upper limit. Gr.1 Available
Motor Temperature Detection
A.791 The motor thermistor is either disconnected or is damaged. Gr.1 N/A
Error
The temperature of the heat sink in the SERVOPACK
Heat Sink in SERVOPACK
A.7A0 exceeded 100°C, or the thermistor in the SERVOPACK was Gr.2 Available
Overheated
disconnected or damaged.
Built-in Fan in SERVOPACK
A.7AB The fan inside the SERVOPACK stopped. Gr.1 Available
Stopped*1
Built-in Fan in Converter
A.7AC The fan inside the power regeneration converter stopped. Gr.1 Available
Stopped*1
The heat sink inside the power regeneration converter
Converter Heat Sink
A.7BA exceeded 100°C, or the thermistor in the converter was dis- Gr.2 Available
Overheated
connected or damaged.
∗1. If the fan stops, an alarm or a warning will issued in accordance with the setting of SERVOPACK parameter
Pn00D.2.
11-6
11.2 Alarm Displays
(cont’d)
Alarm Name Meaning
All the power supplies for the absolute encoder have failed
A.810 Encoder Backup Error Gr.1 N/A
and position data was cleared.
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
A.830 Gr.1 Available
Error the control power supply is 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
A.850 Encoder Overspeed Gr.1 N/A
turned ON.
A.860 Encoder Overheated The internal temperature of encoder is too high. Gr.1 N/A
External Encoder Error of
A.8A0*2 Scale
The external encoder is faulty. Gr.1 Available

A.8A1*2 Module
The serial converter unit is faulty. Gr.1 Available

A.8A2*2 Sensor (Incremental)
The external encoder is faulty. Gr.1 Available

A.8A3*2 Position (Absolute)
The position of external encoder is faulty. Gr.1 Available
A.8A5*2 External Encoder Overspeed The overspeed from the external encoder occurred. Gr.1 Available
A.8A6*2 External Encoder Overheated The overheat from the external encoder occurred. Gr.1 Available
Current Detection Error1
A.B31 The current detection circuit for phase-U is faulty. Gr.1 N/A
(Phase-U)
Current Detection Error 2
A.B32 The current detection circuit for phase-V is faulty. Gr.1 N/A
(Phase-V)
Current Detection Error 3
A.B33 The detection circuit for the current is faulty. Gr.1 N/A
(Current detector)
Converter Gate Drive Output An error occurred in the gate drive signal of power transistor
A.B4A Gr.1 N/A
Error of the power regeneration converter.
Converter CPU: AD An error occurred in the A/D conversion circuit inside the
A.BDA Gr.1 Available
Conversion Circuit Error power regeneration converter.
Converter Reference Voltage An error occurred in the reference voltage output inside the
A.BDC Gr.1 Available
Error 2 power regeneration converter.
Internal program error 0 occurred inside the power regenera-
A.BDD Converter System Error 0 Gr.1 N/A
tion converter.

A.BEA Converter System Error 1 Gr.1 N/A
tion converter.
A.BEB Converter System Error 2 Gr.1 N/A
tion converter.
A.BF0 System Alarm 0 Internal program error 0 occurred in the SERVOPACK. Gr.1 N/A
A.C10 Servo Overrun Detected The servomotor ran out of control. Gr.1 Available
Pulse Encoder Phase C Error/ The number of pulses per revolution exceeded the setting
A.C2A Gr.1 N/A
Pulse Error range.
Pulse Encoder Phase A The signal line for phase A of the pulse encoder is discon-
A.C3A Gr.1 N/A
Disconnection nected.
Pulse Encoder Phase B The signal line for phase B of the pulse encoder is discon-
A.C3B Gr.1 N/A
Disconnection nected. 11
Pulse Encoder Phase C The signal line for phase C of the pulse encoder is discon-
A.C3C Gr.1 N/A
Disconnection nected.
∗2. The alarm that may occur when using external encoders.
11-7
(cont’d)
Alarm Name Meaning
Phase C was not detected during the first two rotations after
Phase C Not Detected
the power supply was turned ON.
A.C50 Gr.1 N/A
Magnetic Pole Incorrect
The magnetic pole could not be detected.
Detection
Overtravel Detection at An overtravel signal was detected during magnetic pole
A.C51 Gr.1 Available
Polarity Detection detection.
An attempt was made to detect the magnetic pole for the
Polarity Detection
A.C52 high-speed winding or when changing the winding (for Gr.1 Available
Uncompleted
motors with a winding selection).
Out of Range for Polarity Movement during magnetic pole detection reached or
A.C53 Gr.1 N/A
Detection exceeded the set value of Pn494.
A.C54 Polarity Detection Error 2 The magnetic pole could not be detected. Gr.1 N/A
Absolute Encoder Clear Error
The multiturn for the absolute encoder was not properly
A.C80 and Multiturn Limit Setting Gr.1 N/A
cleared or set.
Error
Encoder Communications Communications between the SERVOPACK and the
A.C90 Gr.1 N/A
Error encoder is not 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
A.C92 Gr.1 N/A
Timer Error encoder 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 is incorrect. Gr.1 N/A
Different multiturn limits have been set in the encoder and
A.CC0 Multiturn Limit Disagreement Gr.1 N/A
the SERVOPACK.
Serial Converter Unit
A.CF1*2 Communications Error Reception from the serial converter unit. Gr.1 N/A
(Reception error)
Serial Converter Unit
Timer for communications with the serial converter unit is
A.CF2*2 Communications Error
faulty.
Gr.1 N/A
(Timer stop)
A.D00 Position Error Pulse Overflow Position error pulses exceeded parameter (Pn520). Gr.1 Available
Position Error Pulse Overflow
A.D01 Position error pulses accumulated too much. Gr.1 Available
Alarm at Servo ON
After a position error pulse has been input, Pn529 limits the
speed if the SV_ON command is received. If Pn529 limits
Position Error Pulse Overflow
the speed in such a state, this alarm occurs when the position
A.D02 Alarm by Speed Limit at Servo Gr.2 Available
references are input and the number of position error pulses
ON
exceeds the value set for parameter Pn520 (Excessive Posi-
tion Error Alarm Level).
Motor-load Position Error
A.D10 The position error between motor and load is excessive. Gr.2 Available
Overflow
A.E00 System Alarm 5 Internal program error 5 occurred in the SERVOPACK. Gr.1 Available
A.E02 System Alarm 6 Internal program error 6 occurred in the SERVOPACK. Gr.1 N/A
HWBB Function Signal Input
A.EB1 The HWBB function signal input timing is faulty. Gr.1 N/A
Timing Error
A power regeneration converter local bus WD alarm
A.EEA Converter Local Bus WD Error Gr.1 N/A
occurred.
Converter Local Bus A communications error occurred during the power regener-
A.EEB Gr.1 Available
Communications Error ation converter local bus communications.
A.EF0 Local Bus Connection Error The local bus is not connected. Gr.1 Available
∗2. The alarm that may occur when using external encoders.
11-8
11.2 Alarm Displays
(cont’d)
Alarm Name Meaning
A.EF2 Local Bus Drive WD Error A local bus watchdog alarm occurred in the SERVOPACK. Gr.2 N/A
Local Bus Communications
A.EF4 An error occurred during local bus communications. Gr.2 Available
Error
Converter AC Power Supply The voltage was low for one second in phase L1, L2, or L3
A.F1A Gr.1 Available
Open Phase when the main power supply was turned ON.
Converter AC Power Supply
A.F2A The power supply frequency is faulty. Gr.1 Available
Frequency Error
The detection of the AC power supply input frequency was
A.F2B Frequency Detection Time Gr.1 Available
not completed within the set time.
Exceeded
There is an error in the connection to the external dynamic
A.F30 External DB Error Gr.1 N/A
brake.
A.F3B An error occurred in the AC power supply phase sequence. Gr.1 Available
Phase Sequence Error
11
11-9
11.2.2 List of Alarms for EtherCAT (CoE) Communications
11.2.2 List of Alarms for EtherCAT (CoE) Communications

This table lists the alarms of the EtherCAT (CoE) communications.

Alarm Name Meaning
Code Method Reset
0EA0h System Alarm 9 Internal program error 9 occurred in the SERVOPACK. Gr.1 N/A
EtherCAT DC Synchronization The Sync0 event and the SERVOPACK cannot be synchro-
0A10h Gr.1 Available
Error * nized.
The EtherCAT AL state became not “Operational” while the
0A11h EtherCAT State Error Gr.1 Available
DS402 drive state is in “Operation enabled.”
EtherCAT Outputs Data The events, receive process data and sync0, do not synchro-
0A12h Gr.1 Available
Synchronization Error * nize. (Failed to receive the process data.)
0A20h Parameter Setting Error The parameter setting is out of range. Gr.1 N/A
0A40h System Alarm 13 Internal program error 13 occurred in the SERVOPACK. Gr.1 N/A
0A41h System Alarm 14 Internal program error 14 occurred in the SERVOPACK. Gr.1 N/A
0A47h Loading Servo Information The loading of SERVOPACK information was failed. Gr.1 N/A
Error
EEPROM Parameter Data
0A48h The checksum in EEPROM is broken. Gr.1 N/A
Error
∗ If an error is detected, the status of EtherCAT communication changes to SAFEOP.
11-10
11.2 Alarm Displays
11.2.3 Troubleshooting of the Servo Drive Alarms

When an error occurs in the servo drives, LEDs on the panel operator will light up. 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:
Cause Investigative Actions Corrective Actions
Alarm Name
Set the power supply voltage within
The power supply voltage sud-
Measure the power supply voltage. the specified range, and initialize
denly dropped.
the parameter.
The power supply went OFF
Note the circumstances when the Initialize the parameter and then set
while changing a parameter set-
power supply went OFF. the parameter again.
ting.
The SERVOPACK may be faulty.
The number of times that parame- Check to see if the parameters were Repair or replace the SERVO-
A.020: ters were written exceeded the frequently changed through the host PACK.
Parameter Checksum limit. controller. Reconsider the method of writing
Error parameters.
(The parameter data in Malfunction caused by noise Turn the power supply ON and OFF
the SERVOPACK is from the AC power supply or several times. If the alarm still Take countermeasures against
incorrect.) grounding line, static electricity occurs, there may be noise interfer- noise.
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
SERVOPACK failure several times. If the alarm still
Replace the SERVOPACK.
occurs, the SERVOPACK is faulty.
Write the parameter of another
A.021: The software version of SERVO- Check SigmaWin for the Σ-V-SD
SERVOPACK of the same model
Parameter Format PACK that caused the alarm is (MT) to see if the set software ver-
with the same software version.
Error older than that of the written sion agrees with that of the SERVO-
Then turn the power OFF and then
(The data format of the parameter. PACK. If not, an alarm may occur.
ON again.
parameter in the SER-
VOPACK is incorrect.) The SERVOPACK may be faulty.
SERVOPACK failure −
The power supply voltage sud- The SERVOPACK may be faulty.
A.022: Measure the power supply voltage.
denly dropped. Replace the SERVOPACK.
System Checksum
The power supply went OFF Note the circumstances when the The SERVOPACK may be faulty.

Error
while setting an utility function. power supply went OFF. Replace the SERVOPACK.
(The parameter data in
the SERVOPACK is Turn the power supply ON and OFF
incorrect.) SERVOPACK failure several times. If the alarm still
11
11-11
(cont’d)
Alarm:
Alarm Name
Check to see if write processing
Writing the motor parameters
ended before the write was com- Write the motor parameters again.
failed.
pleted.
Check to see if suitable motor
Motor Parameter Error Write suitable motor parameters.
parameters were written.
The power supply voltage sud- Set the power supply voltage within
Measure the power supply voltage.
denly dropped. the specified range.
The power supply went OFF
Note the circumstances when the
while changing a motor parame- Write the motor parameters again.
power supply went OFF.
A.029: ter setting.
Motor Parameter The number of times that motor The SERVOPACK may be faulty.
Checksum Error Check to see if the parameters were
parameters were written Repair or replace the SERVO-
(The motor parameter frequently changed.
exceeded the limit. PACK.
data in the SERVO-
PACK is corrupted.) Malfunction caused by noise Turn the power supply ON and OFF
from the AC power supply or several times. If the alarm still Take countermeasures against
grounding line, static electricity occurs, there may be noise interfer- noise.
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
SERVOPACK failure several times. If the alarm still
A.02C:
Converter Parameter
The power regeneration converter
Checksum Error Power regeneration converter
− may be faulty. Replace the power
(The parameter data in failure
regeneration converter.
the power regeneration
converter is incorrect.)
A.02D:
Converter Parameter
Format Error Power regeneration converter
(The parameter format in failure regeneration converter.
A.02E:
Converter System
Checksum Error Power regeneration converter
A.030:
Main Circuit Detector SERVOPACK failure −
Error
The SERVOPACK and servomo- Select the proper combination of
A.040: Check the combination of SERVO-
tor capacities do not match each SERVOPACK and servomotor
PACK and servomotor capacities.
Parameter Setting other. capacities.
Error
(The parameter setting SERVOPACK failure −
was out of the allowable
setting range.) The parameter setting is out of Check the setting ranges of the Set the parameter to a value within
the specified range. parameters that have been changed. the specified range.
The speed of program JOG oper-
A.042: ation is lower than the setting
Parameter range after having changed the Check that the detection conditions* Increase the setting for Pn533 “Pro-
gram JOG Movement Speed.”
Combination Error setting of Pn533 “Program JOG is satisfied.
Movement Speed.”
11-12
11.2 Alarm Displays
(cont’d)
Alarm:
Alarm Name
A.04B:
Converter Parameter
Setting Error Power regeneration converter
Check the capacities to see if they
satisfy the following condition:
The SERVOPACK and servomo- Select the proper combination of
(Servomotor capacity)/(SERVO-
A.050: tor capacities do not match each SERVOPACK and servomotor
PACK capacity) ≥ 1/4, and (Servo-
other. capacities.
Combination Error motor capacity)/(SERVOPACK
(The SERVOPACK and capacity) ≤ 4.
servomotor capacities do Replace the servomotor and see if
not correspond.) Encoder failure Replace the servomotor (encoder).
the alarm occurs again.
A.051: An unsupported serial converter

unit, serial encoder, or external Check the product specifications, Select the correct combination of
Unsupported Device
encoder is connected to the SER- and select the correct model. units.
Alarm
VOPACK.
A.052: Check the parameter setting
Correct the Motor Type Setting
Motor Type Setting The Motor Type Setting (Pn01E.0) and the servomotor that
(Pn01E.0) according to the com-
Mismatch (Pn01E.0) is wrong. is used in combination with the
bined servomotor.
(The Motor Type/Appli- SERVOPACK.
cation Selection Setting
(Pn01E.0) does not Check the model of the combined
Write the motor parameter file in
match the motor parame- A mistake occurred in writing the servomotor from the product infor-
the SERVOPACK according to the
ter written inside the motor parameter file. mation monitor in SigmaWin for
combined servomotor.
SERVOPACK.) the Σ-V-SD (MT).
Check the parameter setting

Correct the Motor Type Setting
The Motor Type Setting (Pn01E.0) and the servomotor that
A.053: (Pn01E.0) is wrong. is used in combination with the
bined servomotor.
SERVOPACK.
Winding Selection
Setting Mismatch Check the parameter setting
Correct the Winding Change Setting
(The Winding Change The Winding Change Setting (Pn01E.1) and the motor that is
Setting (Pn01E.1) does (Pn01E.1) is wrong. used in combination with the SER-
bined motor.
not match the motor VOPACK.
parameter written inside Check the model of the combined

the SERVOPACK.) Write the motor parameter file in
A mistake occurred in writing the servomotor from the product infor-
the SERVOPACK according to the
motor parameter file. mation monitor in SigmaWin for
combined servomotor.
the Σ-V-SD (MT).
A.054:
Unsupported Winding
Selection Alarm The combination of the SERVO-
Change the combination of the
(The combination of the PACK and motor does not allow −
SERVOPACK and servomotor.
SERVOPACK and ser- winding selection.
vomotor does not sup-
port winding selection)
∗ Detection Condition Formulas
An alarm is detected if either of the following two conditions is met.
• Pn585 [mm/s] × Division number of serial converter unit ≤ 1
Linear scale pitch [µm] 10
• Pn385 [100 mm/s] × Division number of serial converter unit ≥ 1

5
Linear scale pitch [µm] approx. 6.10 × 10
11
11-13
(cont’d)
Alarm:
Alarm Name
A.05A:
Induction Motor
Combination Error The SERVOPACK capacity and Check the combination of the SER-
Align the SERVOPACK capacity
(The capacity of the spindle motor capacity are not VOPACK capacity and servomotor
and spindle motor capacity.
spindle motor is outside compatible. capacity.
of the range that can be
combined.)
A.05B:
Converter
A converter that does not support
Combination Error
an emergency stop was used with − Replace the converter.
(The converter and SER- Pn01B.0 set to 1.
VOPACK are not com-
bined correctly.)
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.
Command Alarm was sent from the host controller.
Incorrect wiring or contact fault
of main circuit cable or motor Check the wiring. Correct the wiring.
main circuit cable.
Check for short-circuits across the
Short-circuit or ground fault of
cable phase-U, -V, and -W, or Some cables may be damaged.
main circuit cable or motor main
between the grounding and terminal Replace damaged cables.
circuit cable.
U, V, or W.
Short-circuit or ground fault motor terminal phase-U, -V, and - The motor may be faulty. Replace
inside the motor. W, or between the grounding and the motor.
motor terminal U, V, or W.
servomotor connection terminals U,
Short-circuit or ground fault The SERVOPACK may be faulty.
V, and W on the SERVOPACK, or
inside the SERVOPACK. Replace the SERVOPACK.
between the grounding and terminal
A.100: U, V, or W.
Overcurrent
(An overcurrent flowed Check the resistor power consump-
through the IGBT or The dynamic brake (DB: Emer- tion monitor in SigmaWin for the Σ-
Change the SERVOPACK model,
heat sink of SERVO- gency stop executed from the V-SD (MT) to see how many times
operation conditions, or the mecha-
PACK overheated.) SERVOPACK) was frequently the DB has been used. Or, check the
nism so that the DB does not need
activated, or the DB overload alarm history to see if the DB over-
to be used so frequently.
alarm occurred. load alarm A.730 or A.731 was
reported.
A heavy load was applied while Check to see if the operating condi- Reduce the load applied to the
the motor was stopped or running tions are outside servo drive specifi- motor or increase the operation
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 SERVOPACK main circuit wire
recurs.
size.
Turn the power supply OFF and
then ON again. If the alarm still
occurs, the SERVOPACK may be
faulty. Replace the SERVOPACK.
11-14
11.2 Alarm Displays
(cont’d)
Alarm:
Alarm Name
A mistake occurred when select- Check the power regeneration con-
Change the power regeneration con-
ing the power regeneration converter capacity and the total output
verter capacity.
verter capacity. capacity of the SERVOPACK.
An unmatched AC reactor is
− Use the specified AC reactor.
used.
The main circuit cable is either
incorrectly wired or has a contact Make sure the wiring is correct. Correct the wiring.
fault.
Check for short-circuits across
A short-circuit or ground fault
phase R, S, and T of the cable, or The cable may have short-cir-
occurred in the main circuit
between the ground and phase R, S, cuited. Replace the cable.
cable.
or T.
A.10A:
Converter Overcurrent Check for short-circuits across
(An overcurrent flowed A short-circuit or ground fault phase R, S, and T of the main circuit
through the power tran- occurred in the power regenera- power supply connection terminal
may be faulty. Replace the power
sistor inside the power of the power regeneration converter,
tion converter. regeneration converter.
regeneration converter.) or between the ground and phase R,
S, or T.
Improve the noise environment, Take measures against noise, such
including the wiring and installa- as wiring the FG correctly. Match
Malfunction caused by noise.
tion, and check to see if the alarm the FG wire size with the SERVO-
occurs again. PACK main circuit wire size.
A short-circuit or ground fault The AC reactor may be faulty.
−
occurred in the AC reactor. Replace the AC reactor.
− occurs, the power regeneration con-
failure
verter may be faulty. Replace the
power regeneration converter.
Check for short-circuits between the
The cable may be faulty. Replace
Ground fault of motor cable cable phase-U, -V, and -W and the
the cable.
grounding.
The motor may be faulty. Replace
Ground fault inside the motor motor terminals U, V, and W and
the motor
the grounding.
motor connection terminals U, V,
Ground fault of main circuit in The SERVOPACK may be faulty.

A.11A: and W on the SERVOPACK and the
the SERVOPACK Replace the SERVOPACK.
grounding, or between terminals P
Converter Ground
and N and the grounding.
Fault
(A ground fault Check for short-circuits between the
occurred.) power connection terminals L1, L2,
Ground fault of main circuit in and L3 on the power regeneration
the power regeneration converter converter and the grounding, or
between terminals P and N and the
grounding.
If an alarm occurs after turning the
control power ON, the power regen-
Power regeneration converter Turn the control power ON and
eration converter may be faulty.
failure check if an alarm occurs.
Replace the power regeneration
converter.
A.22A:
Converter Fuse
Blowout The fuse of the main power sup-
(The fuse of the main ply inside the power regeneration −
converter.
power supply inside the converter is blown out. 11
power regeneration con-
verter is blown out.)
11-15
(cont’d)
Alarm:
Alarm Name
• For 200-VAC SERVOPACKs
with DC-bus power supply
input: The power supply volt-
age exceeded 410 V. Set AC/DC power supply voltage
• For 400-VAC SERVOPACKs within the specified range.
with DC-bus power supply
input: The power supply volt-
age exceeded 820 V.
Improve the power supply condi-
tions, and turn the power supply ON
The power supply is unstable, or
again after installing a surge
was influenced by a lightning Measure the power supply voltage.
absorber. If the alarm still occurs,
surge.
the SERVOPACK may be faulty.
A.400:
Acceleration/deceleration was
Overvoltage executed under the following
(The DC-bus voltage conditions.
inside the SERVO- • The AC power supply voltage
PACK is abnormally of 200-VAC SERVOPACK Check the power supply voltage and
high.) Set AC power supply voltage within
was in the range between 230 the speed and torque during opera-
the specified range.
V and 270 V. tion.
• The AC power supply voltage
of 400-VAC SERVOPACK
was in the range between 480
V and 560 V.
The moment of inertia exceeded Confirm that the moment of inertia Increase the deceleration time, or
the allowable value. ratio is within the allowable range. reduce the load.
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 may be faulty. Replace the
SERVOPACK.
11-16
11.2 Alarm Displays
(cont’d)
Alarm:
Alarm Name
• For 200-V power regeneration
converter with DC-bus power
supply input:
The power voltage exceeded
410 V. Set the AC/DC power supply volt-
• For 400-V power regeneration age within the specified range.
converter with DC-bus power
supply input:
The power voltage exceeded
820 V.
Improve the power supply condi-
tions, and turn ON the power supply
The power supply is unstable, or again after installing a surge
was influenced by a lightening Measure the power supply voltage. absorber. If the alarm still occurs,
surge. the power regeneration converter
A.40A: Acceleration/deceleration was
Converter Overvoltage executed under the following
(The DC-bus voltage conditions.
inside the converter is • The AC power supply voltage
abnormally high.) of 200-VAC SERVOPACK Check the power supply voltage and
Set the AC power supply voltage
was in the range between 230 the speed and torque during opera-
within the specified range.
V and 270 V. tion.
• The AC power supply voltage
of 400-VAC SERVOPACK
was in the range is between
480 V and 560 V.
The moment of inertia exceeded
the allowable value in the SER- Make sure the moment of inertia Increase the deceleration time, or
VOPACK connected to the power ratio is within the allowable range. reduce the load.
Turn OFF the control power and
then turn it ON again while the
main circuit power supply is OFF.
− If the alarm still occurs, the power
failure
regeneration converter may be
faulty. Replace the power regenera-
tion converter.

A.40B: fault.
Converter AC The main circuit power supply
Measure the AC power supply volt- Set the voltage to an appropriate
Overvoltage voltage is higher than the speci-
age. value.
(The AC power supply fied range.
voltage inside the con- Turn the power supply OFF and
verter is abnormally An error occurred in the AC volt- then ON again. If the alarm still
high.) age detection circuit inside the − occurs, the power regeneration con-
power regeneration converter. verter may be faulty. Replace the
11
11-17
(cont’d)
Alarm:
Alarm Name
Measure the AC power supply volt- Improve the power supply condi-
The AC voltage is unstable.
age. tions.
The DC bus voltage is unstable,
Measure the DC bus power supply The SERVOPACK may be faulty.
A.40C: or an error occurred in the main
voltage. Replace the SERVOPACK.
Abnormal Voltage in circuit in the SERVOPACK.
Converter Main Circuit The DC bus voltage is unstable,
(An error occurred in the The power regeneration converter
or an error occurred in the main Measure the DC bus power supply
main circuit of the power may be faulty. Replace the power
circuit in the power regeneration voltage.
regeneration converter.) regeneration converter.
converter.
An error occurred in the AC/DC The power regeneration converter
voltage detection circuit in the − may be faulty. Replace the power
power regeneration converter. regeneration converter.
• For 200-VAC SERVOPACKs:
The power supply voltage was
in the range between 125 V and
170 V. Set the power supply voltage within
• For 400-VAC SERVOPACKs: the specified range.
A.410: The power supply voltage was
Undervoltage in the range between 250 V and
(The DC-bus voltage 323 V.
inside the SERVO- The power supply voltage
PACK is low.) Measure the power supply voltage. Increase the power supply capacity.
dropped during operation.
Occurrence of instantaneous Improve the power supply condi-
power interruption. tions.
• For 200-VAC power regenera-
tion converter:
170 V. Set the power supply voltage within
• For 400-VAC power regenera- the specified range.
tion converter:
A.41A: 323 V.
Converter DC
Undervoltage The wiring of the main circuit DC Correct the wiring of the main cir-
Check the wiring.
(The DC-bus voltage bus is incorrect. cuit DC bus.
inside the power regen- Separate the SERVOPACK and
eration converter is low.) An error occurred in the main cir- then turn ON the power supply
Separate the main circuit DC bus of
cuit of the SERVOPACK con- again. If an alarm does not occur,
the SERVOPACK.
nected to the converter. the SERVOPACK may be faulty.
failure
11-18
11.2 Alarm Displays
(cont’d)
Alarm:
Alarm Name
• For 200-VAC power regenera-
tion converter:
The power supply was in the
range between 50 V to 125 V. Set AC power supply voltage within
A.41B: Measure the power supply voltage.
• For 400-VAC power regenera- the specified range.
Converter AC tion converter:
Undervoltage The power supply was in the
(The AC voltage inside range between 100 V to 250 V.
converter is low.) If an alarm occurs after turning the
correct power ON, the power regen-
− eration converter may be faulty.
failure
converter.
A power failure occurred. −
then ON again.
The AC power supply was dis-
Check the main circuit contactor Turn OFF the AC power supply and
connected by the main circuit
and NFB. then turn it ON again.
contactor.
The AC voltage is unstable dur-
ing the operation.
A.41C: • For 200-VAC power regenera-
Power Failure While tion converter:
Motor Running The power supply was 50 V Set AC power supply voltage within
(The AC power supply Measure the power supply voltage.
or less. the specified range.
was cut off while the • For 400-VAC power regenera-
motor was running.) tion converter:
The power supply was 100 V
or less.
If an alarm occurs after turning the
correct power ON, the power regen-
− eration converter may be faulty.
failure
converter.
fault.
The wiring of the main circuit DC Correct the wiring of the main cir-
Check the wiring.
bus is incorrect. cuit DC bus.

Separate the SERVOPACK and
A.42C: An error occurred in the main cir- then turn ON the power supply
Separate the main circuit DC bus of
cuit of the SERVOPACK con- again. If an alarm does not occur,
Converter Initial the SERVOPACK.
nected to the converter. the SERVOPACK may be faulty.
Charging Error
(Charging of the main
circuit capacitor did not Turn the power supply OFF and
finish within the speci- then ON again. If the alarm still
Converter rapid discharge circuit
fied period of time.) − occurs, the power regeneration con-
failure
The AC-DC conversion circuit then ON again. If the alarm still
inside the power regeneration − occurs, the power regeneration con-
converter has failed. verter may be faulty. Replace the
A.450: Main circuit capacitor failure
Main Circuit Capacitor
Overvoltage
(The capacitor of the An error occurred in the main cir- − occurs, the power regeneration con-
11
main circuit has deterio- cuit detection circuit. power regeneration converter.
rated or is faulty.)
11-19
(cont’d)
Alarm:
Alarm Name
The order of phases U, V, and W
Confirm that the servomotor is cor-
in the servomotor wiring is incor- Check the servomotor wiring.
rectly wired.
rect.
A.510: A reference value exceeding the
Reduce the reference value or adjust
Overspeed overspeed detection level was Check the input value.
the gain.
(The servomotor speed input.
exceeds the maximum.) The motor speed exceeded the Check the servomotor speed wave- Adjust the servo gain, or reconsider
maximum. form. the operation conditions.
A.521:
Autotuning Alarm Excessive vibration was detected Perform the corrective action for the
Check the speed waveform of the
(Vibration was detected in the motor during one-parame- operating procedure for the func-
motor.
during one-parameter ter tuning. tion.
tuning or Easy-FFT.)
The motor main circuit cable is
either incorrectly wired or has a Make sure the wiring is correct. Correct the wiring.
A.531: contact fault.
Excessive Speed
Check for short-circuits across
Deviation A short-circuit or ground fault
phase U, V, and W of the cable, or The cable may have short-cir-
(The deviation between occurred in the motor main cir-
between the ground and phase U, V, cuited. Replace the cable.
the speed reference and cuit cable.
or W.
actual motor speed is
abnormal.) The load is heavy (for example, Check to see if the load friction is
the cutting resistance may be high and the moment of inertia of Remove the load.
high). the load is too high.
Check the wiring of the motor and
The sequence of phase U, V, and
of the electromagnetic contactor for Correct the motor wiring.
W motor lines is incorrect.
winding selection.
A.540: The reference input value
Overspeed (During Reduce the reference value, or
exceeds the maximum speed of Check the input reference.
Low-speed Winding) adjust the gain.
the low-speed winding.
(The low-speed winding
maximum speed was The low-speed winding maxi-
Check the motor speed from the
exceeded during low- mum rotation speed was Adjust the gain, or revise the oper-
motor speed monitor in SigmaWin
speed winding.) exceeded during low-speed wind- ating conditions.
for the Σ-V-SD (MT).
ing.
During the winding selection
check that is performed when the
Check the wiring of the SERVO-
power is turned ON, the electro- Correct the wiring of the winding
PACK and of the electromagnetic
magnetic contactor for winding selection signal.
contactor for winding selection.
selection did not change accord-
ing to the internal command.
A.690: Winding selection was not com-
Check the wiring of the electromag- Correct the wiring of the electro-
Winding Selection pleted within two seconds of
netic contactor for winding selec- magnetic contactor for winding
Operation Fault receiving the winding selection
tion. selection.
command.
Chattering occurred in the elec- Correct the wiring of the electro-
tromagnetic contactor for wind- Check the wiring of the electromag- magnetic contactor for winding
ing selection when the winding netic contactor for winding selec- selection, or replace the electromag-
selection command was not tion. netic contactor for winding selec-
received. tion.
A.6B0:
Emergency Stop
Failure
The set value of the emergency Correct the emergency stop torque
(The motor did not stop −
stop torque in Pn406 is too small. setting in Pn406.
within 10 s after the
emergency stop signal
input.)
11-20
11.2 Alarm Displays
(cont’d)
Alarm:
Alarm Name
Incorrect wiring or contact fault Confirm that the servomotor and
Check the wiring.
of servomotor and encoder. encoder are correctly wired.
Reconsider the load conditions and
Operation beyond the overload Check the servomotor overload
A.710: operation conditions. Or, increase
protection characteristics. characteristics and command.
A.720: the servomotor capacity.
Overload Excessive load was applied dur-
A.710: High Load ing operation because the servo- Check the command and servomo-
A.720: Low Load Remove the mechanical problems.
motor was not driven due to tor speed.
mechanical problems.
The sequence of phase U, V, and Check the wiring of the motor’s
Correct the motor wiring.
W motor lines is incorrect. main circuit cable.
The motor main circuit cable is
either incorrectly wired or has a Make sure the wiring is correct. Correct the wiring.
A.72A: contact fault.
Converter Electric
Operation Overload Change the power regeneration con-
ing the power regeneration converter capacity and the total output
(A continuous operation verter capacity.
drew power at a rate that
exceeded the rated out- Turn the power supply OFF and
put of the power regen- then ON again. If the alarm still
Converter current detection cir-
eration converter.) − occurs, the power regeneration con-
cuit failure
The AC power supply voltage is Set AC power supply voltage within
low. the specified range.
Change the power regeneration con-
A.72B: ing the power regeneration converter capacity and the total output
verter capacity.
Converter Power
Supply Regenerative The AC power supply voltage is Set AC power supply voltage within
Overload low. the specified range.
(Continuous power Turn the power supply OFF and
regeneration exceeded then ON again. If the alarm still
the ratings of the power Power regeneration converter
regeneration converter.) failure

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.
A.730:
A.731: • Reduce the servomotor reference
Dynamic Brake Check the DB resistor power con- speed.
The rotating energy at a DB stop
Overload sumption monitor in SigmaWin for • Reduce the moment of inertia
exceeds the DB resistance capac-
(An excessive power the Σ-V-SD (MT) to see how many ratio.
ity.
consumption of dynamic times the DB has been used. • Reduce the number of times of
brake was detected.) the DB stop operation.
Change the sequence and operation
The main circuit power supply Check the ON/OFF sequence of the pattern such that the main circuit
turned ON and OFF frequently. main circuit power supply. power supply does not turn ON and
A.74A: OFF frequently.
Converter Inrush
Resistance Overload Turn the power supply OFF and
(The main circuit power then ON again after cooling the
power regeneration converter to the
supply turned ON and
Inrush limit circuit failure − ambient temperature. If the alarm 11
OFF frequently.)
still occurs, the power regeneration
converter may be faulty. Replace
the power regeneration converter.
11-21
(cont’d)
Alarm:
Alarm Name
A.790: The ambient temperature around Check the ambient temperature Make sure the ambient temperature
Motor Overheated the motor is high. around the motor. around the motor does not increase.
(The motor temperature Make the acceleration/deceleration
has exceeded the upper Acceleration and deceleration
− of the motor smoother, or change
limit.) were repeated frequently.
the operation pattern.
The cable between the SERVO-
A.791: PACK and spindle motor is either Make sure the wiring is not discon-
Correct the wiring.
disconnected or has a contact nected and no contact fault exists.
Motor Temperature
fault.
Detection Error
(The motor thermistor is The thermistor wiring in the spin- The spindle motor may be faulty.
−
either disconnected or is dle motor is disconnected. Replace the spindle motor.
damaged.) The spindle motor may be faulty.
The thermistor has failed. −
Replace the spindle motor.
Improve the installation conditions
The operating ambient tempera- Check the ambient temperature
of the SERVOPACK and reduce the
ture is too high. using a thermometer.
operating ambient temperature.
A.7A0: The overload alarm has been Check the alarm history to see if the
Change the method for resetting the
reset by turning OFF the power overload alarm of the SERVO-
Heat Sink in alarm.
too many times. PACK was reported.
SERVOPACK
Overheated The installation orientation of the
(The temperature of the SERVOPACK is incorrect or the Check the installation conditions of Install the SERVOPACK correctly
heat sink in the SERVO- distance from other equipment is the SERVOPACK. as specified.
PACK exceeded 100°C, insufficient.
or the thermistor in the The SERVOPACK may be faulty.
SERVOPACK was dis- SERVOPACK failure −
connected or damaged.)
The heat sink cooling fan in the
ventilation duct stopped or the Make sure that there is no foreign Remove the foreign matter. Or
fan in the base mounting unit matter in the fans. replace the fan.
stopped.
A.7AB: Remove the foreign matter. 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.
A.7AC:
Remove the foreign matter. If the
Built-in Fan in
Check for foreign matter or debris alarm still occurs, the power regen-
Converter Stopped The fan inside the power regener-
inside the power regeneration con- eration converter may be faulty.
(The fan inside the ation converter stopped.
verter. Replace the power regeneration
power regeneration con- converter.
verter stopped.)
11-22
11.2 Alarm Displays
(cont’d)
Alarm:
Alarm Name
Improve the installation conditions
The operating ambient tempera- Check the operating ambient tem- of the power regeneration converter
ture is high. perature using a thermometer. and reduce the operating ambient
temperature.
The overload alarm has been
Remove the cause of the overload
reset by turning OFF the power −
alarm.
too many times.
A.7BA:
Converter Heat Sink Either the load is in excess or
Overheated operation is performed beyond Review the load and operation con-
−
(The temperature of the the power regeneration process- ditions.
heat sink inside the ing capacity.
power regeneration con- The installation orientation of the
verter exceeded 100°C, power regeneration converter is Check the installation conditions of Install the power regeneration con-
or the thermistor in the incorrect or the distance from the power regeneration converter. verter correctly as specified.
converter was discon- other equipment is insufficient.
nected or damaged.)
failure
The heat sink cooling fan in the
ventilation duct stopped or the Make sure that there is no foreign Remove the foreign matter. Or
fan in the base mounting unit matter in the fans. replace the fan.
stopped.
Alarm occurred when the power
Check to see if the power was
to the absolute encoder was ini- Set up the encoder.
turned ON initially.
tially turned ON.
The encoder cable disconnected, Check to see if the power was Confirm the connection and set up
A.810: and connected again. turned ON initially. the encoder.
Encoder Backup Error The power from both the control
Replace the battery or take similar
(Detected on the power supply (+5 V) and the bat- Check the encoder connector bat-
measures to supply power to the
encoder.) tery power supply from the SER- tery or the connector contact status.
encoder, and set up the encoder.
(Only when an absolute VOPACK is not being supplied.
encoder is connected.) If the alarm cannot be reset by set-
Absolute encoder failure − ting up the encoder again, replace
the servomotor.
Set up the encoder again. If the

A.820: alarm still occurs, the servomotor
Encoder Checksum Encoder failure −
may be faulty. Replace the servo-
Error motor.
(Detected on the
encoder.) The SERVOPACK may be faulty.
The battery connection is incor-
Check the battery connection. Reconnect the battery.
rect.
A.830: The battery voltage is lower than
Measure the battery voltage. Replace the battery.
Absolute Encoder the specified value 2.7 V.
Battery Error The SERVOPACK may be faulty.
(The absolute encoder SERVOPACK failure −
battery voltage is lower
than the specified value.) Turn the power supply OFF and
Encoder failure −
occurs, the servomotor may be
faulty. Replace the servomotor.
11
11-23
(cont’d)
Alarm:
Alarm Name
Encoder failure −
A.840: faulty. Replace the servomotor.
Encoder Data Error
(Detected on the Correct the wiring around the
encoder.) 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 was running at Check the speed monitor in Reduce the servomotor speed to a
200 min-1 or higher when the SigmaWin for the Σ-V-SD (MT)
to see the servomotor speed value less than 200 min-1, and turn
control power supply was turned
A.850: when the power is turned ON. ON the control power supply.
ON.
Encoder Overspeed
(Detected when the con- Turn the power supply OFF and
trol power supply was Encoder failure −
turned ON.) occurs, the servomotor may be
(Detected on the
encoder.) Turn the power supply OFF and
The ambient temperature around Measure the ambient temperature The ambient temperature must be
the servomotor is too high. around the servomotor. 40°C or less.
Check the accumulated load ratio
The servomotor load is greater Set the servomotor load within the
monitor in SigmaWin for the Σ-V-
A.860: than the rated load. specified range.
SD (MT) to see the load.
Encoder Overheated
(Only when an absolute Turn the power supply OFF and
encoder is connected.) then ON again. If the alarm still
Encoder failure −
(Detected on the occurs, the servomotor may be
encoder.) faulty. Replace the servomotor.
Before setting the zero point posi-
Setting of the zero point position tion, use the fully-closed feedback Make the settings so that the servo-
A.8A0: of absolute external scale failed counter monitor in SigmaWin for motor will be stopped while setting
External Encoder because the servomotor rotated. the Σ-V-SD (MT) to confirm that the zero point position.
Error of Scale the servomotor is not rotating.
External encoder failure − Replace the external encoder.
A.8A1: External encoder failure − Replace the external encoder.
External Encoder
Error of Module Serial converter unit failure − Replace the serial converter unit.
A.8A2:
External Encoder
External encoder failure − Replace the external encoder.
Error of Sensor
(Incremental)
A.8A3: The absolute external encoder may
External Encoder be faulty. Refer to the encoder man-
Absolute external encoder failure −
Error of Position ufacture’s instruction manual for
(Absolute) corrective actions.
A.8A5:
The overspeed from the external Repair or replace the external
External Encoder −
encoder occurred. encoder.
Overspeed
A.8A6:
The overheat from the external Repair or replace the external
External Encoder −
encoder occurred. encoder.
Overheated
11-24
11.2 Alarm Displays
(cont’d)
Alarm:
Alarm Name
A.B31: Turn the power supply OFF and
Current Detection The current detection circuit for then ON again. If the alarm still
−
Error 1 phase U is faulty. occurs, the SERVOPACK may be
(Phase-U) faulty. Replace the SERVOPACK.
A.B32: Turn the power supply OFF and
Current Detection The current detection circuit for then ON again. If the alarm still
−
Error 2 phase V is faulty. occurs, the SERVOPACK may be
(Phase-V) faulty. Replace the SERVOPACK.
A.B33: The detection circuit for the cur- then ON again. If the alarm still
−
Current Detection rent is faulty. occurs, the SERVOPACK may be
Error 3 faulty. Replace the SERVOPACK.
(Current detector) The servomotor main circuit Check for disconnection of the
Correct the servomotor wiring.
cable is disconnected. motor main circuit cable.
A.B4A: The gate drive signal output cir-

cuit of power transistor of the
Converter Gate Drive − may be faulty. Replace the power
power regeneration converter has
Output Error regeneration converter.
failed.
A.BDA:
Converter CPU: AD
Conversion Circuit
Error Power regeneration converter
(An error occurred in the failure regeneration converter.
A/D conversion circuit
inside the power regen-
eration converter.)
A.BDC:
Converter Reference
Voltage Error 2 The power regeneration converter
(An error occurred in the failure − may be faulty. Replace the power
reference voltage output regeneration converter.
inside the power
regeneration converter.)
A.BDD: The power regeneration converter
Converter System − may be faulty. Replace the power
failure
Error 0 regeneration converter.
A.BEA: The power regeneration converter

failure
A.BEB: The power regeneration converter
failure
A.BF0: then ON again. If the alarm still
System Alarm 0 occurs, the SERVOPACK may be
Turn the power supply OFF and 11
11-25
(cont’d)
Alarm:
Alarm Name
The order of phases U, V, and W
Confirm that the servomotor is cor-
in the servomotor wiring is incor- Check the servomotor wiring.
rectly wired.
rect.
A.C10: If the alarm still occurs after turning

the power OFF and then ON again,
Servo Overrun
Encoder failure − even though the servomotor is cor-
Detected
rectly wired, the servomotor may be
(Detected when the ser- faulty. Replace the servomotor.
vomotor power is ON.)
An error occurred in the feedback Check the signal wiring of the pulse Correct the wiring of the pulse
pulse count of the pulse encoder. encoder. encoder.
A.C2A:
Pulse Encoder Phase Improve the noise environment,
Install the pulse encoder cable away
C Error/Pulse Error including the wiring and installa-
Malfunction caused by noise. from the peripheral equipment, or
tion, and check to see if the alarm
add a ferrite core.
occurs again.
A.C3A:
The signal line for phase A of the Check the signal wiring of the pulse Correct the wiring of the pulse
Pulse Encoder Phase pulse encoder is disconnected. encoder. encoder.
A Disconnection
A.C3B:
The signal line for phase B of the Check the signal wiring of the pulse Correct the wiring of the pulse
B Disconnection
A.C3C:
The signal line for phase C of the Check the signal wiring of the pulse Correct the wiring of the pulse
C Disconnection
The phase C signal of the pulse Check the signal wiring of the pulse Correct the wiring of the pulse
A.C50: encoder is not wired correctly. encoder. encoder.
Phase C Not Detected Check the phase C signal of the The pulse encoder may have failed.
Pulse encoder error
pulse encoder. Replace the motor.
Set the power torque limit in Pn430
The parameters are not set cor- Check the encoder specifications
and the regeneration torque limit in
rectly. and the feedback signal status.
Pn431 correctly.
Check to see if the FG on the servo-
motor is connected to the FG on the
SERVOPACK and that the FG on
the SERVOPACK is connected to Correct the shield on the encoder
Noise is entering on the encoder the FG on the power supply. Also, cable.
A.C50: signal. make sure that the encoder cable is
Correct the FG wiring.
Magnetic Pole shielded properly. Check to see if
Incorrect Detection the detection command is being
given repeatedly in the same direc-
tion.
Reduce the external force to about
An external force was applied to
− 10% or less of the motor’s rated
the motor’s rotor.
torque.
The resolution of the encoder is Increase the magnetic pole detec-
−
too low. tion command speed in Pn493.
A.C51: Move the motor’s stator to a posi-
An overtravel signal was detected
Overtravel Detection Check the overtravel position. tion where overtravel will not be
during magnetic pole detection.
at Polarity Detection detected.
11-26
11.2 Alarm Displays
(cont’d)
Alarm:
Alarm Name
An attempt was made to detect
the magnetic pole for the high-
speed winding (for motors with a
A.C52: winding selection). Perform magnetic pole detection for
Polarity Detection −
An attempt was made to detect the low-speed winding.
Uncompleted
the magnetic pole when changing
the winding (for motors with a
winding selection).
The travel distance during mag- Increase the magnetic pole detec-
C53:
netic pole detection exceeded the tion travel range in Pn494.
Out of Range for −
magnetic pole detection travel Increase the magnetic pole detec-
Polarity Detection
range in Pn494. tion speed loop gain in Pn481.
Increase the magnetic pole detec-
tion confirmation torque in Pn495.
Increase the magnetic pole detec-
The motor’s electrical angle dur-
tion allowable deviation range in
C54: ing magnetic pole detection con-
Pn498 (however, a motor overheat-
Polarity Detection firmation exceeded the magnetic −
ing alarm or overload alarm may
Error 2 pole detection allowable devia-
occur).
tion range in Pn498.
Reduce the external force on the
motor’s stator to about 10% or less
of the motor’s rated torque.
A.C80: Encoder failure −
Absolute Encoder faulty. Replace the servomotor.
Clear Error
(Multiturn Limit Setting Turn the power supply OFF and
Error) then ON again. If the alarm still
Re-insert the encoder connector and
Contact fault of encoder connec- Check the encoder connector con-
confirm that the encoder is correctly
tor or incorrect encoder wiring. tact status.
wired.
Encoder cable disconnection or
Use the encoder cable with the
short-circuit. Check the encoder cable.
specified rating.
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 If the alarm still occurs, replace the
Connector contact fault caused by SERVOPACK.
Encoder
Communications Error vibration.
Correct the wiring around the
encoder to avoid noise interference
Malfunction caused by noise
− (Separate the encoder cable from
interference.
the servomotor main circuit cable,
improve grounding, etc.)
Connect the servomotor to another
SERVOPACK, and turn ON the
SERVOPACK failure − control power. If no alarm occurs,
11
11-27
(cont’d)
Alarm:
Alarm Name
The noise interference occurred
on the input/output signal line Check the encoder cable and con- Confirm that there is no problem
because the encoder cable is bent nector. with the encoder cable layout.
and the sheath is damaged.
A.C91:
The encoder cable is bundled
Encoder Confirm that there is no surge volt-
with a high-current line or near a Check the encoder cable layout.
Communications age on the encoder cable.
high-current line.
Position Data Error
The FG potential varies because
of influence from machines on Properly ground the device to sepa-
Check the encoder cable layout.
the servomotor side, such as the rate from the encoder FG.
welder.
Noise interference occurred on
Take countermeasures against
the input/output signal line from −
noise.
the 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
Encoder failure −
Timer Error occurs, the servomotor may be
Encoder failure −
A.CA0: faulty. Replace the servomotor.
Encoder Parameter
Error Turn the power supply OFF and
The encoder wiring and contact
Check the encoder wiring. Correct the encoder wiring.
are incorrect.
Noise interference occurred due Use tinned annealed copper twisted-
to incorrect encoder cable specifi- − pair or shielded twisted-pair cable
cations. with a core of at least 0.12 mm2.
Noise interference occurred
The wiring distance must be 20 m
because the wiring distance for −
max.
the encoder cable is too long.
The FG potential varies because
Make the grounding for the
A.CB0: of influence from machines on Check the encoder cable and con-
machine separately from encoder
Encoder Echoback the servomotor side, such as the nector.
side FG.
Error welder.
Excessive vibration and shocks Reduce the machine vibration or
were applied to the encoder. correctly install the servomotor.
Encoder failure −
11-28
11.2 Alarm Displays
(cont’d)
Alarm:
Alarm Name
The multiturn limit value of the
encoder is different from that of
Check the value of the Pn205 of the Change the settings at the occur-
the SERVOPACK. Or, the multi-
SERVOPACK. rence of alarm.
A.CC0: turn limit value of the SERVO-
Multiturn Limit PACK has been changed.
Disagreement Turn the power supply OFF and
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
Confirm the external encoder wir-
A.CF1: between serial converter unit and Use the specified cable.
ing specifications.
Serial Converter Unit SERVOPACK.
Communications Error Cable between serial converter
(Reception error) Measure the external encoder cable
unit and SERVOPACK is too Use 20 m cable max.
length.
long.
Sheath of cable between serial
converter unit and SERVOPACK Check the external encoder cable. Replace the cable.
is broken.
Correct the wiring around serial
Noise interferes with the cable
A.CF2: converter unit, e.g., separating
between serial converter unit and −
input/output signal line from main
Serial Converter Unit SERVOPACK.
circuit cable or grounding.
Communications Error
(Timer stop) Serial converter unit failure − Replace the serial converter unit.
SERVOPACK failure − Replace the SERVOPACK.
Confirm that there is no contact
The contact in the servomotor U, Check the motor main circuit cable
fault in the motor wiring of encoder
V, and W wirings is faulty. connection.
wiring.
Reduce the position reference speed
The position reference speed is Reduce the reference speed, and
or acceleration of position refer-
A.D00: too high. operate the SERVOPACK.
ence.
Position Error Pulse
The acceleration of the position Reduce the reference acceleration, Reduce the reference acceleration
Overflow
reference is too high. and operate the SERVOPACK. of the position reference.
(Position error exceeded
the value set in the Setting of the Pn520 (Excessive
Check the alarm level (Pn520) to

excessive position error Position Error Alarm Level) is
see if it is set to an appropriate Set the Pn520 to proper value.
alarm level (Pn520)) low against the operating condi-
value.
tion.
The SV_ON command (Enable
A.D01: operation) is received when the
Check the error counter monitor in
Position Error Pulse number of position error pulses is Correct the excessive position error
SigmaWin for the Σ-V-SD (MT)
Overflow Alarm at greater than the set value of alarm level at servo ON (Pn526).
while the servomotor power is OFF.
Servo ON Pn526 while the servomotor
power is OFF.
11
11-29
(cont’d)
Alarm:
Alarm Name
After a position error pulse has
been input, Pn529 limits the
speed if the SV_ON command is
A.D02: received. If Pn529 limits the
Correct the excessive position error
Position Error Pulse speed in such a state, this alarm
alarm level (Pn520).
Overflow Alarm by occurs when the position refer- –
ences are input and the number of Or, adjust the speed limit level at
Speed Limit at Servo
position error pulses exceeds the servo turns ON (Pn529).
ON
value set for parameter Pn520
(Excessive Position Error Alarm
Level).
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.
SERVOPACK failure –
A.E00: Replace the SERVOPACK.
System Alarm 5 A setting on the DIP switch (S3) Turn OFF all pins on the DIP switch
Check the DIP switch settings.
was changed. (S3).
A.E02:
System Alarm 6
A.E03: The SERVOPACK may be faulty.
System Alarm 7 Replace the SERVOPACK.
A.E61:
System Alarm 8
The output signal circuits or devices
for /HWBB1 and /HWBB2
A.EB1: The lag between activations of
or the SERVOPACK input signal
HWBB Function the input signals /HWBB1 and Measure the time lag between the
circuits may be faulty. Alterna-
Signal Input Timing /HWBB2 for the HWBB function /HWBB1 and /HWBB2 signals.
tively, the input signal cables may
Error is 10 second or more.
be disconnected. Repair or replace
them.
The local bus cable of the power
regeneration converter is either Either re-install the local bus cable
Check the local bus cable.
disconnected or a has a contact or replace it.
fault.
A.EEA:
Improve the noise environment, Install the local bus cable away
Converter Local Bus
including the wiring and installa- from the peripheral equipment, or
WD Error Malfunction caused by noise
tion, and check to see if the alarm replace it with a cable that has a fer-
(A power regeneration occurs again. rite core.
converter local bus WD
alarm occurred.) Turn the power supply OFF and
The terminator circuit inside the then ON again. If the alarm still
power regeneration converter has − occurs, the power regeneration con-
failed. verter may be faulty. Replace the
11-30
11.2 Alarm Displays
(cont’d)
Alarm:
Alarm Name
Check to see if the same value is set
Set the rightmost digit of Pn010
The same local bus address is set for the rightmost digit of Pn010
(5C00h) to a unique value for each
twice. (5C00h) for more than one SERVO-
SERVOPACK.
PACK.
The local bus cable of the power
A.EEB: regeneration converter is either Either re-install the local bus cable
Converter Local Bus disconnected or a has a contact or replace it.
Communications Error fault.
(A communications Improve the noise environment, Install the local bus cable away
error occurred in the including the wiring and installa- from the peripheral equipment, or
power regeneration con- Malfunction caused by noise
verter local bus.) occurs again. rite core.
The terminator circuit inside the then ON again. If the alarm still
power regeneration converter has − occurs, the power regeneration con-
failed. verter may be faulty. Replace the
The local bus cable is either dis- Either re-install the local bus cable
connected or has a contact fault. or replace it.
A.EF0: occurs again. rite core.
Local Bus Connection Make sure the local bus terminator
Error The local bus terminator is not
is installed at the terminal SERVO- Install the terminator.
(An error occurred in the installed. PACK.
local bus connection.)
occurs, the power regeneration con-
Terminator circuit failure −
verter or the terminator may be
tion converter or the terminator.
occurs again. rite core.
A.EF2:
Make sure the local bus terminator
Local Bus Drive WD The local bus terminator is not
is installed at the terminal SERVO- Install the terminator.

Error installed.
PACK.
(A local bus watchdog
alarm occurred in the Turn the power supply OFF and
SERVOPACK.) then ON again. If the alarm still
occurs, the power regeneration con-
Terminator circuit failure −
verter or the terminator may be
tion converter or the terminator.
A.EF4: The local bus cable may be faulty.

Local Bus Replace the local bus cable.
Check the insertion of connector of
Communications Error An error occurred during local
the local bus cable and the cable
(An error occurred dur- bus communications. wiring.
ing the local bus com- The SERVOPACK may be faulty.
munications.) Replace the SERVOPACK.
11
11-31
(cont’d)
Alarm:
Alarm Name
The three-phase power supply Make sure the power supply wiring
A.F1A: Check the power supply wiring.
wiring is faulty. is correct.
Converter AC Power
The three-phase power supply is Measure the voltage for each phase Balance the power supply by chang-
Supply Open Phase
unbalanced. of the three-phase power supply. ing phases.
(The voltage was low for
one second on phase L1, Turn the power supply OFF and
L2, or L3 when the main then ON again. If the alarm still
power supply was turned − occurs, the power regeneration con-
failure
ON.) verter may be faulty. Replace the
Check the power supply wiring.
The three-phase power supply is Measure the voltage for each phase Balance the power supply by chang-
A.F2A: unbalanced. of the three-phase power supply. ing phases.
Converter AC Power
Supply Frequency An error occurred in the fre-
Measure the frequency of the three- Make sure the power supply wiring
Error quency of the three-phase power
phase power supply. is correct.
(The deviation in the supply.
power supply frequency Turn the power supply OFF and
is large.) then ON again. If the alarm still
failure
A.F2B:
Converter AC Power The three-phase power supply is Measure the voltage for each phase Balance the power supply by chang-
Supply Frequency unbalanced. of the three-phase power supply. ing phases.
Detection Time An error occurred in the fre-
Exceeded Measure the frequency of the three- Make sure the power supply wiring
quency of the three-phase power
(The detection of the AC phase power supply. is correct.
supply.
power supply input fre-
quency was not com- Turn the power supply OFF and
pleted within the set then ON again. If the alarm still
time.) − occurs, the power regeneration con-
failure
Connect the external dynamic brake
There is an error in the connec-
A.F30: Make sure that the external dynamic correctly. If the alarm still occurs,
tion to the external dynamic
brake is connected correctly. the SERVOPACK may be faulty.
External Dialog Box brake.
Error
(There is an error in the Replace the external dynamic brake
The external DB circuit failed. −
connection to the exter- circuit.
nal dynamic brake.) Check the settings of Pn001.0 and Correct the settings of Pn001.0 and
A parameter is not set correctly.
Pn601. Pn601.
A.F3B: The phases of the three-phase
Converter AC Power power supply was different Modify the power supply so that the
−
Supply Phase before and after an instantaneous phases remain fixed.
Sequence Error power interruption.
(An error occurred in the Turn the power supply OFF and
AC power supply phase then ON again. If the alarm still
sequence.) Power regeneration converter
failure
11-32
11.2 Alarm Displays
11.2.4 Troubleshooting of the EtherCAT (CoE) Communications

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
Alarm Name Cause Investigative Action Corrective Action
Code
Fault occurred in the Repair or replace the
0EA0h System Alarm 9 –
SERVOPACK. SERVOPACK.
Synchronous timing Turn the power supply
EtherCAT DC (Sync0) fluctuated for OFF and ON again and
0A10h –
Synchronization Error EtherCAT communica- then reestablish commu-
tion. nication.
EtherCAT communica-
tion was not in Opera- Reset the alarm and then
0A11h EtherCAT State Error tional state while the – reestablish communica-
servomotor was operat- tion.
ing.
An EtherCAT communi- Correct the EtherCAT
cation error occurred due – wiring and apply counter-
to noise. measures for noise.
Correct the controller so
EtherCAT Outputs The controller did not Check the process data
that it updates the process
0A12h Data Synchronization update process data in the that the controller is out-
data in the regular cycle
Error regular cycle interval. putting.
interval.
There is a fault in the Check the EtherCAT
EtherCAT cable or con- cable and connector wir- Correct the wiring.
nector wiring. ing.
Check whether the setting
is within the following
The position unit is set range. Correct the setting of
out of range. 1/4096 < Object object 2301h.
2301:01/Object
2301:02 < 4096

Parameter Setting The velocity unit is set range. Correct the setting of
0A20h
Error out of range. 1/128 ≤ Object object 2302h.
2302:01/Object
2302:02 ≤ 524288
The acceleration unit is range. Correct the setting of
set out of range. 1/128 ≤ Object object 2303h.
2303:01/Object
2303:02 ≤ 16384
0A40h System Alarm 13 Fault occurred in the Repair or replace the
–
0A41h System Alarm 14 SERVOPACK. SERVOPACK.
11
11-33
11.2.4 Troubleshooting of the EtherCAT (CoE) Communications
(cont’d)
Alarm
Alarm Name Cause Investigative Action Corrective Action
Code
Object 2300h was exe-
cuted while an utility
Turn the power supply
function was being exe- –
OFF and ON again.
cuted using the Sig-
maWin for Σ-V-SD (MT).
The power supply was
turned ON or object Reconnect the encoder,
Check the wiring of the
2300h was executed and then turn ON the
encoder.
Loading Servo while the encoder was not power supply again.
0A47h connected.
Information Error
turned ON or object
Reset the parameter, and
2300h was executed Check the setting of the
then turn ON the power
while alarm 040h parameter.
supply again.
(Parameter Setting Error
1) occurred.
–
Initialize the parameter
Check the timing of the set value (object 1011h),
interrupted during param-
power interruption. and then input the param-
eter writing.
eter again.
Repair or replace the
The number of parame- SERVOPACK.
ters written exceeded the –
Correct the parameter
EEPROM Parameter maximum value.
0A48h writing method.
Data Error
Set the power supply
voltage within the speci-
The power supply voltage Measure the power sup-
fications, and initialize
momentarily dropped. ply voltage.
the parameter set value
(object 1011h).
–
11-34
11.3 Warning Displays

The following sections describe troubleshooting in response to warning displays.
The warning name and warning meaning are listed in order of the warning numbers in 11.3.1 List of Warnings.
The causes of warnings and troubleshooting methods are provided in 11.3.2 Troubleshooting of Warnings.
11.3.1 List of Warnings

This section provides list of warnings.
Warning Setting
Warning Name Meaning Reset
Number Parameter
Position error exceeded the parameter setting
A.900 Position Error Overflow Required Pn008.2
(Pn520×Pn51E/100).
When the servomotor power turns ON, the
Position Error Overflow
A.901 position error exceeded the parameter setting Required Pn008.2
Alarm at Servo ON
(Pn526×Pn528/100).
This warning occurs before the overload
alarms (A.710 or A.720) occur. If the warning
A.910 Overload Required Pn008.2
is ignored and operation continues, an over-
load alarm may occur.
Abnormal vibration at the motor speed was
A.911 Vibration Required Pn008.2
detected.
This warning occurs before the converter
electric operation overload alarm (A.72A)
Converter Electric Operation
A.91A occurs. If the warning is ignored and opera- Required –
Overload
tion continues, a converter electric operation
overload alarm may occur.
This warning occurs before the converter
power supply regenerative overload alarm
Converter Power Supply
A.91B (A.72B) occurs. If the warning is ignored and Required –
Regenerative Overload
operation continues, a converter power supply
regenerative overload alarm may occur.
This warning occurs before dynamic brake
overload alarm (A.730 or A.731) occurs. If
A.921 Dynamic Brake Overload the warning is ignored and operation contin- Required Pn008.2
ues, a dynamic brake overload alarm may
occur.
Built-in Fan in SERVOPACK

A.923 The fan inside the SERVOPACK stopped. Required Pn00D.2
Stopped
Built-in Fan in Converter The fan inside the power regeneration con-
A.92B Stopped verter stopped.
Required Pn00D.2*
Absolute Encoder Battery This warning occurs when the voltage of

A.930 Required Pn008.2
Error absolute encoder’s battery is lowered.
This warning occurs before undervoltage
alarm (A.410) occurs. If the warning is
A.971 Undervoltage Required Pn008.1
ignored and operation continues, an under-
voltage alarm may occur.
This warning occurs before the converter heat
sink overheated alarm (A.7BA) occurs. If the
Converter Heat Sink
A.97D warning is ignored and operation continues, a Required –
Overheated
converter heat sink overheated alarm may
occur.
∗ If Pn00D.2 is set to 1 in any of the SERVOPACKs, this warning is detected for all axes when the servos are turned
ON.
Note: If Pn008.2 is set to 1 to prevent detection of warnings, only the following warnings will be detected:
A.91A, A.91B, and A.92B 11
11-35
11.3.1 List of Warnings
(cont’d)
Warning Setting
Warning Name Meaning Reset
Number Parameter
This warning occurs before the motor over-
heated alarm (A.790) occurs. If the warning is
A.980 Motor Overheated Required –
ignored and operation continues, a motor
overheated alarm may occur.
Overtravel is detected while the servomotor
A.9A0 Overtravel Required Pn00D.3
power is ON.
11-36
11.3.2 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
Number:
Warning Name Cause Investigative Actions Corrective Actions
(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.
The position reference Reduce the reference acceleration, and

Reduce the reference acceleration.
A.900: acceleration is too fast. operate the SERVOPACK.
Position Error
Overflow 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

ON again. If the warning still occurs,
When the servomotor

A.901:
power turns ON, the
Position Error Correct the excessive position error
position error exceeded −
Overflow Alarm warning level at servo ON (Pn528).
the parameter setting
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 Check the servomotor overload char- Reconsider the load conditions and
overload protection acteristics and executed run com- operating conditions. Or, increase the

A.910: characteristics. mand. servomotor 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 servomotor speed.
due to mechanical prob-
lems.

Reduce the servomotor speed or

Abnormal vibration was Check for abnormal noise from the
reduce the servo gain by using the
detected while the ser- servomotor, and check the speed and
function such as one-parameter tun-
vomotor is rotating. torque waveforms during operation.
ing.
A.911:
Vibration The moment of inertia
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. 11
11-37
(cont’d)
Warning
Number:
(Warning
Description)
The sequence of phase
Check the wiring of the motor’s main
U, V, and W motor lines Correct the motor wiring.
circuit cable.
is incorrect.
The motor main circuit
cable is either incor-
Make sure the wiring is correct. Correct the wiring.
rectly wired or has a
contact fault.
A.91A:
A mistake occurred
Converter Check the power regeneration con-
when selecting the Change the power regeneration con-
Electric verter capacity and the total output
power regeneration converter capacity.
Operation capacity of the SERVOPACK.
verter capacity.
Overload
Converter current detec-
− the power regeneration converter may
tion circuit failure
be faulty. Replace the power regenera-
tion converter.
The AC power supply Set AC power supply voltage within
voltage is low. the specified range.
A mistake occurred
Check the power regeneration con-
when selecting the Change the power regeneration con-
verter capacity and the total output
power regeneration converter capacity.
capacity of the SERVOPACK.
verter capacity.
A.91B:
Converter Power The AC power supply Set AC power supply voltage within
Supply voltage is low. the specified range.
Regenerative
Overload
Power regeneration
− the power regeneration converter may
converter failure
be faulty. Replace the power regenera-
tion converter.
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 Check the power consumed by DB • Reduce the servomotor reference
Overload The rotating energy at a
resistance monitor in SigmaWin for Σ- speed.
DB stop exceeds the DB
(Warning before V-SD (MT) to see how many times the • Reduce the moment of inertia ratio.
resistance capacity.
the alarm A.731 DB has been used. • Reduce the number of times of the
occurs) DB stop operation.

A.923:
Remove foreign matter. If the warning
Built-in Fan in The fan inside the SER- Check for foreign matter or debris
still occurs, the SERVOPACK may be
SERVOPACK VOPACK stopped. inside the SERVOPACK.
Stopped
Remove the foreign matter. If the
A.92B:
The fan inside the Check for foreign matter or debris warning still occurs, the power regen-
Built-in Fan in
power regeneration con- inside the power regeneration con- eration converter may be faulty.
Converter
verter stopped. verter. Replace the power regeneration con-
Stopped
verter.
11-38
(cont’d)
Warning
Number:
(Warning
Description)
A.930: The battery connection
Check the battery connection. Reconnect the battery.
Absolute is incorrect.
Encoder Battery
The battery voltage is
Error
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.) The SERVOPACK may be faulty.
∗ Only when an Replace the SERVOPACK.
absolute encoder
is connected.
• For 200-VAC SER-
VOPACKs:
The AC power supply
voltage was in the
range between 125 V
and 170 V. Set the power supply voltage within
• For 400-VAC SER- the specified range.
VOPACKs:
The AC power supply
voltage was in the
A.971: range between 250 V
Undervoltage and 323 V.
The power supply volt-
age dropped during Measure the power supply voltage. Increase the power supply capacity.
operation.
Occurrence of instanta-
neous power interrup- Measure the power supply voltage. Improve the power supply conditions.
tion.

Improve the installation conditions of

The operating ambient Check the operating ambient tempera- the power regeneration converter and
temperature is high. ture using a thermometer. reduce the operating ambient tempera-

ture.
The overload alarm has
been reset by turning Remove the cause of the overload
−
OFF the power too alarm.
many times.
Either the load is in
A.97D: excess or operation is
Review the load and operation condi-
Converter performed beyond the −
tions.
Heat Sink power regeneration pro-
Overheated cessing capacity.
The installation orienta-
tion of the power regen-
eration converter is Check the installation conditions of Install the power regeneration con-
incorrect or the dis- the power regeneration converter. verter correctly as specified.
tance from other equip-
ment is insufficient.
Power regeneration
converter failure
regeneration converter. 11
11-39
(cont’d)
Warning
Number:
(Warning
Description)
The ambient tempera-
Check the ambient temperature Make sure the ambient temperature
ture around the motor is
A.980: around the motor. around the motor does not increase.
high.
Motor
Overheated Acceleration and decel- Make the acceleration/deceleration of
eration were repeated − the motor smoother, or change the
frequently. operation pattern.
Refer to 11.5 Troubleshooting Mal-
function Based on Operation and
Conditions of the Motor. Even if over-
travel signals were not shown,
A.9A0: momentary overtravel may have been
When the servomotor
Overtravel Check the status of the overtravel sig- detected. Do the following.
power is ON, over- • Do not specify movements that
(Overtravel status nals using the host controller.
travel status is detected. would cause overtravel from the
is detected.)
host controller.
• Check the wiring of the overtravel
signals.
• Take countermeasures for noise.
11-40
11.4 Monitoring Communications Data When Alarms or Warnings Occur
11.4 Monitoring Communications Data When Alarms or Warnings

Occur
From the host controller, you can monitor the alarm and warning codes that are detected in the SERVOPACK
by using emergency messages.
The Emergency Telegram consists of eight bytes with the data as shown in table below:
Byte 0 1 2 3 4 5 6 7
Error Manufacturer Specific Error Field

Emergency Error Register SERVOPACK’s
Content Reserved
Code (FF00h)*1 (Object Alarm/Warning Reserved Axis No.
1001h) Code*2
∗1. Manufacturer-specific error code FF00h is always used.

∗2. For details on alarms and warnings of the SERVOPACK, refer to 11.2 Alarm Displays and 11.3 Warning Displays.
11
11-41
11.5 Troubleshooting Malfunction Based on Operation and

Conditions of the Motor
Troubleshooting for the malfunctions based on the operation and conditions of the motor 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.
ON. power terminals.
The main circuit power supply is Check the voltage between main
Correct the wiring.
not ON. circuit power terminals.
Wiring of I/O signal connector CN1 Check if the connector CN1 is prop- Correct the connector CN1 connec-
faulty or disconnected. erly inserted and connected. tion.
Motor or encoder wiring 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 motor.
Settings for the input signal selec-
Check the settings for parameters Correct the settings for parameter
tions (Pn50A and Pn50B) is incor-
Motor Does Not Pn50A and Pn50B. Pn50A and Pn50B.
rect.
Start
Motor type differs from parameter Check the settings for parameter Set parameter Pn01E.0 to the motor
setting (Pn01E.0). Pn01E.0. type being used.
Encoder type differs from parame- Check the settings for parameter Set parameter Pn01F.0 to the
ter setting (Pn01F.0). Pn01F.0. encoder type being used.
SV_ON command (Enable opera- Check the command sent from the Send the SV_ON command (Enable
tion) is not sent. host controller. operation).
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.
The safety input signal (/HWBB1 or Check the /HWBB1 and /HWBB2 Set the /HWBB1 and /HWBB2
/HWBB2) remains OFF. input signal. input signal to ON.
Motor Moves Servomotor wiring is incorrect. Check the motor wiring. Correct the wiring.
Instantaneously,
and then Stops Encoder wiring is incorrect. Check the encoder wiring. Correct the wiring.
Check connections of power line
Motor Speed Wiring connection to motor is Tighten any loose terminals or con-
(phases U, V, and W) and encoder
Unstable defective. nectors and correct the wiring.
connectors.
Motor Rotates
Without SERVOPACK failure − Replace the SERVOPACK.
Reference Input
Check the setting for parameter Correct the setting for parameter
Improper Pn001.0 setting
Pn001.0. Pn001.0.
Improper Pn01E.1 setting
Pn01E.1. Pn01E.1.
Improper Pn601 setting
Pn601. Pn601.
Dynamic Brake Check the wiring and components Correct the wiring for external DB
Does Not Operate External DB circuit fault for external DB circuit. circuit, or replace the components.
Check if excessive moment of iner-
Replace the SERVOPACK, and
DB resistor disconnected tia, motor overspeed, or DB fre-
reduce the load.
quently activated occurred.
There is a defective component in
DB drive circuit fault − the DB circuit. Replace the SER-
VOPACK.
11-42
11.5 Troubleshooting Malfunction Based on Operation and Conditions of the Motor
(cont’d)
Check if there are any loose mount-
Tighten the mounting screws.
ing screws.
Check if there is misalignment of
Mounting is not secured. Align the couplings.
couplings.
Check if there are unbalanced cou-
Balance the couplings.
plings.
Check for noise and vibration
Bearings are defective. Replace the motor.
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.
The encoder cable must be tinned
Abnormal Noise Noise interference due to incorrect pair or screened unshielded twisted- Use the specified encoder cable.
from Servomotor encoder cable specifications
min.
Noise interference due to length of Check the length of the encoder The encoder cable must be no more
encoder cable cable. than 20 m.
Noise interference 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 encoder cable layout.
Check if the encoder cable is bun-
Excessive noise to the encoder Correct the encoder cable layout so
dled with a high-current line or near
cable that no surge is applied.
a high-current line.
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

Excessive vibration and shock to occurred or motor installation is Reduce vibration from the machine,
the encoder incorrect (mounting surface accu- or secure the motor installation.
racy, fixing, alignment, etc.).
Encoder failure − Replace the motor.
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).
Motor Vibrates at Check the position loop gain
Position loop gain value (Pn102) (Pn102). Reduce the position loop gain
Frequency of
too high (Pn102).
Approx. 200 to Factory setting: Kp = 40.0/s
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).
11
11-43
(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).
High Motor Speed Check the position loop gain
Position loop gain value (Pn102) Reduce the position loop gain
Overshoot on (Pn102).
too high (Pn102).
Starting and Factory setting: Kp = 40.0/s
Stopping
Check the speed loop integral time
Incorrect speed loop integral time constant (Pn101). Correct the speed loop integral time
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).
Noise interference due to improper pair or screened unshielded twisted- Use the specified encoder cable.
encoder cable specifications
min.
Noise interference due to length of The encoder cable length must be
Check the encoder cable length.
encoder cable no more than 20 m.
Noise interference due to damaged Check if the encoder cable is bent or Replace the encoder cable and cor-
encoder cable if its sheath is damaged. rect the encoder cable layout.
Excessive noise interference at the Change the encoder cable layout so
dled with a high-current line or near
encoder cable that no surge is applied.
Absolute Encoder high-current line.
Position FG potential varies because of Ground machines correctly, and
Difference Error Check if the machines are correctly
influence of machines such as weld- prevent diversion to the FG on the
(The position grounded.
ers at the servomotor. encoder side.
saved in the host
controller when Check if there is noise interference
SERVOPACK pulse counting error Take measures against noise in the
the power was on the I/O signal line from the
due to noise interference encoder wiring.
turned OFF is encoder.
different from the Check if vibration from the machine
position when the Excessive vibration and shock to occurred or motor installation is Reduce vibration from the machine,
power was next the encoder incorrect (mounting surface accu- or secure the motor installation.
turned ON.) racy, fixing, alignment, etc.).
Encoder failure − Replace the motor.
SERVOPACK failure
− Replace the SERVOPACK.
(The pulse count does not change.)
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.
11-44
11.5 Troubleshooting Malfunction Based on Operation and Conditions of the Motor
(cont’d)
Check the external power supply Correct the external power supply
(+24 V) voltage for the input signal. (+24 V) voltage.
Forward or reverse run prohibited Check if the overtravel limit switch
Correct the overtravel limit switch.
signal is input. operates properly.
Check if the overtravel limit switch Correct the overtravel limit switch
is wired correctly. wiring.
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 motor stop method selec- vomotor power is OFF.
tion 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 appro-
Improper Stop −
dog length priate position.
Position by
Overtravel (OT) The overtravel limit switch position
Install the overtravel limit switch at
Signal is too short for the coasting dis- −
the appropriate position.
tance.
11
11-45
(cont’d)
Noise interference due to incorrect pair or screened unshielded twisted- Use the specified encoder cable.
encoder cable specifications
min.
Noise interference due to length of Check the length of the encoder The encoder cable must be no more
encoder cable cable. than 20 m.
Noise influence due to damaged Check if the encoder cable is bent Replace the encoder cable and mod-
encoder cable and its sheath is damaged. ify the encoder cable layout.
Change the encoder cable layout so
Excessive noise to encoder cable dled with a high-current line or near
that no surge is applied.
a high-current line.
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) Check if vibration from the machine
Excessive vibration and shock to occurred or motor installation is Reduce the machine vibration or
the encoder incorrect (mounting surface accu- mount the motor securely.
racy, fixing, alignment, etc.).
Check if a position error occurs at
Unsecured coupling between Secure the coupling between the
the coupling between machine and
machine and motor machine and motor.
motor.
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.
Encoder failure (The pulse count
− Replace the motor.
does not change.)
Ambient operating temperature too Measure the motor ambient operat- Reduce the ambient operating tem-
high ing temperature. perature to 40°C or less.
Motor surface dirty Visually check the surface. Clean dust and oil from the surface.
Motor Overheated
If overloaded, reduce load or
Motor overloaded Check the load status with monitor. replace with larger capacity SER-
VOPACK and motor.
11-46
12
Appendix
12.1 SERVOPACK Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-2

12.2 Parameter Recording Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-26
12.3 Index Numbers and Corresponding Parameter Numbers . . . . . . . . . . 12-32
Appendix
12
12-1
12 Appendix
12.1 SERVOPACK Parameters

The SERVOPACK parameters are listed in this section.
Supplemental Information
Example:
Parameter
Setting Factory When Motor Reference
No. Size Name Units Classification
Range Setting Enabled Type Section
(Index No.)
spindle
Basic Function Select motor,
2 0000 to 00B3 − 0000 After restart Setup −
Switch 0 servo-
motor
4th 3rd 2nd 1st
digit digit digit digit
n.
Reference
Direction Selection Section
Pn000
0 Forward reference for forward rotation.
(2000h)
1 Forward reference for reverse rotation. 8.4.1
2 to 3 Reserved (Do not change.)
Reserved (Do not change.)
12-2
(cont’d)
Parameter
(Index No.)
spindle
Application Function motor,
2 0100 to 1222 − *1 After restart Setup −
Select Switch 1 servo-
motor
4th 3rd 2nd 1st

n.
Reference
Servomotor power OFF or Alarm Gr.1 Stop Mode Section
0 Stops the motor by applying DB (dynamic brake).
1 Stops the motor by applying DB and then releases DB. 8.4.4
Pn001 2 Makes the motor coast to a stop state without using the DB.
(2001h)
Reference
Overtravel (OT) Stop Mode Section
0 Same setting as Pn001.0 (Stops the motor by applying DB or by coasting).
1 Sets the torque of Pn406 to the maximum value, decelerates the motor to a stop,
and then sets it to servolock state. 8.4.2
2 Sets the torque of Pn406 to the maximum value, decelerates the motor to a stop,
and then sets it to coasting state.
spindle
2 0000 to 4113 − 0001 After restart Setup −
motor
4th 3rd 2nd 1st

n.

Pn002
(2002h) Reference
Absolute Encoder Usage Section
0 Uses absolute encoder as an absolute encoder.
8.7.1
1 Uses absolute encoder as an incremental encoder.
External Encoder Usage

0 Does not use external encoder.
1 Uses in forward rotation with forward reference.
2 Reserved (Do not change.)
3 Uses in reversed rotation with forward reference.
∗1. Varies in accordance with the SERVOPACK used.

SERVOPACK CACR-JU028ACA, -JU036ACA, -JU014DCA, -JU018DCA, -JUM2 ACA, -JUM2 DCA: 0200
Appendix
Other models: 0202
12
12-3
12 Appendix
(cont’d)
Parameter
(Index No.)
spindle
Application Function Immedi- motor,
2 0000 to 005F − 0002 Setup 9.1.3
Select Switch 6 ately servo-
motor
4th 3rd 2nd 1st
n.
Analog Monitor 1 Signal Selection
00 Motor speed (1 V/1000 min-1)
01 Speed reference (1 V/1000 min-1)
02 Torque reference (1 V/100% for servomotor, 1.2 V/max. torque for spindle motor)
03 Position error (0.05 V/1 reference unit)
04 Position amplifier error (0.05 V/1 encoder pulse unit)
05 Position reference speed (1 V/1000 min-1)
Pn006
(2006h) 06 Reserved (Do not change.)
07 Motor-external encoder 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%)
0B Reserved (Do not change.)
0C Completion of position reference (completed: 5 V, not completed: 0 V)
0D External encoder speed (1 V/1000 min-1)
46 Load meter (6 V/100%)
47 Quadrant error compensation (1 V/100%)
12-4
(cont’d)
Parameter
(Index No.)
spindle
Application Function Immedi- motor,
2 0000 to 005F − 0000 Setup 9.1.3
Select Switch 7 ately servo-
motor
4th 3rd 2nd 1st
n.
Analog Monitor 2 Signal Selection
00 Motor speed (1 V/1000 min-1)
01 Speed reference (1 V/1000 min-1)
02 Torque reference (1 V/100% for servomotor, 1.2 V/max. torque for spindle motor)
03 Position error (0.05 V/1 reference unit)
04 Position amplifier error (0.05 V/1 encoder pulse unit)
05 Position reference speed (1 V/1000 min-1)
Pn007
(2007h) 06 Reserved (Do not change.)
07 Motor-external encoder 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%)
0B Reserved (Do not change.)
0C Completion of position reference (completed: 5 V not completed: 0 V)
0D External encoder speed (1 V/1000 min-1)
46 Load meter (6 V/100%)
47 Quadrant error compensation (1 V/100%)
spindle
motor
4th 3rd 2nd 1st
n.
Reference
Lowered Battery Voltage Alarm/Warning Selection Section
0 Outputs alarm (A.830) for lowered battery voltage.
8.7.3
1 Outputs warning (A.930) for lowered battery voltage.
Pn008
(2008h)
Function Selection for UnderVoltage
0 Does not detect warning for undervoltage.
1 Detects warning for undervoltage.
Warning Detection Selection

Appendix
0 Detects warning.
1 Does not detect warning.
12
12-5
12 Appendix
(cont’d)
Parameter
(Index No.)
spindle
Select Switch B servo-
motor
4th 3rd 2nd 1st
n.
Pn00B
(200Bh) Reference
Alarm Gr.2 Stop Method Selection Section
0 Stops the motor by setting the speed reference to “0.”
8.4.4
1 Same setting as Pn001.0 (Stops the motor by applying DB or by coasting).
spindle
2 0000 to 1101 − 0000 − Setup –
Select Switch D servo-
motor
4th 3rd 2nd 1st
n.
Pn00D Reserved (Do not change.)

(200Dh)
When
Fan Stop Error Detection Selection Enabled
0 Issues an alarm after the fan stops.
After restart
1 Issues a warning for a specified time and then an alarm after the fan stops.
When
Overtravel Warning Detection Selection Enabled
0 Does not detect overtravel warning.
Immediately
1 Detects overtravel warning.
spindle
Pn010 SERVOPACK Address
motor,
2 (for USB/Local bus com- 0000 to 007F – 0001 After restart Setup –
(5C00h) servo-
munication)
motor
12-6
(cont’d)
Parameter
(Index No.)
spindle
2 0000 to 0011 – 0000 After restart Setup –
Select Switch 1B servo-
motor
4th 3rd 2nd 1st
n.
Emergency Stop Signal Selection
0 Disables the emergency stop signal.
Pn01B
(2030h:1) 1 Enables the emergency stop signal.
Contactor Control Function Selection

0 Disables MCON signal.
1 Enables MCON signal.
Application Function spindle

Select Switch 1C motor
4th 3rd 2nd 1st
n.
Load Ratio Output Level Selection
0 Outputs a load ratio of 120% for the 10-s rated output of the motor.
Pn01C 1 Outputs a load ratio of 100% for the 10-s rated output of the motor.
(2030h:2) 2 Outputs a load ratio of 100% for the 50% ED rated output of the motor.
3 Outputs a load ratio of 100% for the continuous rated output of the motor.
Appendix
12
12-7
12 Appendix
(cont’d)
Parameter
(Index No.)
spindle
Select Switch 1E servo-
motor
4th 3rd 2nd 1st

n.
Motor Type
0 Servomotor
1 SPM type spindle motor (under development)
2 Induction type servomotor (under development)
3 Spindle motor
Pn01E 4 IPM type servomotor (under development)
(2030h:3) 5 IPM type spindle motor
6 IPM built-in spindle motor
Winding Selection
0 None
1 Mechanical winding selection
3 Uses external DB by CN3.
spindle
Select Switch 1F servo-
motor
4th 3rd 2nd 1st

n.
Encoder Type
Pn01F 0 Serial encoder (servomotor)
(2030h:4)
1 Pulse encoder (spindle motor)
2 Serial encoder (spindle motor)
spindle
Pn030 Reserved motor,
2 – – 0000 – Setup –
(–) (Do not change.) servo-
motor
12-8
(cont’d)
Parameter
(Index No.)
spindle
motor,
2 Function at Cutting Feed 0000 to 0011 – 0000 After restart Setup –
servo-
motor
4th 3rd 2nd 1st

n.
Predictive Function (at cutting)
0 Disables predictive function.
Pn070
(2030h:5) 1 Enables predictive function.
Quadrant Projection Compensation at Cutting

0 Disables quadrant projection compensation function.
1 Enables quadrant projection compensation function.
spindle
motor,
2 Function at Fast-forward 0000 to 0022 – 0000 After restart Setup –
servo-
motor
4th 3rd 2nd 1st

n.
Control Method
Pn071 0 No function
(2030h:6) 1 Uses internal speed FF.
2 Uses model following control.
spindle
Select Switch 7F servo-
motor
4th 3rd 2nd 1st

n.
Invalid Axis Setting
Pn07F 0 No invalid axis
(2030h:7) 1 Sets 2nd axis as a invalid axis for a SERVOPACK for two axes.
Appendix
Reserved (Do not change.) 12
12-9
12 Appendix
(cont’d)
Parameter
(Index No.)
spindle
Pn100 Immedi- motor,
2 Speed Loop Gain 10 to 20000 0.1 Hz 400 Tuning –
(2040h:1) ately servo-
motor
spindle
Pn101 Speed Loop Integral 0.01 Immedi- motor,
2 15 to 51200 2000 Tuning –
(2040h:2) Time Constant ms ately servo-
motor
spindle
2 Position Loop Gain 10 to 20000 0.1/s 400 Tuning –
motor
spindle
2 Moment of Inertia Ratio 0 to 20000 1% 100 Tuning –
(2060h) ately servo-
motor
spindle
2 2nd Speed Loop Gain 10 to 20000 0.1 Hz 400 Tuning –
motor
spindle
Pn105 2nd Speed Loop Integral 0.01 Immedi- motor,
2 15 to 51200 2000 Tuning –
motor
spindle
2 2nd Position Loop Gain 10 to 20000 0.1/s 400 Tuning –
motor
spindle
2 Feedforward Gain 0 to 100 1% 0 Tuning –
motor
spindle
Pn10A Feedforward Filter Time 0.01 Immedi- motor,
2 0 to 6400 0 Tuning –
(2062h) Constant ms ately servo-
motor
spindle
Application Function for motor,
2 0000 to 5334 − 0000 − Setup −
Gain Select Switch servo-
motor
4th 3rd 2nd 1st
n.
Pn10B
(2065h) Speed Loop Control Method
When
Enabled
0 PI control
1 I-P control After restart
2 to 3 Reserved (Do not change.)
12-10
(cont’d)
Parameter
(Index No.)
spindle
Pn121 Friction Compensation Immedi- motor,
2 10 to 1000 1% 100 Tuning –
(2067h:1) Gain ately servo-
motor
spindle
2 0 to 100 1% 0 Tuning –
(2067h:3) Coefficient ately servo-
motor
spindle
Pn124 Friction Compensation -10000 to Immedi- motor,
2 0.1 Hz 0 Tuning –
(2067h:4) Frequency Correction 10000 ately servo-
motor
spindle
2 1 to 1000 1% 100 Tuning –
(2067h:5) Gain Correction ately servo-
motor
spindle
Pn12B Immedi- motor,
2 3rd Speed Loop Gain 10 to 20000 0.1 Hz 400 Tuning –
(2042:1) ately servo-
motor
spindle
Pn12C 3rd Speed Loop Integral 0.01 Immedi- motor,
2 15 to 51200 2000 Tuning –
motor
spindle
Pn12D Immedi- motor,
2 3rd Position Loop Gain 10 to 20000 0.1/s 400 Tuning –
motor
spindle
Pn12E Immedi- motor,
2 4rd Speed Loop Gain 10 to 20000 0.1 Hz 400 Tuning –
motor
spindle
Pn12F 4rd Speed Loop Integral 0.01 Immedi- motor,
2 15 to 51200 2000 Tuning –
motor
spindle
2 4rd Position Loop Gain 10 to 20000 0.1/s 400 Tuning –
motor
spindle
Model Following Immedi- motor,
2 0000 to 1121 − 0100 Tuning −
Control Related Switch ately servo-
motor
4th 3rd 2nd 1st
n.
Pn140 Reserved (Do not change.)
(206Ah:1)
Appendix
Selection of Speed Feedforward (VFF) / Torque Feedforward (TFF)

0 Does not use model following control and speed/torque feedforward together.
1 Uses model following control and speed/torque feedforward together.
12
12-11
12 Appendix
(cont’d)
Parameter
(Index No.)
spindle
Pn141 Model Following Immedi- motor,
2 10 to 20000 0.1/s 500 Tuning −
(206Ah:2) Control Gain ately servo-
motor
spindle
Model Following
2 Control Gain 500 to 2000 0.1% 1000 Tuning −
(206Ah:3) ately servo-
Compensation
motor
spindle
Model Following
2 Control Bias 0 to 10000 0.1% 1000 Tuning −
(Forward Direction)
motor
spindle
Model Following
2 Control Bias 0 to 10000 0.1% 1000 Tuning −
(Reverse Direction)
motor
Model Following spindle
Pn147 Control Speed Immedi- motor,
2 0 to 10000 0.1% 1000 Tuning −
(206Ah:8) Feedforward ately servo-
Compensation motor
spindle
Predictive Control motor,
Function Select Switch servo-
motor
4th 3rd 2nd 1st

n.
Response Time Constant for Predictive Control Model
Pn150 2 Tp = 0.001
(208Ah:1) 3 Tp = 0.002
Predictive Control
1 Kp linkage predictive parameter setting
spindle
Predictive Control
2 Acceleration/Decelera- 0 to 300 1% 100 Tuning –
tion Gain
motor
spindle
Pn152 Predictive Control Ratio Immedi- motor,
2 0 to 300 1% 100 Tuning –
(208Ah:3) of Weight ately servo-
motor
spindle
Pn153 Predictive Control Immedi- motor,
2 10 to 300 1% 100 Tuning –
(208Ah:4) Equivalent Kp Ratio ately servo-
motor
12-12
(cont’d)
Parameter
(Index No.)
spindle
Pn154 Predictive Control Speed Immedi- motor,
2 0 to 5000 0.1% 0 Tuning –
(208Ah:5) FF Gain ately servo-
motor
spindle
2 0 to 5000 0.1% 0 Tuning –
(208Ah:6) Torque FF Gain ately servo-
motor
spindle
Predictive Control
Pn156 0.01 Immedi- motor,
2 Torque FF Filter Time 0 to 65535 0 Tuning –
(208Ah:7) ms ately servo-
Constant
motor
spindle
2 10 to 100 0.1 80 Tuning –
(208Ah:8) Parameter Kph(C) ately servo-
motor
spindle
2 0 to 5000 0.1 0 Tuning –
(208Ah:9) Parameter Cd ately servo-
motor
spindle
2 -90 to 1000 0.01 0 Tuning –
(208Ah:10) Parameter α ately servo-
motor
spindle
Pn15A Predictive Control
-10000 to Immedi- motor,
2 Equivalent Kp Fine 0.1/s 0 Tuning –
(208Ah:11) 32767 ately servo-
Adjustment Amount
motor
spindle
Anti-Resonance Control Immedi- motor,
2 0000 to 0011 − 0010 Tuning 9.5
Related Switch ately servo-
motor
4th 3rd 2nd 1st
n.
Anti-Resonance Control Selection
Pn160 0 Does not use anti-resonance control.
(206Bh:1) 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.
spindle
Pn161 Anti-Resonance Immedi- motor,
2 10 to 20000 0.1 Hz 1000 Tuning −
(206Bh:2) Frequency ately servo-
motor
Appendix
spindle
Pn162 Anti-Resonance Gain Immedi- motor,
2 1 to 1000 1% 100 Tuning −
(206Bh:3) Compensation ately servo-
motor
12
12-13
12 Appendix
(cont’d)
Parameter
(Index No.)
spindle
Pn163 Anti-Resonance Immedi- motor,
2 0 to 300 1% 0 Tuning −
(206Bh:4) Damping Gain ately servo-
motor
spindle
Anti-Resonance Filter
Pn164 -1000 to 0.01 Immedi- motor,
2 Time Constant 1 0 Tuning −
(206Bh:5) 1000 ms ately servo-
Compensation
motor
spindle
Anti-Resonance Filter
Pn165 -1000 to 0.01 Immedi- motor,
2 Time Constant 2 0 Tuning −
(206Bh:6) 1000 ms ately servo-
Compensation
motor
Pn205 servo-
2 Multiturn Limit Setting 0 to 65535 1 Rev 65535 After restart Setup 8.7.5
(20C0h) motor
spindle
Pn20A Number of External 1 pitch/ motor,
4 4 to 1048576 32768 After restart Setup −
(20C1h) Scale Pitch rev servo-
motor
spindle
Pn20E Reserved motor,
4 – – – – – –
motor
spindle
4 – – – – – –
motor
spindle
Fully-closed Control motor,
Selection Switch servo-
motor
4th 3rd 2nd 1st
n.
Pn22A Reserved (Do not change.)
(2083h)
Speed Feedback Selection at Fully-closed Control

0 Uses motor encoder speed.
1 Uses external encoder speed.
Pn230 Number of Encoder 100 to Pitch/ spindle

4 1024 After restart Setup −
(20D0h:1) Pulse 1048576 Rev motor
Pn232 C-Phase Compensation spindle
2 -8 to 8 pulse 0 After restart Setup −
(20D0h:2) Width motor
Pn233 Magnetic Pole Origin -18000 to 0.01 spindle
2 0 After restart Setup −
(20D0h:3) Corrected Value 18000 deg motor
12-14
(cont’d)
Parameter
(Index No.)
Pulse Encoder Stop Immedi- spindle
2 0000 to 0001 – 0000 Setup –
Vibration Suppression ately motor
4th 3rd 2nd 1st

n.
Pulse Encoder Stop Vibration Suppression
Pn234 0 Do not use stop vibration suppression.
(20D0h:4) 1 Use stop vibration suppression.
spindle
2 JOG Speed 0 to 10000 1 min-1 500 Setup −
motor
spindle
Pn305 Soft Start Acceleration Immedi- motor,
2 0 to 10000 1 ms 0 Setup −
(2090h) Time ately servo-
motor
spindle
Pn306 Soft Start Deceleration Immedi- motor,
2 0 to 10000 1 ms 0 Setup −
(2091h) Time ately servo-
motor
spindle
Pn311 Vibration Detection Immedi- motor,
2 50 to 500 1% 100 Tuning –
(2094h:2) Sensibility ately servo-
motor
spindle
Pn324 Moment of Inertia Immedi- motor,
2 0 to 20000 1% 300 Setup 9.2
(2143h) Calculating Start Level ately servo-
motor
spindle
Pn401 1st Step 1st Torque
0.01 Immedi- motor,
2 Reference Filter Time 0 to 65535 100 Tuning –
(2040h:4) ms ately servo-
Constant
motor
Pn402 Immedi- servo-
2 Forward Torque Limit 0 to 800 1% 800 Setup –
(20A0h:1) ately motor
2 Reverse Torque Limit 0 to 800 1% 800 Setup –
(20A0h:2) ately motor
Pn404 Forward External Torque Immedi- servo-
2 0 to 800 1% 100 Setup –
(20A3h:1) Limit ately motor
Pn405 Reserve External Torque Immedi- servo-
2 0 to 800 1% 100 Setup –
(20A3h:2) Limit ately motor
spindle
2 Emergency Stop Torque 0 to 800 1% 800 Setup 8.4.2
Appendix
(20A2h) ately servo-

motor
spindle
Pn407 Speed Limit during Immedi- motor,
(20A5h)
2
Torque Control
0 to 10000 1 min-1 10000
ately
Setup
servo-
–
motor 12
12-15
12 Appendix
(cont’d)
Parameter
(Index No.)
spindle
Torque Related Function motor,
2 0000 to 1111 − 0000 − Setup −
Switch servo-
motor
4th 3rd 2nd 1st
n.
When
1st Step Notch Filter Selection
Enabled
0 N/A
Immediately
1 Uses 1st step notch filter for torque reference.
Pn408
When
(20A7h) Speed Limit Selection
Enabled
0 Uses the smaller of the maximum motor rotational speed and the value of Pn407 as
the speed limit value.
After restart
1 Uses the smaller of the overspeed detection speed and the value of Pn407 as the
speed limit value.
When
2nd Step Notch Filter Selection
Enabled
0 N/A
Immediately
1 Uses 2nd step notch filter for torque reference.
spindle
Pn409 1st Notch Filter Immedi- motor,
2 50 to 2000 1 Hz 2000 Tuning –
(20A9h:1) Frequency ately servo-
motor
spindle
Pn40A Immedi- motor,
2 1st Notch Filter Q Value 50 to 1000 0.01 70 Tuning –
(20A9h:2) ately servo-
motor
spindle
2 1st Notch Filter Depth 0 to 1000 0.001 0 Tuning –
motor
spindle
Pn40C 2nd Notch Filter Immedi- motor,
2 50 to 2000 1 Hz 2000 Tuning –
motor
spindle
Pn40D Immedi- motor,
2 2nd Notch Filter Q Value 50 to 1000 0.01 70 Tuning –
motor
spindle
Pn40E Immedi- motor,
2 2nd Notch Filter Depth 0 to 1000 0.001 0 Tuning –
motor
spindle
Pn412 1st Step 2nd Torque
0.01 Immedi- motor,
Constant
motor
spindle
Pn413 1st Step 3rd Torque
0.01 Immedi- motor,
Constant
motor
12-16
(cont’d)
Parameter
(Index No.)
spindle
1st Step 4th Torque
Pn414 0.01 Immedi- motor,
Constant
motor
spindle
Torque Related Function Immedi- motor,
2 0000 to 0011 – 0000 Setup –
Switch 2 ately servo-
motor
4th 3rd 2nd 1st

n.
3rd Step Notch Filter Selection
Pn416 0 N/A
(20A9h:14) 1 Uses 3rd step notch filter for torque reference.
4rd Step Notch Filter Selection

0 N/A
1 Uses 4rd step notch filter for torque reference.
spindle
Pn417 3rd Notch Filter Immedi- motor,
2 50 to 2000 1 Hz 2000 Tuning –
motor
spindle
2 3rd Notch Filter Q Value 50 to 1000 0.01 70 Tuning –
motor
spindle
2 3rd Notch Filter Depth 0 to 1000 0.001 0 Tuning –
motor
spindle
Pn41A 4rd Notch Filter Immedi- motor,
2 50 to 2000 1 Hz 2000 Tuning –
motor
spindle
2 4rd Notch Filter Q Value 50 to 1000 0.01 70 Tuning –
motor
spindle
Pn41C Immedi- motor,
2 4rd Notch Filter Depth 0 to 1000 0.001 0 Tuning –
motor
Pn430 Immedi- spindle
2 Torque Limit (Powering) 0 to 800 1% 150 Setup –
(20AAh:1) ately motor
Pn431 Torque Limit Immedi- spindle
2 0 to 800 1% 150 Setup –
Appendix
(20AAh:2) (Regeneration) ately motor

2 Motor Flux Lower Level 10 to 100 1% 15 Setup –
(20ABh:1) ately motor
Pn433 Servo Mode Flux Level

Immedi- spindle
(20ABh:2)
2 (for High-speed 30 to 100 1% 100
ately
Setup
motor
– 12
Winding)
12-17
12 Appendix
(cont’d)
Parameter
(Index No.)
Pn434 Servo Mode Base Speed

Immedi- spindle
2 Ratio (for High-speed 100 to 500 1% 100 Setup –
Winding)
Pn435 Servo Mode Flux Level Immedi- spindle
2 30 to 100 1% 100 Setup –
(20ABh:4) (for Low-speed Winding) ately motor
Pn436 Servo Mode Base Speed

Immedi- spindle
2 Ratio (for Low-speed 100 to 500 1% 100 Setup –
Winding)
Pn43F Load Ratio Meter Filter Immedi- spindle
2 0 to 5000 1 ms 100 Tuning –
(20ACh:1) Time Constant ately motor
spindle
Pn456 Sweep Torque Reference Immedi- motor,
2 1 to 800 1% 15 Tuning –
(2146h:4) Amplitude ately servo-
motor
spindle
Notch Filter Adjustment Immedi- motor,
2 0000 to 0101 − 0101 Tuning 9.2
Switch ately servo-
motor
4th 3rd 2nd 1st
n.
Notch Filter Adjustment Selection 1
Pn460 0 Does not adjust 1st step notch filter automatically using utility function.
(20A9h:7) 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.
spindle
Pn481 Magnetic Pole Detection Immedi- motor,
2 10 to 20000 0.1 Hz 400 Tuning –
(20C8h:1) Speed Loop Gain ately servo-
motor
spindle
Pn482 Magnetic Pole Detection 0.01 Immedi- motor,
2 15 to 51200 3000 Tuning –
(20C8h:2) Speed Integral Time ms ately servo-
motor
spindle
Magnetic Pole Detection
2 Command Acceleration/ 0 to 100 1 ms 25 Tuning –
(20C8h:4) ately servo-
Deceleration Time
motor
spindle
Pn487 Magnetic Pole Detection
Immedi- motor,
2 Command Constant 0 to 300 1 ms 0 Tuning –
Speed Time
motor
spindle
2 50 to 500 1 ms 100 Tuning –
(20C8h:6) Command Waiting Time ately servo-
motor
12-18
(cont’d)
Parameter
(Index No.)
spindle
2 0 to 20000 1% 100 Tuning –
(20C8h:9) Load Level ately servo-
motor
spindle
(20C8h:12)
2
Command Speed
0 to 1000 1 min-1 50
ately
Tuning
servo-
–
motor
spindle
Pn494 Magnetic Pole Detection 0.001 Immedi- motor,
2 1 to 65535 250 Tuning –
(20C8h:13) Variable Range rev ately servo-
motor
spindle
2 Confirmation Torque 0 to 200 1% 100 Tuning –
Reference
motor
spindle
Pn498 Polarity Detection Immedi- motor,
2 0 to 30 1 deg 10 Tuning –
(20C8h:17) Allowable Error Range ately servo-
motor
spindle
2 – – 15 – Tuning –
(20C8h:18) (Do not change.) servo-
motor
spindle
Pn49A Reserved motor,
2 – – 50 – Tuning –
(20C8h:19) (Do not change.) servo-
motor
spindle
Pn4F0 1st Positive Projection 100000 Immedi- motor,
2 0 to 65535 10000 Setup –
(20ADh:1) Compensation Gain /s3 ately servo-
motor
spindle
Pn4F1 1st Positive Projection
Immedi- motor,
2 Compensation Limit 0 to 30000 0.01% 0 Setup –
(20ADh:2) ately servo-
Offset
motor
spindle
Pn4F2 2nd Positive Projection 100000 Immedi- motor,
2 0 to 65535 1000 Setup –
motor
spindle
Pn4F3 2nd Positive Projection
Immedi- motor,
Offset
motor
spindle
Pn4F4 Positive Projection
-30000 to 0.01 Immedi- motor,
2 Compensation Limit 0 Setup –
(20ADh:5) 30000 %/ms ately servo-
Change Value
motor
spindle
Pn4F5 Positive Projection
Immedi- motor,
Clamp Value
motor
Appendix
spindle
Pn4F6 1st Negative Projection 100000 Immedi- motor,
2 0 to 65535 10000 Setup –
motor
12
12-19
12 Appendix
(cont’d)
Parameter
(Index No.)
spindle
1st Negative Projection
Pn4F7 Immedi- motor,
Offset
motor
spindle
Pn4F8 2nd Negative Projection 100000 Immedi- motor,
2 0 to 65535 1000 Setup –
motor
spindle
2nd Negative Projection
Pn4F9 Immedi- motor,
Offset
motor
spindle
Negative Projection
Pn4FA -30000 to 0.01%/ Immedi- motor,
2 Compensation Limit 0 Setup –
(20ADh:11) 30000 ms ately servo-
Change Value
motor
spindle
Pn4FB Negative Projection
Immedi- motor,
Clamp Value
motor
spindle
Pn4FC Projection Compensa- -350 to Immedi- motor,
2 0.1/s 0 Setup –
(20ADh:13) tion Timing Constant 32767 ately servo-
motor
spindle
2 Zero Clamp Level 0 to 10000 1 min-1 10 Setup −
motor
2 Rotation Detection Level 1 to 10000 1 min-1 20 Setup −
(2100h:2) ately motor
Pn503 Speed Coincidence Immedi- servo-
2 0 to 100 1 min-1 10 Setup −
(2100h:3) Signal Output Width ately motor
spindle
Pn506 Brake Reference - Servo Immedi- motor,
2 0 to 50 10 ms 0 Setup
(2112h:1) OFF Delay Time ately servo-
motor
spindle
Pn507 Brake Reference Output Immedi- motor,
(2112h:2)
2
Speed Level
0 to 10000 1 min-1 100
ately
Setup
servo-
8.4.3
motor
spindle
Pn508 Waiting Time for Brake
Immedi- motor,
2 Signal When Motor 10 to 100 10 ms 50 Setup
Running
motor
12-20
(cont’d)
Parameter
(Index No.)
spindle
motor,
2 Input Signal Selection 1 0000 to FFF1 − 1881 After restart Setup −
servo-
motor
4th 3rd 2nd 1st

n.
Pn50A
(2110h:1) Reserved (Do not change.)
Reference
P-OT Signal Mapping
Section
0 to 7 Forward run allowed when P-OT input signal is ON (L-level)
8 Forward run allowed 7.2.5
9 to F Forward run allowed when P-OT input signal is OFF (H-level)
− spindle
motor,
2 Input Signal Selection 2 0000 to FFFF 8882 After restart Setup –
servo-
motor
4th 3rd 2nd 1st

n.
Reference
N-OT Signal Mapping Section
Pn50B
0 to 7 Reverse run allowed when N-OT input signal is ON (L-level).
(2110h:2)
8 Reverse run allowed. 7.2.5
9 to F Reverse run allowed when N-OT input signal is OFF (H-level).

Appendix
12
12-21
12 Appendix
(cont’d)
Parameter
(Index No.)
spindle
Probe1, Probe2, HOME motor,
2 0000 to FFFF – 6543 After restart Setup –
Input Signal setting servo-
motor
4th 3rd 2nd 1st

n.
Pn511
(2110h:3) /Probe1 Input Signal Allocation
0 to 7 Input /Probe1 signal from input terminal.
8 to F Input reversed /Probe1 signal from input terminal.
/Probe2 Input Signal Allocation

0 to F Same as /Probe1 Input Signal Allocation.
/Home Input Signal Allocation

0 to F Same as /Probe1 Input Signal Allocation.
spindle
Immedi- motor,
2 OT Function 0000 to 0003 – 0000 Setup –
ately servo-
motor
4th 3rd 2nd 1st

n.
Hardware OT Function
Pn517 0 Enables OT function.
(2110h:4) 1 Disables OT function for forward run.
2 Disables OT function for reverse run.
3 Disables OT function.
spindle
Excessive Error Level 1 refer-
Pn51B 0 to Immedi- motor,
4 between Servomotor and ence 1000 Setup –
(2102h:5) 1073741824 ately servo-
Load Positions unit
motor
spindle
Pn51E Excessive Position Error Immedi- motor,
2 10 to 100 1% 100 Setup 11.3.1
(2102h:1) Warning Level ately servo-
motor
spindle
1 refer-
Pn520 Excessive Position Error 1 to Immedi- motor, 9.1.4
4 ence 5242880 Setup
(2102h:2) Alarm Level 1073741823 ately servo- 11.2.1
unit
motor
spindle
1 refer-
Pn522 Positioning Completed 0 to Immedi- motor,
4 ence 7 Setup –
(2102h:3) Width 1073741824 ately servo-
unit
motor
12-22
(cont’d)
Parameter
(Index No.)
spindle
1 refer-
Pn524 1 to Immedi- motor,
4 NEAR Signal Width ence 1073741824 Setup –
(2102h:4) 1073741824 ately servo-
unit
motor
spindle
Excessive Position Error 1 refer-
Pn526 1 to Immedi- motor,
4 Alarm Level at Servo ence 5242880 Setup 11.2.1
(2103h:1) 1073741823 ately servo-
ON unit
motor
spindle
Excessive Position Error
2 Warning Level at Servo 10 to 100 1% 100 Setup 11.3.1
ON
motor
spindle
Pn529 Speed Limit Level at Immedi- motor,
(2103h:3)
2
Servo ON
0 to 10000 1 min-1 10000
ately
Setup
servo-
11.2.1
motor
spindle
Pn52A Multiplier per One Fully- Immedi- motor,
2 0 to 100 1% 20 Tuning –
(2102h:6) closed Rotation ately servo-
motor
spindle
2 Overload Warning Level 1 to 100 1% 20 Setup 8.4.6
motor
spindle
Derating of Base
Pn52C motor,
2 Current at Detecting 10 to 100 1% 100 After restart Setup 8.4.6
(2104h:2) servo-
Overload of Motor
motor
spindle
Program JOG Operation Immedi- motor,
2 0000 to 0005 − 0000 Setup –
Related Switch ately servo-
motor
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 (Waiting time Pn535 → Reverse movement Pn531) × Number of movements Pn536
(2142h:1) 3 (Waiting time Pn535 → Reverse movement Pn531) × Number of movements Pn536
(Waiting time Pn535 → Forward 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

Appendix
spindle
Pn531 1 refer-
Program JOG 1 to Immedi- motor,
4 ence 32768 Setup –
(2142h:2) Movement Distance 1073741824 ately servo-
unit
motor 12
12-23
12 Appendix
(cont’d)
Parameter
(Index No.)
spindle
Pn533 Program JOG Immedi- motor,
(2142h:3)
2
Movement Speed
1 to 10000 1 min-1 500
ately
Setup
servo-
–
motor
spindle
Pn534 Program JOG Accelera- Immedi- motor,
2 2 to 10000 1 ms 100 Setup –
(2142h:4) tion/Deceleration Time ately servo-
motor
spindle
Pn535 Program JOG Waiting Immedi- motor,
2 0 to 10000 1 ms 100 Setup –
(2142h:5) Time ately servo-
motor
spindle
Pn536 Number of Times of Immedi- motor,
2 0 to 1000 1 time 1 Setup –
(2142h:6) Program JOG Movement ately servo-
motor
Pn541 spindle
2 Rated Speed Setting 100 to 65535 1 min-1 65535 After restart Setup –
(2098h:1) motor
Pn542 Speed Coincidence Immedi- spindle
2 10 to 50 1% 15 Setup –
(2098h:2) Detection Width ately motor
2 Speed Detection Level 0 to 10000 0.01% 1000 Setup –
(2098h:3) ately motor
Pn544 Speed Detection Immedi- spindle
2 0 to 10000 0.01% 100 Setup –
(2098h:4) Hysteresis ately motor
Speed Error Excessive Immedi- spindle
2 0000 to 0031 – 0000 Setup –
Protection Select Switch ately motor
4th 3rd 2nd 1st

n.
Detection Range of Speed Error Excessive Protection
0 1/2 or less of speed reference
1 1/4 or less of speed reference
Pn545
(2098h:5) Delay Time of Speed Error Excessive Protection
0 0 ms
1 300 ms
2 400 ms
3 500 ms
12-24
(cont’d)
Parameter
(Index No.)
spindle
Pn550 Analog Monitor 1 Offset -10000 to Immedi- motor,
2 0.1 V 0 Setup
(2116h:1) Voltage 10000 ately servo-
motor
spindle
Pn551 Analog Monitor 2 Offset -10000 to Immedi- motor,
2 0.1 V 0 Setup
(2116h:2) Voltage 10000 ately servo-
motor
9.1.3
spindle
Pn552 Analog Monitor -10000 to Immedi- motor,
2 × 0.01 100 Setup
(2116h:3) Magnification (× 1) 10000 ately servo-
motor
spindle
Pn553 Analog Monitor -10000 to Immedi- motor,
2 × 0.01 100 Setup
(2116h:4) Magnification (× 2) 10000 ately servo-
motor
spindle
Pn561 Overshoot Detection Immedi- motor, 9.2.1
2 0 to 100 1% 50 Setup
(2148h) Level ately servo- 9.3.1
motor
spindle
Pn601 motor,
2 DB Resistor Capacity 0 to 65535 10 W 0 After restart Setup –
(2114h) servo-
motor
spindle
Pn630 Emergency Stop Immedi- motor,
2 0 to 10000 1 ms 0 Setup –
(2118h:1) Execution Delay Time ately servo-
motor
spindle
External Magnetic
Pn631 motor,
2 Contactor OFF Delay 0 to 10000 1 ms 0 After restart Setup –
(2118h:2) servo-
Time
motor
Appendix
12
12-25
12 Appendix
12.2 Parameter Recording Table

Use the following table for recording parameters.
Index Factory When

Parameter Name
Number Setting Enabled
Pn000 2000h 0000 Basic Function Select Switch 0 After restart
Application Function Select
Pn001 2001h *1 After restart
Switch 1
Pn002 2002h 0001 After restart
Switch 2
Pn006 2006h 0002 Immediately
Switch 6
Switch 7
Pn008 2008h 4000 After restart
Switch 8
Pn00B 200Bh 0001 After restart
Switch B
Pn00D 200Dh 0000 After restart
Switch D
SERVOPACK Address (for
Pn010 5C00h 0001 USB/Local bus communica- After restart
tion)
Pn01B 2030h:1 0000 After restart
Switch 1B
Pn01C 2030h:2 0000 After restart
Switch 1C
Pn01E 2030h:3 0000 After restart
Switch 1E
Pn01F 2030h:4 0000 After restart
Switch 1F
Pn030 – 0000 Reserved (Do not change.) –
Pn070 2030h:5 0000 Function at Cutting Feed After restart
Pn071 2030h:6 0000 Function at Fast-forward After restart
Pn07F 2030h:7 0000 After restart
Switch 7F
Pn100 2040h:1 400 Speed Loop Gain Immediately
Speed Loop Integral Time
Pn101 2040h:2 2000 Immediately
Constant
Pn102 2040h:3 400 Position Loop Gain Immediately
Pn103 2060h 100 Moment of Inertia Ratio Immediately
Pn104 2041h:1 400 2nd Speed Loop Gain Immediately
2nd Speed Loop Integral Time
Constant
Pn106 2041h:3 400 2nd Position Loop Gain Immediately
Pn109 2061h 0 Feedforward Gain Immediately
Feedforward Filter Time Con-
Pn10A 2062h 0 Immediately
stant
Application Function for Gain
Pn10B 2065h 0000 –
Select Switch
Pn121 2067h:1 100 Friction Compensation Gain Immediately
∗1. Varies in accordance with the SERVOPACK used.
SERVOPACK CACR-JU028ACA, -JU036ACA, -JU014DCA, -JU018DCA, -JUM2 ACA, -JUM2 DCA: 0200
Other models: 0202
12-26
(cont’d)
Index Factory When
Parameter Name
Friction Compensation Coef-
ficient
Friction Compensation Fre-
quency Correction
Friction Compensation Gain
Correction
Pn12B 2042h:1 400 3rd Speed Loop Gain Immediately
3rd Speed Loop Integral Time
Pn12C 2042h:2 2000 Immediately
Constant
Pn12D 2042h:3 400 3rd Position Loop Gain Immediately
Pn12E 2043h:1 400 4rd Speed Loop Gain Immediately
4rd Speed Loop Integral Time
Pn12F 2043h:2 2000 Immediately
Constant
Pn130 2043h:3 400 4rd Position Loop Gain Immediately
Model Following Control
Pn140 206Ah:1 0000 Immediately
Related Switch
Pn141 206Ah:2 500 Model Following Control Gain Immediately
Model Following Control Gain
Compensation
Model Following Control Bias
(Forward Direction)
Model Following Control Bias
(Reverse Direction)
Model Following Control
Pn147 206Ah:8 1000 Speed Feedforward Compen- Immediately
sation
Predictive Control Function
Pn150 208Ah:1 0012 After restart
Select Switch
Predictive Control Accelera-
tion/Deceleration Gain
Predictive Control Ratio of
Weight
Predictive Control Equivalent
Kp Ratio
Predictive Control Speed FF
Gain
Predictive Control Torque FF
Gain
Predictive Control Torque FF
Filter Time Constant
Predictive Control Parameter
Kph(C)
Predictive Control Parameter
Cd
Pn159 208Ah:10 0 Predictive Control Parameter α Immediately
Predictive Control Equivalent
Pn15A 208Ah:11 0 Immediately
Kp Fine Adjustment Amount
Appendix
Anti-Resonance Control
Pn160 206Bh:1 0010 Immediately
Related Switch
Pn161 206Bh:2 1000 Anti-Resonance Frequency Immediately
Pn162 206Bh:3 100

Anti-Resonance Gain
Compensation
Immediately 12
12-27
12 Appendix
(cont’d)
Index Factory When
Parameter Name
Anti-Resonance Damping
Gain
Anti-Resonance Filter Time
Constant 1 Compensation
Anti-Resonance Filter Time
Constant 2 Compensation
Pn205 20C0h 65535 Multiturn Limit Setting After restart
Number of External Scale
Pn20A 20C1h 32768 After restart
Pitch
Pn20E – 1 Reserved (Do not change.) –
Pn210 – 1 Reserved (Do not change.) –
Fully-closed Control Selection
Pn22A 2083h 0000 After restart
Switch
Pn230 20D0h:1 1024 Number of Encoder Pulse After restart
Pn232 20D0h:2 0 C-Phase Compensation Width After restart
Magnetic Pole Origin
Pn233 20D0h:3 0 After restart
Corrected Value
Pulse Encoder Stop Vibration
Pn234 20D0h:4 0000 Immediately
Suppression
Pn304 2140h 500 JOG Speed Immediately
Pn305 2090h 0 Soft Start Acceleration Time Immediately
Pn306 2091h 0 Soft Start Deceleration Time Immediately
Pn311 2094h:2 100 Vibration Detection Sensibility Immediately
Moment of Inertia Calculating
Start Level
1st Step 1st Torque Reference
Pn402 20A0h:1 800 Forward Torque Limit Immediately
Pn403 20A0h:2 800 Reverse Torque Limit Immediately
Forward External Torque
Pn404 20A3h:1 100 Immediately
Limit
Pn405 20A3h:2 100 Reverse External Torque Limit Immediately
Pn406 20A2h 800 Emergency Stop Torque Immediately
Speed Limit during Torque
Pn407 20A5h 10000 Immediately
Control
Torque Related Function
Pn408 20A7h 0000 –
Switch
Pn409 20A9h:1 2000 1st Notch Filter Frequency Immediately
Pn40A 20A9h:2 70 1st Notch Filter Q Value Immediately
Pn40B 20A9h:3 0 1st Notch Filter Depth Immediately
Pn40C 20A9h:4 2000 2nd Notch Filter Frequency Immediately
Pn40D 20A9h:5 70 2nd Notch Filter Q Value Immediately
Pn40E 20A9h:6 0 2nd Notch Filter Depth Immediately
1st Step 2nd Torque Reference
1st Step 3rd Torque Reference
1st Step 4th Torque Reference
12-28
(cont’d)
Index Factory When
Parameter Name
Torque Related Function
Switch 2
Pn417 20A9h:8 2000 3rd Notch Filter Frequency Immediately
Pn418 20A9h:9 70 3rd Notch Filter Q Value Immediately
Pn419 20A9h:10 0 3rd Notch Filter Depth Immediately
Pn41A 20A9h:11 2000 4rd Notch Filter Frequency Immediately
Pn41B 20A9h:12 70 4rd Notch Filter Q Value Immediately
Pn41C 20A9h:13 0 4rd Notch Filter Depth Immediately
Pn430 20AAh:1 150 Torque Limit (Powering) Immediately
Pn431 20AAh:2 150 Torque Limit (Regeneration) Immediately
Pn432 20ABh:1 15 Motor Flux Lower Level Immediately
Servo Mode Flux Level
Pn433 20ABh:2 100 Immediately
(for High-speed Winding)
Servo Mode Base Speed Ratio
(for High-speed Winding)
Servo Mode Flux Level
(for Low-speed Winding)
Servo Mode Base Speed Ratio
(for Low-speed Winding)
Load Ratio Meter Filter Time
Pn43F 20ACh:1 100 Immediately
Constant
Sweep Torque Reference
Amplitude
Notch Filter Adjustment
Switch
Pn481 20C8h:1 40 Magnetic Pole Detection Immediately

Speed Loop Gain
Speed Integral Time
Pn486 20C8h:4 25 Command Acceleration/ Immediately
Deceleration Time
Pn487 20C8h:5 0 Command Constant Speed Immediately
Time

Command Waiting Time
Pn490 20C8h:9 100 Magnetic Pole Detection Load Immediately
Level
Command Speed
Pn494 20C8h:13 0.25 Magnetic Pole Detection Vari- Immediately
able Range
Pn495 20C8h:14 100 Confirmation Torque Refer- Immediately
ence
Appendix
Pn498 20C8h:17 10 Polarity Detection Allowable Immediately

Error Range
Pn499 20C8h:18 15 Reserved (Do not change.) –
Pn49A 20C8h:19 50 Reserved (Do not change.) –
Pn4F0 20ADh:1 10000

1st Positive Projection
Immediately 12
Compensation Gain
12-29
12 Appendix
(cont’d)
Index Factory When
Parameter Name
1st Positive Projection
Pn4F1 20ADh:2 0 Immediately
Compensation Limit Offset
2nd Positive Projection
Compensation Gain
2nd Positive Projection
Positive Projection Compensa-
tion Limit Change Value
Positive Projection Compensa-
tion Limit Clamp Value
Compensation Gain
Compensation Gain
Negative Projection
Pn4FA 20ADh:11 0 Compensation Limit Change Immediately
Value
Negative Projection
Pn4FB 20ADh:12 0 Compensation Limit Clamp Immediately
Value
Projection Compensation Tim-
Pn4FC 20ADh:13 0 Immediately
ing Constant
Pn501 2100h:1 10 Zero Clamp Level Immediately
Pn502 2100h:2 20 Rotation Detection Level Immediately
Speed Coincidence Signal
Output Width
Brake Reference - Servo OFF
Delay Time
Brake Reference Output Speed
Level
Waiting Time for Brake Signal
When Motor Running
Pn50A 2110h:1 1881 Input Signal Selection 1 After restart
Pn50B 2110h:2 8882 Input Signal Selection 2 After restart
Probe1, Probe2, HOME Input
Pn511 2110h:3 6543 After restart
Signal setting
Pn517 2110h:4 0000 OT Function Immediately
Excessive Error Level between
Pn51B 2102h:5 1000 Servomotor and Load Posi- Immediately
tions
Pn51E 2102h:1 100 Immediately
Warning Level
Alarm Level
Pn522 2102h:3 7 Positioning Completed Width Immediately
Pn524 2102h:4 1073741824 NEAR Signal Width Immediately
Alarm Level at Servo ON
12-30
(cont’d)
Index Factory When
Parameter Name
Warning Level at Servo ON
Speed Limit Level at Servo
ON
Multiplier per One Fully-
Pn52A 2102h:6 20 Immediately
closed Rotation
Pn52B 2104h:1 20 Overload Warning Level Immediately
Derating of Base Current at
Pn52C 2104h:2 100 After restart
Detecting Overload of Motor
Program JOG Operation
Related Switch
Program JOG Movement Dis-
tance
Program JOG Movement
Speed
Program JOG Acceleration/
Deceleration Time
Pn535 2142h:5 100 Program JOG Waiting Time Immediately
Number of Times of Program
JOG Movement
Pn541 2098h:1 65535 Rated Speed Setting After restart
Speed Coincidence Detection
Width
Pn543 2098h:3 1000 Speed Detection Level Immediately
Pn544 2098h:4 100 Speed Detection Hysteresis Immediately
Speed Error Excessive Protec-
tion Select Switch
Analog Monitor 1 Offset Volt-
age
Analog Monitor 2 Offset Volt-
age
Analog Monitor Magnifica-
tion (× 1)
Analog Monitor Magnifica-
tion (× 2)
Pn561 2148h 50 Overshoot Detection Level Immediately
Pn601 2114h 0 DB Resistor Capacity After restart
Pn630 2118h:1 0 Emergency Stop Immediately

Execution Delay Time
Pn631 2118h:2 0 External Magnetic Contactor After restart
OFF Delay Time
Appendix
12
12-31
12 Appendix
12.3 Index Numbers and Corresponding Parameter Numbers

Use the following table to find the parameter numbers that correspond to the index numbers of the EtherCAT
(CoE) commands of the Σ-V-SD Driver.
Supplemental Information
Example:
Index Number Parameter Name

2000h Pn000 Basic Function Select Switch 0
2001h Pn001 Application Function Select Switch 1
200Bh Pn00B Application Function Select Switch B
200Dh Pn00D Application Function Select Switch D
2030h:1 Pn01B Application Function Select Switch 1B
2030h:2 Pn01C Application Function Select Switch 1C
2030h:3 Pn01E Application Function Select Switch 1E
2030h:4 Pn01F Application Function Select Switch 1F
2030h:5 Pn070 Function at Cutting Feed
2030h:6 Pn071 Function at Fast-forward
2030h:7 Pn07F Application Function Select Switch 7F
2040h:1 Pn100 Speed Loop Gain
2040h:2 Pn101 Speed Loop Integral Time Constant
2040h:3 Pn102 Position Loop Gain
2040h:4 Pn401 1st Step 1st Torque Reference Filter Time Constant
2041h:1 Pn104 2nd Speed Loop Gain
2041h:2 Pn105 2nd Speed Loop Integral Time Constant
2041h:3 Pn106 2nd Position Loop Gain
2041h:4 Pn412 1st Step 2nd Torque Reference Filter Time Constant
2042h:1 Pn12B 3rd Speed Loop Gain
2042h:2 Pn12C 3rd Speed Loop Integral Time Constant
2042h:3 Pn12D 3rd Position Loop Gain
2042h:4 Pn413 1st Step 3rd Torque Reference Filter Time Constant
2043h:1 Pn12E 4rd Speed Loop Gain
2043h:2 Pn12F 4rd Speed Loop Integral Time Constant
2043h:3 Pn130 4rd Position Loop Gain
2043h:4 Pn414 1st Step 4th Torque Reference Filter Time Constant
2060h Pn103 Moment of Inertia Ratio
2061h Pn109 Feedforward Gain
2062h Pn10A Feedforward Filter Time Constant
12-32
(cont’d)
2065h Pn10B Application Function for Gain Select Switch
2067h:1 Pn121 Friction Compensation Gain
2067h:3 Pn123 Friction Compensation Coefficient
2067h:4 Pn124 Friction Compensation Frequency Correction
2067h:5 Pn125 Friction Compensation Gain Correction
206Ah:1 Pn140 Model Following Control Related Switch
206Ah:2 Pn141 Model Following Control Gain
206Ah:3 Pn142 Model Following Control Gain Compensation
206Ah:4 Pn143 Model Following Control Bias (Forward Direction)
206Ah:5 Pn144 Model Following Control Bias (Reverse Direction)
206Ah:8 Pn147 Model Following Control Speed Feedforward Compensation
206Bh:1 Pn160 Anti-Resonance Control Related Switch
206Bh:2 Pn161 Anti-Resonance Frequency
206Bh:3 Pn162 Anti-Resonance Gain Compensation
206Bh:4 Pn163 Anti-Resonance Damping Gain
206Bh:5 Pn164 Anti-Resonance Filter Time Constant 1 Compensation
206Bh:6 Pn165 Anti-Resonance Filter Time Constant 2 Compensation
2083h Pn22A Fully-closed Control Selection Switch
208Ah:1 Pn150 Predictive Control Function Select Switch
208Ah:2 Pn151 Predictive Control Acceleration/Deceleration Gain
208Ah:3 Pn152 Predictive Control Ratio of Weight
208Ah:4 Pn153 Predictive Control Equivalent Kp Ratio
208Ah:5 Pn154 Predictive Control Speed FF Gain
208Ah:6 Pn155 Predictive Control Torque FF Gain
208Ah:7 Pn156 Predictive Control Torque FF Filter Time Constant
208Ah:8 Pn157 Predictive Control Parameter Kph (C)
208Ah:9 Pn158 Predictive Control Parameter Cd
208Ah:10 Pn159 Predictive Control Parameter α
208Ah:11 Pn15A Predictive Control Equivalent Kp Fine Adjustment Amount
2090h Pn305 Soft Start Acceleration Time
2091h Pn306 Soft Start Deceleration Time
2094h:2 Pn311 Vibration Detection Sensibility
2098h:1 Pn541 Rated Speed Setting
2098h:2 Pn542 Speed Coincidence Detection Width
2098h:3 Pn543 Speed Detection Level
2098h:4 Pn544 Speed Detection Hysteresis
2098h:5 Pn545 Speed Error Excessive Protection Select Switch
20A0h:1 Pn402 Forward Torque Limit
20A0h:2 Pn403 Reverse Torque Limit
20A2h Pn406 Emergency Stop Torque
Appendix
20A3h:1 Pn404 Forward External Torque Limit

20A3h:2 Pn405 Reverse External Torque Limit
20A5h Pn407 Speed Limit during Torque Control
20A7h Pn408 Torque Related Function Switch
20A9h:1 Pn409 1st Notch Filter Frequency
12
12-33
12 Appendix
(cont’d)
20A9h:2 Pn40A 1st Notch Filter Q Value
20A9h:3 Pn40B 1st Notch Filter Depth
20A9h:4 Pn40C 2nd Notch Filter Frequency
20A9h:5 Pn40D 2nd Notch Filter Q Value
20A9h:6 Pn40E 2nd Notch Filter Depth
20A9h:7 Pn460 Notch Filter Adjustment Switch
20A9h:8 Pn417 3rd Notch Filter Frequency
20A9h:9 Pn418 3rd Notch Filter Q Value
20A9h:10 Pn419 3rd Notch Filter Depth
20A9h:11 Pn41A 4rd Notch Filter Frequency
20A9h:12 Pn41B 4rd Notch Filter Q Value
20A9h:13 Pn41C 4rd Notch Filter Depth
20A9h:14 Pn416 Torque Related Function Switch 2
20AAh:1 Pn430 Torque Limit (Powering)
20AAh:2 Pn431 Torque Limit (Regeneration)
20ABh:1 Pn432 Motor Flux Lower Level
20ABh:2 Pn433 Servo Mode Flux Level (for High-speed Winding)
20ABh:3 Pn434 Servo Mode Base Speed Ratio (for High-speed Winding)
20ABh:4 Pn435 Servo Mode Flux Level (for Low-speed Winding)
20ABh:5 Pn436 Servo Mode Base Speed Ratio (for Low-speed Winding)
20ACh:1 Pn43F Load Ratio Meter Filter Time Constant
20ADh:1 Pn4F0 1st Positive Projection Compensation Gain
20ADh:2 Pn4F1 1st Positive Projection Compensation Limit Offset
20ADh:3 Pn4F2 2nd Positive Projection Compensation Gain
20ADh:4 Pn4F3 2nd Positive Projection Compensation Limit Offset
20ADh:5 Pn4F4 Positive Projection Compensation Limit Change Value
20ADh:6 Pn4F5 Positive Projection Compensation Limit Clamp Value
20ADh:7 Pn4F6 1st Negative Projection Compensation Gain
20ADh:8 Pn4F7 1st Negative Projection Compensation Limit Offset
20ADh:9 Pn4F8 2nd Negative Projection Compensation Gain
20ADh:10 Pn4F9 2nd Negative Projection Compensation Limit Offset
20ADh:11 Pn4FA Negative Projection Compensation Limit Change Value
20ADh:12 Pn4FB Negative Projection Compensation Limit Clamp Value
20ADh:13 Pn4FC Projection Compensation Timing Constant
20C0h Pn205 Multiturn Limit Setting
20C1h Pn20A Number of External Scale Pitch
20C8h:1 Pn481 Magnetic Pole Detection Speed Loop Gain
20C8h:2 Pn482 Magnetic Pole Detection Speed Integral Time
20C8h:4 Pn486 Magnetic Pole Detection Command Acceleration/Deceleration Time
20C8h:5 Pn487 Magnetic Pole Detection Command Constant Speed Time
20C8h:6 Pn488 Magnetic Pole Detection Command Waiting Time
20C8h:9 Pn490 Magnetic Pole Detection Load Level
20C8h:12 Pn493 Magnetic Pole Detection Command Speed
20C8h:13 Pn494 Magnetic Pole Detection Variable Range
20C8h:14 Pn495 Magnetic Pole Detection Confirmation Torque Reference
12-34
(cont’d)
20C8h:17 Pn498 Polarity Detection Allowable Error Range
20C8h:18 Pn499 Reserved (Do not change.)
20C8h:19 Pn49A Reserved (Do not change.)
20D0h:1 Pn230 Number of Encoder Pulse
20D0h:2 Pn232 C-Phase Compensation Width
20D0h:3 Pn233 Magnetic Pole Origin Corrected Value
20D0h:4 Pn234 Pulse Encoder Stop Vibration Suppression
2100h:1 Pn501 Zero Clamp Level
2100h:2 Pn502 Rotation Detection Level
2100h:3 Pn503 Speed Coincidence Signal Output Width
2102h:1 Pn51E Excessive Position Error Warning Level
2102h:2 Pn520 Excessive Position Error Alarm Level
2102h:3 Pn522 Positioning Completed Width
2102h:4 Pn524 NEAR Signal Width
2102h:5 Pn51B Excessive Error Level between Servomotor and Load Positions
2102h:6 Pn52A Multiplier per One Fully-closed Rotation
2103h:1 Pn526 Excessive Position Error Alarm Level at Servo ON
2103h:2 Pn528 Excessive Position Error Warning Level at Servo ON
2103h:3 Pn529 Speed Limit Level at Servo ON
2104h:1 Pn52B Overload Warning Level
2104h:2 Pn52C Derating of Base Current at Detecting Overload of Motor
2110h:1 Pn50A Input Signal Selection 1
2110h:2 Pn50B Input Signal Selection 2
2110h:3 Pn511 Probe1, Probe2, HOME Input Signal setting
2110h:4 Pn517 OT Function
2112h:1 Pn506 Brake Reference - Servo OFF Delay Time
2112h:2 Pn507 Brake Reference Output Speed Level
2112h:4 Pn508 Waiting Time for Brake Signal When Motor Running
2114h Pn601 DB Resistor Capacity
2116h:1 Pn550 Analog Monitor 1 Offset Voltage
2116h:2 Pn551 Analog Monitor 2 Offset Voltage
2116h:3 Pn552 Analog Monitor Magnification (×1)
2116h:4 Pn553 Analog Monitor Magnification (×2)
2118h:1 Pn630 Emergency Stop Execution Delay Time
2118h:2 Pn631 External Magnetic Contactor OFF Delay Time
2140h Pn304 JOG Speed
2142h:1 Pn530 Program JOG Operation Related Switch
2142h:2 Pn531 Program JOG Movement Distance
2142h:3 Pn533 Program JOG Movement Speed
2142h:4 Pn534 Program JOG Acceleration/Deceleration Time
Appendix
2142h:5 Pn535 Program JOG Waiting Time

2142h:6 Pn536 Number of Times of Program JOG Movement
2143h Pn324 Moment of Inertia Calculating Start Level
2146h:4 Pn456 Sweep Torque Reference Amplitude
2148h Pn561 Overshoot Detection Level
12
12-35
12 Appendix
(cont’d)
5C00h Pn010 SERVOPACK Address (for USB/Local bus communication)
12-36
Index
Index E
emergency stop torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-10
EtherCAT (CoE) communications - - - - - - - - - - - - - - - - - - - - - - 8-3
EtherCAT (CoE) commands - - - - - - - - - - - - - - - - - - - - - - - 8-3
EtherCAT commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
A EtherCAT communications - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
absolute encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-27 EtherCAT secondary address - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
setup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-29 EtherCAT state machine - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4
absolute encoder battery - - - - - - - - - - - - - - - - - - - - - - - - - 2-21, 5-2
setup procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3 F
specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2 ferrite core - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4
AC reactor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-22, 5-4 FMMU - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
external dimensions - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5
specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
H
advanced autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-9 hard wire base block (HWBB) function - - - - - - - - - - - - - - - - - 8-37
advanced autotuning by reference - - - - - - - - - - - - - - - - - - - - - 9-20 external device monitor (EDM ) - - - - - - - - - - - - - - - - - - 8-41
alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-4 holding brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-12
EtherCAT (CoE) Communications - - - - - - - - - - - - - - - - - 11-10 I
monitoring communications data - - - - - - - - - - - - - - - - - - 11-41
I/O signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-28
motor stop method - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-4
connection diagrams - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-30
resetting alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-4
connector pin arrangement (CN1) - - - - - - - - - - - - - - - - - - 7-28
servo drive alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-5
index number - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iv
status indications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-4
troubleshooting of the EtherCAT (CoE) communications - 11-33 L
troubleshooting of the servo drive alarms - - - - - - - - - - - - 11-11 LED indicator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
analog monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
limiting torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-25
connectors CN61 and CN62 - - - - - - - - - - - - - - - - - - - - - - - 9-4 local bus - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27
monitor signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
setting monitor factor - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6 M
anti-resonance control adjustment - - - - - - - - - - - - - - - - - - - - - 9-35 magnetic contactor for winding selection - - - - - - - - - - - - - 2-22, 5-9
applicable communication standards - - - - - - - - - - - - - - - - - - - - 4-9 external dimensions - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-9
installation orientation - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11
B
specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-9
base block (BB) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii terminal descriptions - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
base mounting units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16
mailbox (CoE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
external dimensions - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-18
main circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-19
power regeneration converter and SERVOPACK typical main circuit wiring example - - - - - - - - - - - - - - - - - 7-23
combinations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16
MECHATROLINK-III communications settings - - - - - - - - - - - - 8-3
specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16
MECHATROLINK-III commands - - - - - - - - - - - - - - - - - - 8-3
battery replacement - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-28
setting switches S1 and S2 - - - - - - - - - - - - - - - - - - - - - - - - 8-3
C motor constants - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-22
multiturn limit disagreement alarm (A.CC0) - - - - - - - - - - - - - - 8-33
cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
multiturn limit setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-32
servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
spindle motor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4 N
Σ-V-SD drivers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-17
noise filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-23, 5-12
CiA402 drive profile - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
external dimensions - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
coast mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-10
specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
coast to a stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-10
notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-33
combinations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
power regeneration converter, SERVOPACK, and motor - - - - 2-3 O
SERVOPACK for one axis and motor - - - - - - - - - - - - - - - - 2-2 one-parameter tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-27
SERVOPACK for two axes and motor - - - - - - - - - - - - - - - - 2-2 overtravel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-9
connector for communications - - - - - - - - - - - - - - - - - - - - - - - - 4-9 servomotor stopping method when overtravel occurs - - - - - 8-10
control circuit power supply - - - - - - - - - - - - - - - - - - - - - - - - - 7-25
P
D physical layer - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
DC-bus - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-26 power regeneration converter - - - - - - - - - - - - - - - - - - - - - - - iii, 4-2
DC-bus voltage - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii external dimensions - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
decelerate to a stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-10 specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
device control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5 process data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
discharge time of main-circuit capacitor - - - - - - - - - - - - - - - - - 7-19
Distributed Clocks - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9 S
drive profile - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5 servo drive - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii
dynamic brake - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-10 servo gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
Index-1
Index
servo OFF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -iii Z

servo ON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -iii
zero clamp mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-10
servomotor rotation direction - - - - - - - - - - - - - - - - - - - - - - - - - 8-8
zero-speed stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16
servomotor stopping method - - - - - - - - - - - - - - - - - - - - - - - - - 8-17
after SV_OFF command is received - - - - - - - - - - - - - - - - - 8-18
when an alarm occurs - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-18
when overtravel occurs - - - - - - - - - - - - - - - - - - - - - - - - - - 8-10
servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-17
allowable load moment of inertia at the motor shaft - - - - - - 3-22
allowable radial and thrust loads - - - - - - - - - - - - - - - - - - - 3-22
coupling motor and machinery - - - - - - - - - - - - - - - - - - - - - 6-4
enclosure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
holding brake electrical specifications - - - - - - - - - - - - - - - 3-21
installation environment - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
installation orientation - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
main circuit cable wiring (model: SGMGV-05) - - - - - - - - - 7-12
main circuit cable wiring (model: SGMGV-09 to -75) - - - - - 7-15
motor total indicator readings - - - - - - - - - - - - - - - - - - - - - 3-23
overload characteristics - - - - - - - - - - - - - - - - - - - - - - - - - 3-21
ratings and specifications - - - - - - - - - - - - - - - - - - - - - - - - 3-17
rotation direction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-23
serial encoder wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-18
shock resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-23
torque-motor speed characteristics - - - - - - - - - - - - - - - - - - 3-20
vibration class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-23
vibration resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-23
SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -iii, 4-6
specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
single-winding motors - - - - - - - - - - - - - - - - - - - - - - -3-3, 3-5, 3-13
Slave Information IF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
spindle motor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
application selection - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-22
configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
coupling motor and machinery - - - - - - - - - - - - - - - - - - - - - 6-4
enclosure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
encoder type setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-22
encoder wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7
installation environment - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
installation orientation - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
main circuit cable wiring - - - - - - - - - - - - - - - - - - - - - - - - - 7-4
motor rotation direction setting - - - - - - - - - - - - - - - - - - - - 8-22
motor total indicator readings - - - - - - - - - - - - - - - - - - - - - 3-11
motor type setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-22
output and torque characteristics - - - - - - - - - - - - - - - - - - - - 3-5
ratings and specifications - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
rotation direction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
spindle motor constant settings - - - - - - - - - - - - - - - - - - - - 8-22
tolerance radial loads - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11
vibration resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
winding selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-22
state machine controlling command - - - - - - - - - - - - - - - - - - - - - 8-6
Statusword (6041h) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6
Σ-V-SD driver - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -iii
installation requirements - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
SyncManager - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
W
Warnings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-35
list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-35
monitoring communications data - - - - - - - - - - - - - - - - - - 11-41
troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-37
winding selection motors - - - - - - - - - - - - - - - - - - - - -3-4, 3-7, 3-15
Index-2
Revision History
The revision dates and numbers of the revised manuals are given on the bottom of the back cover.
MANUAL NO.‫ޓ‬SIEP S800000 94A

Published in Japan March 2013 13-3
Date of original publication

Date of publication
Date of Rev.
Section Revised Content
Publication No.
March 2013 – – First edition

AC Servo Drives
-V-SD Series
USER’S MANUAL
Rotational Motor
EtherCAT (CoE) Communications Reference
IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama 358-8555, Japan
Phone 81-4-2962-5151 Fax 81-4-2962-6138
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
YASKAWA ELETRICO DO BRASIL LTDA.
Avenida Piraporinha 777, Diadema, Sao Paulo, 09950-000, Brasil
Phone 55-11-3585-1100 Fax 55-11-3585-1187
YASKAWA EUROPE GmbH
Hauptstraβe 185, Eschborn 65760, Germany
Phone 49-6196-569-300 Fax 49-6196-569-398
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom
Phone 44-1236-735000 Fax 44-1236-458182
YASKAWA ELECTRIC KOREA CORPORATION
9F, Kyobo Securities Bldg. 26-4, Yeouido-dong, Yeongdeungpo-gu, Seoul, 150-737, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-02A, New Tech Park 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
YASKAWA ELECTRIC (CHINA) CO., LTD.
12F, Carlton Bld., No.21 HuangHe Road, HuangPu District, Shanghai 200003, China
Phone 86-21-5385-2200 Fax 86-21-5385-3299
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
9F, 16, Nanking E. Rd., Sec. 3, Taipei 104, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
YASKAWA ELECTRIC CORPORATION
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. All rights reserved.
MANUAL NO. SIEP S800000 94A

Published in Japan March 2013 13-3
12-12-8
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AC Servo Drives

MANUAL NO. SIEP S800000 94A

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Description of Technical Terms

• Indicates important information that should be memorized, as well as precautions,

• Notation for Parameters

Control methods for which the parameter applies.

Emergency Stop Torque Speed Position Torque

• Parameters for Selecting Functions

• Notation for Index Numbers of EtherCAT (CoE) Commands

Indicates precautions that, if not heeded, could possibly result in loss of

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.

Storage and Transportation

Maintenance and Inspection

Observe the following general precautions

(1) Details of Warranty

2 Compatible Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1

3 Specifications and External Dimensions for Motors . . . . . . . . . . . . . . . . .3-1

5 Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1

10 Standards Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-1

11 Inspection, Maintenance, and Troubleshooting . . . . . . . . . . . . . . . . . . 11-1

1.1 System Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.1 System Configurations

Molded-case Power regeneration

Machine (24 VDC) PN bus bar PN bus bar

1.2 Model Designation

1.2.3 Σ-V-SD Series Driver

14th + 15th + 16th + 17th +

(3) SERVOPACK for Two Axes

2.1 Combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.2 Selecting Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.3 Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-20

2.1.2 SERVOPACK for Two Axes and Motor

2.1.3 Power Regeneration Converter, SERVOPACK, and Motor

2.2 Selecting Cables

SERVOPACK for SERVOPACK for

Spindle Motor Spindle Motor

Spindle Motor Spindle Motor

(1) Main Circuit Cable

• Cable-end connectors to SERVOPACKs

Use the following information on specifications to select appropriate parts.

Specifications for cable-end connectors to SERVOPACKs

(2) Pulse Encoder Cable

Specifications for cable-end connectors to SERVOPACKs

Name Model Manufacturer

Electrical Other pins LLF-01T-P1.3E* J.T.S Mfg. Co., Ltd.

(3) Serial Encoder Cable

Specifications for cable-end connectors to SERVOPACKs

Specifications for cable-end connectors to spindle motors

Name Model Manufacturer

Light blue Light blue

Available Cable Length

SERVOPACK for One Axis

(1) Main Circuit Cable for SGMGV-05 Servomotor

• Cable-end connectors to servomotors

Specifications for cable-end connectors to servomotors 2

Applicable Wire Size AWG18 to 22