Sigma II Series Servo System

User’s Manual
 WARNING
YASKAWA manufactures component parts that can be used in a wide variety of industrial applications.
The selection and application of YASKAWA products remain the responsibility of the equipment
designer or end user. YASKAWA accepts no responsibility for the way its products are incorporated into
the final system design.

Under no circumstances should any YASKAWA product be incorporated into any product or design as
the exclusive or sole safety control. Without exception, all controls should be designed to detect faults
dynamically and fail safely under all circumstances. All products designed to incorporate a component
part manufactured by YASKAWA must be supplied to the end user with appropriate warnings and
instructions as to that part’s safe use and operation. Any warnings provided by YASKAWA must be
promptly provided to the end user.

YASKAWA offers an express warranty only as to the quality of its products in conforming to standards
and specifications published in YASKAWA’s manual. NO OTHER WARRANTY, EXPRESS OR
IMPLIED, IS OFFERED. YASKAWA assumes no liability for any personal injury, property damage,
losses, or claims arising from misapplication of its products.

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Safety Information

The following defines the symbols used in this manual to indicate varying degrees of
safety precautions and to identify the corresponding level of hazard inherent to each.
Failure to follow precautions provided in this manual can result in serious, possibly even
fatal, injury, and/or damage to the persons, products, or related equipment and systems.

WARNING
• WARNING: Indicates a potentially hazardous situation, which, if not heeded, could result in death or
serious injury.

CAUTION
• CAUTION: Indicates a potentially hazardous situation, which, if not avoided, may result in minor or
moderate injury.

©Yaskawa, 2001
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 permission
of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover,
because Yaskawa is constantly 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.
This page intentionally left blank.

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Sigma II User’s Manual Table of Contents/Preface

1. Checking Product and Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 1

1.1 Checking the Sigma II Series Products on Delivery . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 2
1.1.1 Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 2
1.1.2 Servo Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 4
1.2 Product Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 5
1.2.1 Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 5
1.2.2 Servo Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 6
2. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 1
2.1 Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 2
2.1.1 Storage Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 2
2.1.2 Installation Site . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 2
2.1.3 Alignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 3
2.1.4 Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 3
2.1.5 Allowable Shaft Loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 4
2.1.6 Handling Oil and Water . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 5
2.1.7 Cable Stress. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 5
2.2 Servo Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 6
2.2.1 Storage Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 6
2.2.2 Installation Site . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 6
2.2.3 Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 7
2.2.4 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 8
3. Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 1
3.1 Connecting to Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 3
3.1.1 Single-Phase (100V or 200V) Main Circuit Specifications . . . . . . . . . . . . . . . 3 - 4
3.1.2 Three-Phase (200V) Main Circuit Specifications . . . . . . . . . . . . . . . . . . . . . . . 3 - 5
3.1.3 Three-Phase (400V) Main Circuit Specifications . . . . . . . . . . . . . . . . . . . . . . . 3 - 6
3.2 Servo Amplifier Internal Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 7
3.2.1 30W to 400W (200V) and 30W to 200W (100V) Models . . . . . . . . . . . . . . . 3 - 7
3.2.2 0.5kW to 1.5kW (200V) Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 8
3.2.3 2.0 kW and 5.0kW (200V) Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 8
3.2.4 6.0kW to 15.0kW (200V) Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 9
3.2.5 0.5kW to 3.0kW, 400V Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 9
3.2.6 5.0kW (400V) Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 10
3.2.7 6.0kW to 7.5kW, 400V Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 10
3.2.8 11.0kW to 15.0kW (400V) Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 11
3.3 Main Circuit Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 12
3.3.1 Names and Descriptions of Main Circuit Terminal . . . . . . . . . . . . . . . . . . . . 3 - 13
3.3.2 Typical Main Circuit Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 14
3.3.3 Cable Specifications and Peripheral Devices . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 14
3.3.4 Servo Amplifier Power Losses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 15
3.3.5 Wiring Main Circuit Terminal Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 16
3.4 I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 17
3.4.1 Example of Typical I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 17
3.4.2 List of CN1 Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 18
3.4.3 I/O Signal Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 19
3.4.4 Interface Circuits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 21

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3.5 Wiring Encoders (for SGMGH and SGMSH Motors Only) . . . . . . . . . . . . . . . . . . 3 - 24

3.5.1 Encoder Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 24
3.5.2 CN2 Encoder Connector Terminal Layout and Types . . . . . . . . . . . . . . . . . . 3 - 25
3.6 Examples of Standard Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 26
3.6.1 Single-Phase Power Supply Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 26
3.6.2 Three-Phase Power Supply Specifications (200V). . . . . . . . . . . . . . . . . . . . . 3 - 27
3.6.3 Three-Phase Power Supply Specifications (400V). . . . . . . . . . . . . . . . . . . . . 3 - 28
3.6.4 Position Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 29
3.6.5 Speed Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 30
3.6.6 Torque Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 31
4. Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 1
4.1 Two-Step Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 2
4.1.1 Step 1: Trial Operation for Servomotor without Load . . . . . . . . . . . . . . . . . . . 4 - 3
4.1.2 Step 2: Trial Operation with the Servomotor Connected to a Load . . . . . . . . . 4 - 9
4.2 Additional Setup Procedures in Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 10
4.2.1 Servomotors with Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 10
4.2.2 Position Control by Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 11
4.3 Minimum Parameters and Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 12
4.3.1 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 12
4.3.2 Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 12
5. Parameter Settings and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 1
5.1 Settings According to Device Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 4
5.1.1 Switching Servomotor Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 4
5.1.2 Setting the Overtravel Limit Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 5
5.1.3 Limiting Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 8
5.2 Settings According to Host Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 13
5.2.1 Speed Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 13
5.2.2 Position Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 15
5.2.3 Using the Encoder Signal Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 21
5.2.4 Sequence I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 25
5.2.5 Using the Electronic Gear Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 27
5.2.6 Contact Input Speed Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 32
5.2.7 Using Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 37
5.2.8 Torque Feed-Forward Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 44
5.2.9 Speed Feed-Forward Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 46
5.2.10 Torque Limiting by Analog Voltage Reference . . . . . . . . . . . . . . . . . . . . . . 5 - 48
5.2.11 Reference Pulse Inhibit Function (/INHIBIT) . . . . . . . . . . . . . . . . . . . . . . . 5 - 50
5.3 Setting Up the Servo Amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 51
5.3.1 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 51
5.3.2 JOG Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 52
5.3.3 Input Circuit Signal Allocation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 53
5.3.4 Output Circuit Signal Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 57
5.3.5 Control Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 60
5.4 Setting Stop Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 63
5.4.1 Adjusting Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 63
5.4.2 Servo OFF Stop Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 64

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5.4.3 Using the Zero Clamp Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 65

5.4.4 Using the Holding Brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 67
5.5 Forming a Protective Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 71
5.5.1 Using Servo Alarm and Alarm Code Outputs . . . . . . . . . . . . . . . . . . . . . . . . 5 - 71
5.5.2 Using the Servo ON Input Signal (/S-ON) . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 73
5.5.3 Using the Positioning Completed Output Signal (/COIN) . . . . . . . . . . . . . . . 5 - 75
5.5.4 Speed Coincidence Output (/V-CMP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 77
5.5.5 Using the Running Output Signal (/TGON) . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 79
5.5.6 Using the Servo Ready Output Signal (/S-RDY) . . . . . . . . . . . . . . . . . . . . . . 5 - 81
5.5.7 Using the Warning Output Signal (/WARN). . . . . . . . . . . . . . . . . . . . . . . . . 5 - 82
5.5.8 Using the Near Output Signal (/NEAR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 84
5.5.9 Handling Power Loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 86
5.6 Selecting a Regenerative Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 87
5.6.1 External Regenerative Resistor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 88
5.6.2 Calculating the Regenerative Power Capacity . . . . . . . . . . . . . . . . . . . . . . . . 5 - 91
5.7 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 101
5.7.1 Interface Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 102
5.7.2 Configuring an Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 103
5.7.3 Handling Batteries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 105
5.7.4 Absolute Encoder Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 106
5.7.5 Absolute Encoder Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 110
5.8 Special Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 115
5.8.1 Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 115
5.8.2 Wiring for Noise Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 122
5.8.3 Using More Than One Servodrive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 126
5.8.4 Extending Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 127
5.8.5 400V Power Supply Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 129
5.8.6 Reactor for Harmonic Suppression. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 131
5.9 Reserved Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 133
6. Servo Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 1
6.1 Smooth Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 2
6.1.1 Using the Soft Start Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 2
6.1.2 Smoothing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 3
6.1.3 Adjusting Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 5
6.1.4 Adjusting Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 6
6.1.5 Setting the Torque Reference Filter Time Constant . . . . . . . . . . . . . . . . . . . . . 6 - 7
6.1.6 Notch Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 8
6.2 High-Speed Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 9
6.2.1 Setting Servo Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 9
6.2.2 Using Feed-Forward Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 11
6.2.3 Using Proportional Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 12
6.2.4 Setting Speed Bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 13
6.2.5 Using Mode Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 14
6.2.6 Speed Feedback Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 18
6.3 Auto-Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 20
6.3.1 Online Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 21

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6.3.2 Mechanical Rigidity Settings for Online Auto-Tuning . . . . . . . . . . . . . . . . . 6 - 23

6.3.3 Saving Results of Online Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 25
6.3.4 Parameters Related to Online Auto-Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 28
6.4 Servo Gain Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 30
6.4.1 Servo Gain Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 30
6.4.2 Basic Rules of Gain Adjustment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 31
6.4.3 Making Manual Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 33
6.4.4 Gain Setting Reference Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 38
6.5 Analog Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 40
7. Using the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 1
7.1 Basic Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 2
7.1.1 Connecting the Digital Operator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 2
7.1.2 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 3
7.1.3 Resetting Servo Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 5
7.1.4 Basic Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 6
7.1.5 Status Display Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 7
7.1.6 Operation in Parameter Setting Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 10
7.1.7 Operation in Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 18
7.2 Applied Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 24
7.2.1 Operation in Alarm Traceback Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 25
7.2.2 JOG Operation Using the Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 27
7.2.3 Automatic Adjustment of the Speed and Torque Reference Offset . . . . . . . . 7 - 30
7.2.4 Manual Adjustment of the Speed and Torque Reference Offset . . . . . . . . . . 7 - 33
7.2.5 Clearing Alarm Traceback Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 38
7.2.6 Checking the Motor Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 40
7.2.7 Checking the Software Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 43
7.2.8 Origin Search Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 44
7.2.9 Initializing Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 47
7.2.10 Manual Zero Adjustment and Gain Adjustment of
Analog Monitor Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 49
7.2.11 Adjusting the Motor Current Detection Offset . . . . . . . . . . . . . . . . . . . . . . . 7 - 54
7.2.12 Write Protected Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 58
7.2.13 Clearing the Option Unit Detection Alarm . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 60
8. Ratings and Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 1
8.1 Servomotors: Ratings, Specifications, and Dimensional Drawings . . . . . . . . . . . . . 8 - 2
8.1.1 SGMAH Servomotors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 2
8.1.2 SGMPH Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 7
8.1.3 SGMGH Servomotors for 1500rpm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 11
8.1.4 SGMSH Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 15
8.1.5 SGMUH Servomotors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 19
8.2 Servo Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 22
8.2.1 Combined Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 22
8.2.2 Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 28
8.2.3 Base-Mounted Servo Amplifier Dimensions in inches (mm) . . . . . . . . . . . 8 - 35
9. Inspection, Maintenance, and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 - 1
9.1 Servodrive Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 - 2

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Sigma II User’s Manual Table of Contents/Preface

9.1.1 Servomotor Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 - 2

9.1.2 Servo Amplifier Inspection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 - 3
9.1.3 Replacing the Battery for the Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . 9 - 4
9.2 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 - 5
9.2.1 Troubleshooting Problems with Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . 9 - 5
9.2.2 Troubleshooting Problems with No Alarm Display . . . . . . . . . . . . . . . . . . . . 9 - 39
9.2.3 Alarm Display Table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 - 41
9.2.4 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 - 43
A. Host Controller Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A - 1
A.1 Connecting the GL-series MC20 Motion Module . . . . . . . . . . . . . . . . . . . . . . . . . . A - 2
A.2 Connecting the CP-9200SH Servo Controller Module (SVA). . . . . . . . . . . . . . . . . A - 3
A.3 Connecting the GL-series B2813 Positioning Module . . . . . . . . . . . . . . . . . . . . . . . A - 4
A.4 Connecting OMRON's C500-NC221 Position Control Unit . . . . . . . . . . . . . . . . . . A - 5
A.5 Connecting OMRON's C500-NC112 Position Control Unit . . . . . . . . . . . . . . . . . . A - 6
A.6 Connecting MITSUBISHI's AD72 Positioning Unit . . . . . . . . . . . . . . . . . . . . . . . . A - 7
A.7 Connecting MITSUBISHI's AD75 Positioning Unit . . . . . . . . . . . . . . . . . . . . . . . . A - 8
B. List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B - 1
B.1 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B - 2
B.2 Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B - 5
B.3 Input Signal Selections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B - 9
B.4 Output Signal Selections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B - 11
B.5 Auxiliary Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B - 12
B.6 Monitor Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B - 13
C. Examples of Standard Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C - 1
C.1 Single-Phase Power Supply Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C - 2
C.2 Three-Phase Power Supply Specifications (200V) . . . . . . . . . . . . . . . . . . . . . . . . . . C - 3
C.3 Three-Phase Power Supply Specifications (400V) . . . . . . . . . . . . . . . . . . . . . . . . . . C - 4
C.4 Position Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C - 5
C.5 Speed Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C - 6
C.6 Torque Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C - 7

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Sigma II User’s Manual Table of Contents/Preface

Using This Manual

Intended Audience
This manual is intended for the following users.
• Those designing Sigma IΙ Series servodrive systems.
• Those installing or wiring Sigma IΙ Series servodrives.
• Those performing trial operation or adjustments of Sigma I Ι Series servodrives.
• Those maintaining or inspecting Sigma IΙ Series servodrives.

Description of Technical Terms
In this manual, the following terms are defined as follows:
• Servomotor = Sigma IΙ Series SGMAH/SGMPH/SGMGH/SGMSH servomotor.
• Servo Amplifier = Sigma IΙ Series SGDH servo amplifier.
• Servodrive = A set including a servomotor and servo amplifier.
• Servo System = A servo control system that includes the combination of a
servodrive with a host computer and peripheral devices.

Indication of Inverted Signals
In this manual, the names of inverted signals (ones that are valid when low) are
written with a forward slash (/) before the signal name, as shown in the following
equations:
• /S–ON = S–ON
• /P–CON = P–CON

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Sigma II User’s Manual Table of Contents/Preface

Safety Precautions
The following precautions are for checking products upon delivery, installation, wiring,
operation, maintenance and inspections.

Checking Products upon Delivery

CAUTION
• Always use the servomotor and servo amplifier in one of the specified combinations.
Not doing so may cause fire or malfunction.

Installation

CAUTION
• Never use the products in an environment subject to water, corrosive gases, inflammable gases, or
combustibles.
Doing so may result in electric shock or fire.

Wiring

WARNING
• Connect the ground terminal to a class 3 ground (100Ω or less).
Improper grounding may result in electric shock or fire.
• Required for 7.5kW amplifiers:
Use of Yaskawa kit Number JZSP-CKT75 for wiring the power input and output terminals, or equivalent
UL listed closed-loop ring terminals designed to accept 4 AWG wires.
• Required for 200V, 11kW and 15kW amplifiers:
Contact Yaskawa for connector kit information.
• Required for 400V, 6.0kW and 7.5kW amplifiers:
Use of Yaskawa kit Number JZSP-CKT75DE for wiring the power input and output terminals, or
equivalent UL listed closed-loop ring terminals designed to accept 8 AWG wires.
• Required for 400V, 11kW amplifiers:
Use of Yaskawa kit Number JZSP-CKT1ADE for wiring the power input and output terminals, or
equivalent UL listed closed-loop ring terminals designed to accept 8 AWG wires.
• Required for 400V, 15kW amplifiers:
Use of Yaskawa kit Number JZSP-CKT1EDE for wiring the power input and output terminals, or
equivalent UL listed closed-loop ring terminals designed to accept 6 AWG wires.

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Sigma II User’s Manual Table of Contents/Preface

CAUTION
• Do not connect a three-phase power supply to the U, V, or W output terminals.
Doing so may result in injury or fire.
• Securely fasten the power supply terminal screws and motor output terminal screws.
Not doing so may result in fire.

Operation

CAUTION
• Never touch any rotating motor parts while the motor is running.
Doing so may result in injury.

CAUTION
• Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to
avoid any unexpected accidents.
Not doing so may result in injury.
• Before starting operation with a machine connected, change the settings to match the parameters of
the machine.
Starting operation without matching the proper settings may cause the machine to run out of control or
malfunction.
• Before starting operation with a machine connected, make sure that an emergency stop can be applied
at any time.
Not doing so may result in injury.
• Do not touch the heat sinks during operation.
Not doing so may result in burns due to high temperatures.

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Sigma II User’s Manual Table of Contents/Preface

Maintenance and Inspection

WARNING
• Do not remove the panel cover while the power is ON.
Doing so carries a risk of electric shock.
• Do not touch terminals for five minutes after the power has been turned OFF.
Residual voltage may cause electric shock.
• Never touch the inside of the servo amplifier.
Doing so may result in electric shock.

CAUTION
• Do not disassemble the servomotor.
Doing so may result in electric shock or injury
• Do not attempt to change wiring while the power is ON.
Doing so may result in electric shock or injury

General Precautions

Note the following to ensure safe application:

• The drawings presented in this manual are sometimes shown without covers or protective guards. Always
replace the cover or protective guard as specified first, and then operate the products in accordance with the
manual.
• The drawings presented in this manual are typical examples and may not match the product you received.
• This manual is subject to change due to product improvement, specification modification, and manual
improvement. When this manual is revised, the manual code is updated and the new manual is published as
a next edition. The edition number appears on the front and back covers.
• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of
the offices listed on the back of this manual.
• Yaskawa will not take responsibility for the results of unauthorized modifications of this product. Yaskawa
shall not be liable for any damages or troubles resulting from unauthorized modification.

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Sigma II User’s Manual Table of Contents/Preface

Notes:

xiv
Sigma II User’s Manual Chapter 1: Checking Product and Part Names

1 Checking Product and Part Names

This chapter describes the procedure for checking products

upon delivery as well as names for product parts.

1.1 Checking the Sigma II Series Products on Delivery............................................ 1-2

1.1.1 Servomotors ................................................................................................ 1-2
1.1.2 Servo Amplifiers ......................................................................................... 1-4
1.2 Product Part Names ............................................................................................. 1-5
1.2.1 Servomotors ................................................................................................ 1-5
1.2.2 Servo Amplifiers ......................................................................................... 1-6

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Sigma II User’s Manual Chapter 1: Checking Product and Part Names

1.1 Checking the Sigma II Series Products on Delivery

The following procedure is suggested to check Sigma II series products upon delivery.
Use the following checklist when Sigma II series products are delivered.

Initial Inspection Comments

Check the model numbers marked on
Are the delivered products the nameplates of the servomotor and
the ones that were ordered? servo amplifier. (Refer to the descrip-
tions of model numbers on following
pages)
The servomotor shaft is normal if it can
Does the servomotor shaft be turned smoothly by hand. Servomo-
rotate smoothly? tors with brakes, however, cannot be
turned manually.
Check the overall appearance, and
Is there any damage? check for damage or scratches that may
have occurred during shipping.
Are there any loose screws? Check screws for looseness using a
screwdriver.

If any of the above are faulty or incorrect, contact Yaskawa or an authorized distributor.

1.1.1 Servomotors

External Appearance and Nameplate Example

Rated output
Servomotor model

Serial number
Manufacturing date
Rated motor speed

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 Sigma II User’s Manual Chapter 1: Checking Product and Part Names

Model Numbers
Standard Servomotors

SGMPH - 01 A A A 2 S
Sigma II Series Servomotor Name Brake and Oil Seal Specifications
SGMAH
SGMPH 1: Standard
SGMGH S: With oil seal
SGMSH C: With 24V DC brake
SGMUH E: S + C

Servomotor Capacity (See Table 1.1) Shaft End Specifications

(See Table 1.3)
Power Supply
A: 200V Design Revision Order
B: 100V* A SGMAH
D: 400V SGMPH
*The only 100V servomotors are the 0.2kW or less SGMGH (1500rpm)
SGMAH and SGMPH models. SGMSH
SGMUH
E: SGMPH (IP67 waterproof specification)
Serial Encoder Specifications (See Table 1.2)

Table 1.1: Servomotor Capacity (kW)

SGMAH SGMPH SGMGH SGMSH SGMUH SGMAH SGMPH SGMGH SGMSH SGMUH
Symbol Symbol
3000rpm 3000rpm 1500rpm 3000rpm 6000rpm 3000rpm 3000rpm 1500rpm 3000rpm 6000rpm
A3 0.03 — — — — 15 — 1.5 — 1.5 1.5
A5 0.05 — — — — 20 — — 1.8 2.0 —
01 0.1 0.1 — — — 30 — — 2.9 3.0 3.0
02 0.2 0.2 — — — 40 — — — 4.0 4.0
04 0.4 0.4 — — — 44 — — 4.4 — —
05 — — 0.45 — — 50 — — — 5.0 —
08 0.75 0.75 — — — 55 — — 5.5 — —
09 — — 0.85 — — 75 — — 7.5 — —
10 — — — 1.0 1.0 1A — — 11 — —
13 — — 1.3 — — 1E — — 15 — —

Table 1.2: Serial Encoders

Code Specification SGMAH SGMPH SGMGH SGMSH SGMUH
1 16-bit absolute encoder Standard Standard — — —
2 17-bit absolute encoder — — Standard Standard Standard
A 13-bit incremental encoder Standard Standard — — —
B 16-bit incremental encoder Optional Optional — — —
C 17-bit incremental encoder — — Standard Standard Standard

Table 1.3: Axis End Specifications (Straight)

Code Specification SGMAH SGMPH SGMGH SGMSH SGMUH
2 Straight without key Optional Optional Optional Optional Optional
4 Straight with key Standard Standard — — —
6 Straight with key and tap Optional Optional Standard Standard Standard
8 Straight with tap Optional Optional Optional — —

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Sigma II User’s Manual Chapter 1: Checking Product and Part Names

1.1.2 Servo Amplifiers

External Appearance and Nameplate Examples

Servo amplifier model

YASKAWA
200V
SERVOPACK
SGDH-

MODE/SET DATA/
POWER
CHARGE

L1 C
N
L2 3
L3
1
2
C
N
1
L1C
L2C
B1
B2
B3
C
U N
2
V
W
Serial number
Sigma II series SGDH Applicable capacity
servo amplifier Applicable
power supply

Model Numbers

SGDH - 10 A E -

Sigma II Series
SGDH Servo Amplifier

Maximum Applicable Servomotor Capacity

(See Table 1.9)

Supply Voltage
A: 200V
B: 100V*
D: 400V
*The only 100V servomotors are the 0.2kW or
or less SGMAH and SGMPH

Type
E: For torque, speed, and position control

Options
R: Rack mounted
S: Single-Phase
P: Duct-Ventilated (6 to 15kW only)

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 Sigma II User’s Manual Chapter 1: Checking Product and Part Names

Table 1.4: Maximum Applicable Servomotor Capacity

Maximum Applicable Servomotor Capacity

Capacity Capacity
Symbol Symbol
(kW) (kW)
A3 0.03 08 0.75
A5 0.05 10 1.0
01 0.10 15 1.5
02 0.20 20 2.0
04 0.40 30 3.0
05 0.50 50 5.0
1A 11.0 60 6.0
1E 15.0 75 7.5

1.2 Product Part Names

This section describes product part names.

1.2.1 Servomotors

The figure below shows part names for servomotors with or without brakes.

Encoder Frame Flange

Output shaft

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Sigma II User’s Manual Chapter 1: Checking Product and Part Names

1.2.2 Servo Amplifiers

The figure below shows the part names for servo amplifiers.

Battery Holder
Used to house the backup battery for an
absolute encoder.
CN5 Analog Monitor Connector
Used to monitor motor speed, torque refer-
ence, and other values through a special cable.

CN8 Battery Connector

Used to connect to the backup battery for an
absolute encoder.

Panel Display
Five-digit 7-segment display panel used to
show servo status, alarm status, and other
values when parameters are entered.
Panel Keys
Used to set parameters.

Power ON Indicator
Lights when the control power supply is ON.

Charge Indicator
Lights when the main circuit power supply is
ON and stays as long as that component’s
capacitor remains charged. Therefore, if this
indicator is ON, do not touch the servo
amplifier, even after the power supply is
turned OFF.

CN10 Connector for Option Unit

Connects option units for expanding the amplifier’s functions.

CN3 Connector to PC or Digital Operator

Used to communicate with a personal computer or to
connect to an optional digital operator.

CN1 I/O Signal Connector

Used for both reference input and sequence I/O signals.

Nameplate
Indicates the servo amplifier model and its specific ratings.

CN2 Encoder Connector

Connects to the encoder in the servomotor.

Ground Terminal
Must be connected to protect against electrical shock.

Main Circuit Power Supply Terminal

Used for the main circuit power supply input.

Control Power Supply Terminal

Connects to the control power supply and to externally
mounted regenerative resistor (where applicable).
Servomotor Terminal
Connects to the servomotor power line.

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Sigma II User’s Manual Chapter 2: Installation

2 Installation

This chapter describes precautions for Sigma II Series servomotor

and servo amplifier installation.

2.1 Servomotors ......................................................................................................... 2-2

2.1.1 Storage Temperature ................................................................................... 2-2
2.1.2 Installation Site ........................................................................................... 2-2
2.1.3 Alignment ................................................................................................... 2-3
2.1.4 Orientation .................................................................................................. 2-3
2.1.5 Allowable Shaft Loads................................................................................ 2-4
2.1.8 Handling Oil and Water .............................................................................. 2-6
2.1.9 Cable Stress ................................................................................................. 2-6
2.2 Servo Amplifiers .................................................................................................. 2-7
2.2.1 Storage Conditions ...................................................................................... 2-7
2.2.2 Installation Site ........................................................................................... 2-7
2.2.3 Orientation .................................................................................................. 2-8
2.2.4 Installation .................................................................................................. 2-9

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Sigma II User’s Manual Chapter 2: Installation

2.1 Servomotors
SGM
H servomotors can be installed either horizontally or vertically.
The service life of the servomotor can be shortened or unexpected problems might occur if
it is installed incorrectly or in an inappropriate location. Follow these installation
instructions carefully.

CAUTION

• Do not connect the servomotor directly

to a commercial power line. This will
damage the servomotor.

The servomotor cannot operate without the

proper servo amplifier.

Note: Prior to Installation:The end of the motor shaft is coated with anti-corrosive paint. Before
installing, carefully remove all of the paint using a cloth moistened with paint thinner. Avoid getting
thinner on other parts of the servomotor.

Anti-corrosive paint

2.1.1 Storage Temperature

Store the servomotor within the following temperature range as long as it is stored
with the power cable disconnected.
-20 to 60°C

2.1.2 Installation Site

SGM

H servomotors are designed for indoor use. Install the servomotor in
environments that satisfy the following conditions.
• Free of corrosive or explosive gases.
• Well-ventilated and free of dust and moisture.
• Ambient temperature of 0° to 40°C.

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Sigma II User’s Manual Chapter 2: Installation

• Relative humidity (r.h.) of 20 to 80% with no condensation.

• Accessible for inspection and cleaning.

2.1.3 Alignment

Align the shaft of the servomotor with the shaft of the equipment, and then couple
the shafts. Install the servomotor so that alignment accuracy falls within the
following range.

Measure this distance at four different positions on the circumference. The difference between the
maximum and minimum measurements must be 0.0012in (0.03mm) or less. (Rotate with the shafts coupled).

Measure this distance at four different positions on the circumference. The

difference between the maximum and minimum measurements must be
0.0012in (0.03mm) or less. (Rotate with the shafts coupled).

Note:
• Vibration, which will damage the bearings, will occur if the shafts are not properly aligned.
• When installing the coupling, prevent direct impact to the shaft. This can damage the encoder
mounted on the opposite end.

2.1.4 Orientation

SGM
H servomotors can be installed either horizontally or vertically.

2- 3
Sigma II User’s Manual Chapter 2: Installation

2.1.5 Allowable Shaft Loads

Design the mechanical system so thrust and radial loads applied to the servomotor
shaft end during operation fall within the ranges shown in Table 2.1.
Allowable radial load in the table is the maximum load allowed on the end of the
output shaft.
Table 2.1: Allowable Radial and Thrust Loads for the Servomotor
Allowable Allowable
Radial Load Thrust Load LR
Servomotor MODEL Reference Diagram
Fr Fs in (mm)
Lbf (N) Lb f (N)
A3
15.29 (68)
A5 12.14 (54) 0.79 (20)
01 17.54 (78)
SGMAH
02
55.1 (245) 16.63 (74) 0.98 (25)
04
08 88.1 (392) 33.0 (147) 1.39 (35)
01 17.54 (78) 11.02 (49) 0.79 (20)
02
55.1 (245) 15.29 (68) 0.98 (25)
SGMPH 04
08 88.1 (392)
33.0 (147) 1.39 (35)
15
05A
A
05D
A 110 (490)
22.0 (98)
09A
A
2.28 (58)
09D
A
13A
A
154 (686) 77.1 (343)
13D
A
20A
A
264.3 (1176)
20D
A
30A
A LR
110 (490) 3.11 (79)
30D
A
SGMGH 330.4 (1470)
44A
A Fr
44D
A
Fs
55A
A
55D
A
75A
A
4.45 (113)
75D
A
396.5 (1764) 132 (588)
1AA
A
1AD
A
1EA
A
(116)
1ED
A
10A
10D
15A
154 (686) 44.1 (196) 1.77 (45)
15D
20A
SGMSH
20D
30A
220 (980)
30D
88.1 (392) 2.48 (63)
40A
264.3 (1176)
50A
10D
110 (490) 22.0 (98) 1.77 (45)
SGMUH 15D
30D 154 (686) 44.1 (196) 2.36 (60)

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Sigma II User’s Manual Chapter 2: Installation

Fr

Note: Thr ust and rad ial load s:

Thrust load (Fs ): Shaft-end load applied parallel to the Fs
Servomotor
centerline of the shaft.
Shaft end
Radial load (Fr ): Shaft-end load applied perpendicular
to the centerline of the shaft.

2.1.6 Vibration Resistance

Mount the servomotor with the shaft positioned horizontally. The servomotor will
withstand the following levels of vibration on all three axes: front-to-back (X),
vertical (Y), and side-to-side (Z).
• SGMAH, SGMPH: 49m/s2 (5G)
• SGMSH, SGMGH, SGMDH, and SGMUH: 24.5m/s 2 (2.5G)

Front-to-back
Vertical

Horizontal shaft

Side-to-side Impact applied to the servomotor

2.1.7 Vibration Class

The vibration class for SGM
H servomotors operating at rated speed is 15µm
(maximum).
Position for measuring vibration

2- 5
Sigma II User’s Manual Chapter 2: Installation

2.1.8 Handling Oil and Water

Install a protective cover over the servomotor if it is used in a location that is subject
to water or oil mist. Also use a servomotor with an oil seal when needed to seal the
through-shaft section.

Install the servomotor with the connector facing down.

Through shaft section

Note: Through sections of the shaft: This refers to the gap where the shaft protrudes from the end of the
motor

2.1.9 Cable Stress

Make sure that the power lines are free from bends and tension.
Be especially careful to wire signal line cables so that they are not subject to stress
because the core wires are very thin, measuring only 0.0079 to 0.012in (0.2 to
0.3mm).

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Sigma II User’s Manual Chapter 2: Installation

2.2 Servo Amplifiers

The SGDH servo amplifiers are base-mounted servoamps. Incorrect installation will
cause problems. Follow the installation instructions below.

2.2.1 Storage Conditions

Store the servo amplifier within the following temperature range, as long as it is
stored with the power cable disconnected.
-20 to 85°C

YASKAWA
200V
SERVOPACK
SGDH-

MODE/SET DATA/
CHARGE POWER

L1 C
N
L2 3
L3

1
2
C
N
1
L1C
L2C
B1
B2
B3
C
U N
2
V

Sigma II series servo amplifier

2.2.2 Installation Site

The following precautions apply to the installation site.

Situation Installation Precaution

Design the control panel size, unit layout, and cooling
Installation in a Control
method so the temperature around the servo amplifier
Panel
does not exceed 55°C.
Minimize heat radiated from the heating unit as well as
Installation Near a any temperature rise caused by natural convection so
Heating Unit the temperature around the servo amplifier does not
exceed 55°C.
Installation Near a Install a vibration isolator beneath the servo amplifier to
Source of Vibration avoid subjecting it to vibration.
Corrosive gas does not have an immediate effect on the
Installation at a Site
servo amplifier, but will eventually cause electronic
Exposed to Corrosive
components and contactor-related devices to malfunc-
Gas
tion. Take appropriate action to avoid corrosive gas.
Do not install the servo amplifier in hot and humid
Other Situations locations or locations subject to excessive dust or iron
powder in the air.

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Sigma II User’s Manual Chapter 2: Installation

2.2.3 Orientation

Install the servo amplifier perpendicular to the wall as shown in the figure. The
servo amplifier must be oriented this way because it is designed to be cooled by
natural convection or by a cooling fan.

Secure the servo amplifier using the mounting holes. The number of holes varies
(from two to four) with the frame size of the servo amplifier.

Wall

Ventilation

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Sigma II User’s Manual Chapter 2: Installation

2.2.4 Installation

Follow the procedure below to install multiple servo amplifiers side by side in a
control panel.

1.97in (50mm) minimum

Fan Fan

1.97in (50mm) minimum

1.18in (30mm) 0.39in (10mm)
minimum

Servo Amplifier Orientation

Install the servo amplifier perpendicular to the wall so the front panel containing
connectors faces outward.

Cooling
As shown in the figure above, allow sufficient space around each servo amplifier for
cooling by cooling fans or natural convection.

Side-by-side Installation
When installing servo amplifiers side by side as shown in the figure above, allow at
least 0.39in (10mm) between and at least 1.97in (50mm) above and below each
servo amplifier. Install cooling fans above the servo amplifiers to avoid excessive
temperature rise and to maintain even temperature inside the control panel.

Environmental Conditions in the Control Panel

• Ambient Temperature: 0 to 55°C

• Humidity: 90% r.h., or less
• Vibration: 0.5 G (4.9m/s2 )
• Condensation and Freezing: None
• Ambient Temperature for Long-term Reliability: 45°C maximum

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Sigma II User’s Manual Chapter 2: Installation

NOTES:

2 - 10
Sigma II User’s Manual Chapter 3: Wiring

3 Wiring
This chapter describes the procedure used to connect Sigma II
Series products to peripheral devices and gives typical exam-
ples of main circuit wiring as well as I/O signal connections.

3.1 Connecting to Peripheral Devices........................................................................ 3-3

3.1.1 Single-Phase (100V or 200V) Main Circuit Specifications........................ 3-4
3.1.2 Three-Phase (200V) Main Circuit Specifications ....................................... 3-5
3.1.3 Three-Phase (400V) Main Circuit Specifications ....................................... 3-6
3.2 Servo Amplifier Internal Block Diagrams ........................................................... 3-7
3.2.1 30W to 400W (200V) and 30W to 200W (100V) Models ......................... 3-7
3.2.2 0.5kW to 1.5kW (200V) Models ................................................................ 3-8
3.2.3 2.0 kW and 5.0kW (200V) Models............................................................. 3-8
3.2.4 6.0kW to 15.0kW (200V) Models .............................................................. 3-9
3.2.5 0.5kW to 3.0kW, 400V Models .................................................................. 3-9
3.2.6 5.0kW (400V) Models .............................................................................. 3-10
3.2.7 6.0kW to 7.5kW, 400V Models ................................................................ 3-10
3.2.8 11.0kW to 15.0kW (400V) Models .......................................................... 3-11
3.3 Main Circuit Wiring........................................................................................... 3-12
3.3.1 Names and Descriptions of Main Circuit Terminal .................................. 3-13
3.3.2 Typical Main Circuit Wiring Example...................................................... 3-14
3.3.3 Cable Specifications and Peripheral Devices ........................................... 3-14
3.3.4 Servo Amplifier Power Losses ................................................................. 3-15
3.3.5 Wiring Main Circuit Terminal Blocks ...................................................... 3-16
3.4 I/O Signals ......................................................................................................... 3-17
3.4.1 Example of Typical I/O Signal Connections ............................................ 3-17
3.4.2 List of CN1 Terminals .............................................................................. 3-18
3.4.3 I/O Signal Names and Functions .............................................................. 3-19
3.4.4 Interface Circuits....................................................................................... 3-21
3.5 Wiring Encoders (for SGMGH and SGMSH Motors Only).............................. 3-24
3.5.1 Encoder Connections ................................................................................ 3-24
3.5.2 CN2 Encoder Connector Terminal Layout and Types .............................. 3-25
3.6 Examples of Standard Connections ................................................................... 3-26

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Sigma II User’s Manual Chapter 3: Wiring

3.6.1 Single-Phase Power Supply Specifications .............................................. 3-26

3.6.2 Three-Phase Power Supply Specifications (200V)................................... 3-27
3.6.3 Three-Phase Power Supply Specifications (400V)................................... 3-28
3.6.4 Position Control Mode .............................................................................. 3-29
3.6.5 Speed Control Mode ................................................................................. 3-30
3.6.6 Torque Control Mode................................................................................ 3-31

3- 2
Sigma II User’s Manual Chapter 3: Wiring

3.1 Connecting to Peripheral Devices

This section provides examples of standard Sigma II Series product connections to
peripheral devices.
It also briefly explains how to connect each peripheral device.

3- 3
Sigma II User’s Manual Chapter 3: Wiring

3.1.1 Single-Phase (100V or 200V) Main Circuit Specifications

Host Connect the SGDH servo amplifier
to a Yaskawa host controller or to
Controller one made by another company.

MEMOC ON GL120, GL130

with a motion module.
Power supply
Molded-Case Circuit Three-phase 200VAC
Breaker (MCCB)
R S T
Protects the power
line by shutting
OFF the circuit Digital Operator
when overcurrent JUSP-OPO2A-1
is detected.
and JZSP-CMS00- 1
( cable)
Allows the user to
set parameters or
MCCB operation references
and to display opera-
tion or alar m status.
Communication
Noise Filter and control is also
Used to eliminate external possible with a
noise from the power line. personal computer.

Personal Computer

Noise filter
Cable model: YS-12

Magnetic Contactor
HI Ser ies
Tur ns the servo
ON and OFF.
Install a surge
suppressor on
the magnetic
contactor. Magnetic
Magnetic
contactor contactor
Power
supply
gr ound Encoder
Brake Power Supply Cable
line
Used for a servomotor Encoder
with a brake. Brake Connector
power
supply

Regenerative
resistor
(optional)

Regenerative Resistor
Connect an external regenerative
resistor to terminals B1 and B2 if
the regenerative capacity is
insufficient.

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Sigma II User’s Manual Chapter 3: Wiring

3.1.2 Three-Phase (200V) Main Circuit Specifications

Host Connect the SGDH servo amplifier

to a Yaskawa host controller or to
Controller one made by another company.

MEMOCON GL120, GL130

with a motion module.
Power supply
Molded-Case Circuit Three-phase 200VAC
Breaker (MCCB)
R S T
Protects the power Digital Operator
line by shutting JUSP-O PO 2A- 1
OFF the circuit
when overcurrent and JZSP-CMS00-1
(cable)
is detected.
Allows the user to
set parameters or
operation references
and to display opera-
MCCB tion or alarm status.
Communication
and contr ol is also
possible with a
Noise Filter personal computer.
Used to eliminate exter nal
noise from the power line. Personal Computer

Noise filter
Cable model: YS-12

Magnetic Contactor
HI Series
Turns the servo
O N and OFF.
Install a surge
suppressor on
the magnetic Magnetic
contactor. contactor Magnetic
contactor
Power
supply
gr ound Encoder
Brake Power Supply
line Cable
Used for a servomotor Br ake Encoder
with a br ake. power Connector
supply

Regenerative
resistor
(optional)

Regenerative Resistor
Connect an external regenerative
resistor to terminals B1 and B2 if
the regener ative capacity is
insufficient.
For 6kW or higher, an external
resistor is required.

3- 5
Sigma II User’s Manual Chapter 3: Wiring

3.1.3 Three-Phase (400V) Main Circuit Specifications

Host Connect the SGDH servo amplifier

Power supply for Brake to a Yaskawa host controller or to
Controller one made by another company.
Supplied by 100Vac or 200Vac
Supplied by 24VDC for
servomotor with 24VDC brake.

MEMOCON GL120, GL130

w ith a motion module.
Power supply
Molded-Case Circuit Three-phase 200VAC
Breaker (MCCB)
R S T
Protects the power Digital Operator
line by shutting JUSP- OPO2A-1
OFF the circuit and JZSP-CMS00-1
when overcurrent (cable)
is detected. Allows the user to
set parameter s or
oper ation references
and to display oper a-
MCCB tion or alarm status.
Communication
and control is also
possible with a
Noise Filter personal computer.
Used to eliminate external
noise fr om the power line. Personal Computer

Noise filter
Cable model: YS-12

Magnetic Contactor
HI Series
Turns the ser vo
ON and O FF.
Install a sur ge
suppressor on
the magnetic Magnetic
contactor. Magnetic
contactor
contactor
Power
supply
Brake Power Supply ground Encoder
line Cable
Used for a ser vomotor Brake Encoder
power L1 L2 L3
with a brake. 24V 0V Connector
supply B1 B2

24VDC
Power Supply
Regenerative
resistor
(optional)

Regenerative Resistor
Connect an external regenerative
resistor to terminals B1 and B2
if the r egenerative capacity
is insufficient.
For 6kW or higher, an external
resistor is r equired.

3- 6
Sigma II User’s Manual Chapter 3: Wiring

3.2 Servo Amplifier Internal Block Diagrams

The following sections show internal block diagrams of the servo amplifiers.

3.2.1 30W to 400W (200V) and 30W to 200W (100V) Models

Single-phase
+10%
200 to 230 V
-15%
(50/60Hz) B1 B2 THS1
11
RY1
22
PM1-1 D2 D3 D4
PM1-2
P1 AC Servomotor
Noise filter P2
R7
FU1 CHARGE D1 U
U
R +
L1 C1 V
IMC XX1 V
-
R8 W
T TR1 W
L2
N1 N2
Gate drive over
Voltage current protector
Relay drive Gate drive
Sensor

CN2 PG
Voltage
Sensor Interface

Current
+5 V Sensor For battery
L1C + PWM ASIC
~ + DC/DC generator CN8 connection
+15 V
- con
L2C ~ - verter
- Digital cur PG signal
Divider
+ 5V rent amp processing
CN1
+12 V Reference pulse PG output
processing

+5V
Power Power Reference pulse input
OFF ON 1MC Current
reference Position A/D Speed/torque
0V calculation control reference input
POWER
1MC Surge Monitor display
suppressor Speed
control
Analog voltage I/O
converter
Sequence I/O
Open during servo Serial port CPU
(5RY) alarm CN5 CN3

Connection Digi tal monitor

for optional Analog monitor personal computer
board output for
supervision

Note: The power supply voltage is 100 to 115V (+10% -15%), 50/60Hz for the 30 to 200W, 100V models.

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Sigma II User’s Manual Chapter 3: Wiring

3.2.2 0.5kW to 1.5kW (200V) Models

Three-phase +10%

200 to 250V -15% B1 B2 B3 FAN1

1
(50\60Hz) RY1 R2

2
FU1 ±12V
D2 D3 D4

P P AC servomotor
Noise filter

CHARGE
1MC U U
L1
XX1
R
+ +
XX3 C1 V
L2 V
S -
-
L3 XX2 W W
T

N
PG
N
+ Gate drive over-
THS1
` `
Voltage current protection
Relay drive Gate drive
- sensor
PG
Voltage CN2
sensor Interface
*0.5 to 1.0kW,
200V models

Current
L1C ASIC sensor For battery
±5V PWM
connection
+ + generator CN8
±15V
DC/DC
L2C - - converter Digital
current PG signal
Divider
amp processing
+5V
CN1
±12V
Reference pulse PG output
processing
+5V

Power
Power ON
1MC Current Speed and torque
OFF A/D
reference Position reference input
calculation control
0V
POWER
1MC Monitor display
Surge suppressor
Speed
control
Analog voltage I/O Sequence I/O
converter CPU
Open during Serial port
(SRY) servo alarm CN5 CN3

Analog monitor Digital operator

output for supervision personal computer

3.2.3 2.0 kW and 5.0kW (200V) Models

Three-phase +10%
200 to 250V -15%
B1 B2 B3
(50\60Hz) 1

FAN1
2
FU1

P P AC servomotor
Noise filter
±12V
CHARGE
1MC U U
L1 +
XX1 R +
C1 V
L2 XX3 V
S - -
L3 XX2 W W ` `
T Ry1

N `
DB
N R2
+
Gate drive over-
Voltage current protection
- Relay drive
sensor
Gate drive
+ -
PG
Voltage CN2
sensor Interface Gate drive

Current
L1C ASIC sensor For battery
±5V PWM connection
+ + generator
CN8
±15V
- DC/DC
L2C - converter Digital
PG signal
current Divider
processing
+5V amp
CN1
±12V Reference pulse PG output
processing

+5V

Power
Power ON
OFF 1MC Current Speed and torque
Position A/D
reference reference input
calculation control
0V
POWER
1MC Monitor display
Surge suppressor
Speed
control
Analog voltage I/O Sequence I/O
converter CPU
Open during Serial port
(SRY) servo alarm CN5 CN3

Analog monitor Digital operator

output for supervision personal computer

3- 8
Sigma II User’s Manual Chapter 3: Wiring

3.2.4 6.0kW to 15.0kW (200V) Models

Regenerative Resistor (optional)
Three-phase +10%
200 to 250V -15%
B1 B2 THS1
(50\60Hz) FAN1
RY1

DB1
PM1/PM2/PM3
FU1 R3
±12V AC servomotor
P D1 P
Line filter
CT1
1MC U
L1BA1 BA3 U
R + C10 CT2
C1 CHARGE V
L2 V
S _
L3 W
W ` `
T
TR1
BA2 C7 C6 C5
+ SCR1
N N `

_
C9 - +
Base drive over-current
protection isolator R2
Voltage sensor
Voltage Relay drive
isolator
sensor
isolator PG
Gate drive
isolator

CN2

u
L1C Current
+
+ sensor
±5V CN8
L2C
_ DC/DC
+ + ±12V For battery
_ converter ASIC
(PWM control, etc.) connection
_ _ PG5V CN1

PG
output
+5V
Reference
Open during pulse input
Power servo alarm (1RY)
Power
OFF ON 1MC
Speed and torque
0V A/D
reference input
CPU
POWER (position/speed
1MC Surge Monitor display
suppressor calculation, etc.)

Analog voltage I/O Sequence I/O

converter

CN10 CN5 CN3

Connector for Analog monitor Digital operator

optional unit output for supervision personal computer

3.2.5 0.5kW to 3.0kW, 400V Models

Three-phase +10%
200 to 250V -15%
B1 B2 B3
(50\60Hz) 1

FAN1
2
FU1

P P AC servomotor
Noise filter
±12V
+ + CHARGE
C1 U
1MC U
L1 + - -
R
XX1 XX3
L2
+ + V V
S - C2

L3 XX2
- - W
W ` `
T

N `
N
+ - - -
Gate drive over-
- current protection D1 D2 D3
RY1 + + +
PG
Control power CN2
+24V DC
(not provided) Voltage
Relay drive Gate drive
sensor

Voltage
sensor Interface
+ -
For battery
connection
FU2 CN8
Voltage
24V
sensor
±7.5V
+ +
±15V (x 4 circuits)
DC/DC
0V - -
converter ASIC
(PWM control, etc.)
+5V
CN1
±12V PG output

AC power supply +5V Reference pulse

Open during (100/200V) input
Power servo alarm (1RY)
Power ON
OFF 2RY
A/D
Speed and torque
0V reference input
+ CPU
2RY Monitor display POWER (position/speed
High speed
calculation, etc.)
diode 1MC I/O
-
Analog voltage Sequence I/O
converter
Surge suppressor

CN10 CN5 CN3

Connector for Analog monitor Digital operator

optional unit output for supervision personal computer

3- 9
Sigma II User’s Manual Chapter 3: Wiring

3.2.6 5.0kW (400V) Models

T hree-phase +10%
200 to 250V - 15%
1
(50\60Hz) B1 B2 B3
FAN1
2

FU1
P ±12V
P AC servomotor
Line fil ter
CHARGE
1MC
+ C1 U
L1 BA1 BA 3 U
—
R
V
L2 V
S
L3
+C2 w
— W
T
BA2
N SCR1
N
PG
Relay Voltage Gate
Gate driveover- — +
current protector DB
dr vi e sensor drive
RY 1 RLY 2

CN2
Control power
+24VD C Voltage Relay
sensor Interface
(not provided) drive

BA2
FU1
+ —
+24V V oltage
+7.5V sensor
+ For battery
connection
_
DC/DC +15V x 4 circuits CN8
0V converter
ASIC
+5V
(PW Mcontrol,
etc .)
+12V
CN1 PG
output

AC power supply +5V

Refer ence
Open during 100/200V puls e input
P ower
P ower servo alar m (1RY)
OF F ON 1MC
0V A/D Speedand torque
reference input
CPU
POW ER
2RY High-speed Monitor display (position/speed
diode calculation, etc.)
Analogvoltage I/O Sequence I/O
converter
S urge
suppressor

CN10 CN5 CN3

Connector for A nalog monitor Digital
optional output for supervision operator
personal computer
unit

3.2.7 6.0kW to 7.5kW, 400V Models

Regenerative resistor (optional)
Three-phase +10%
200 to 250V -15%
B1 B2
(50\60Hz) 1

FAN1
2
FU1

P P AC servomotor
Noise filter
±12V
+ + CHARGE CT1
C1 U
1MC U
L1 + - -
R CT2
XX1 XX3
L2
+ + V V
S - C2

L3
- - W `
XX2 W `
T

N `
N
+
Gate drive over-
current protection
-
RLY1 - +
PG
DB
Control power CN2
RLY2
+24V
DC
(not provided) Voltage
Relay drive Gate drive
sensor

Voltage
sensor Interface Relay
drive
+ -
For battery
connection
FU2 CN8
Voltage
24V
sensor
+7.5V
+ +
+15V (x 4 circu its)
0V
- - DC/DC
converter ASIC
(PWM control, etc.)
+5V
CN1
±12V PG output

AC power supply +5V Reference pulse

Open during (100/200V) input
Power servo alarm (1RY)
Power ON
OFF 2RY A/D
Speed and torque
0V reference input
+ CPU
2RY Monitor display POWER (position/speed
High speed
calculation, etc.)
diode 1MC I/O
- Analog voltage Sequence I/O
Surge suppressor converter

CN10 CN5 CN3

Connector for Analog monitor Digital operator

optional unit output for supervision personal computer

3 - 10
Sigma II User’s Manual Chapter 3: Wiring

3.2.8 11.0kW to 15.0kW (400V) Models

Regenerative resistor (optional)
Three-phase +10%
200 to 250V -15%
B1 B2
(50\60Hz) 1

FAN1
2
FU1

P P AC servomotor
Noise filter
±12V
+ + CHARGE CT1
C1 U
1MC U
L1 + - -
R CT2
XX1 XX3
L2 + + V
V
S - C2

L3 XX2
- - W `
W `
T

N `
N
+
Gate drive over-
current protection
-
RLY1 - +
PG
Control power CN2
+24V DC
(not provided) Voltage
Relay drive Gate drive
sensor

Voltage
Relay
sensor Interface
drive
+ -
For battery
connection
FU2 CN8
Voltage
24V
sensor
+7.5V
+ +
+15V (x 4 circu its)
DC/DC
0V
- - converter ASIC
(PWM control, etc.)
+5V
CN1
±12V PG output

AC power supply +5V Reference pulse

Open during (100/200V) input
Power servo alarm (1RY)
Power ON
OFF 2RY
A/D Speed and torque
0V CPU reference input
+ (position/speed
2RY High speed Monitor display POWER
diode calculation, etc.) I/O
1MC
- Sequence I/O
Analog voltage
converter
Surge suppressor

CN10 CN5 CN3

Connector for Analog monitor Digital operator

optional unit output for supervision personal computer

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Sigma II User’s Manual Chapter 3: Wiring

3.3 Main Circuit Wiring

This section shows typical examples of main circuit wiring for Sigma II Series servo
products, functions of main circuit terminals, and the power ON sequence.

Observe the following precautions when wiring.

CAUTION
• Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines
separated by at least 11.81in (30cm)
Not doing so may cause a malfunction.
• Use twisted pair wires or multi-core shielded-pair wires for signal and encoder (PG) feedback
lines.out of control or malfunction.
The maximum length is 118.11in (3m) for reference input lines and is (787.40in (20m) out of control or
malfunction.
• Do not touch the power terminals for 5 minutes after turning power OFF because high voltage may
still remain in the servo amplifier.
• Avoid frequently turning power ON and OFF. Do not turn power ON or OFF more than once per
minute.
Since the servo amplifier has a capacitor in the power supply, a high charging current flows for 0.2s when
power is turned ON. Frequently turning power ON and OFF causes main power devices like capacitors and
fuses to deteriorate, resulting in unexpected problems.
• Suitable for use on a circuit capable of delivering not more than 5000Ar ms (symmetrical), 240V
maximum.
Must be used with UL listed fuses or circuit breakers, in accordance with the National Electrical Code.
• Required for 7.5kW or larger (200V) or 5kW or larger (400V) amplifiers:
Must use ring terminals specified in Yaskawa Kits JZSP-CKT75, JZSP-CKT75DE, JZSP-CKT1ADE, and
JZSP-CKT1EDE for wiring of input and output power. Contact Yaskawa for details.

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Sigma II User’s Manual Chapter 3: Wiring

3.3.1 Names and Descriptions of Main Circuit Terminal

The following table gives the names and a description of main circuit terminals.

Main Circuit Names and Description

Termin
al Name Description
Symbol
30W to 200W Single-phase 100 to 115V (+10%, -15%), 50/60Hz
L1, L2
or Main circuit AC 30W to 400W Single-phase 200 to 230V (+10%, -15%), 50/60Hz
L1, L2, input terminal 500W to 15kW 200V
L3 Three-phase 200 to 230V (+10%, -15%), 50/60Hz
500W to 15kW 400V Three-phase 380 to 480V (+10%, -15%), 50/60Hz
U, V, W Servomotor Connects to the Servomotor.
connection terminal
L1C, 30W to 200W Single-phase 100 to 115V (+10%, -15%), 50/60Hz
L2C Control power input 30W to 15kW Single-phase 200 to 230V (+10%, -15%), 50/60Hz
terminal
24V, 0V 500W to 15kW 24VDC (±15%) 400V units only

Ground terminal Connects to the power supply ground terminals and motor ground terminal.

Normally not connected.

Connect an external regenerative resistor (provided by
30W to 400W the user) between B1 and B2 if the regenerative capacity
B1, B2 is insufficient.
External Note: No B3 terminal.
or
regenerative Normally short B2 and B3 (for an internal regenerative
B1, B2, resistor terminal resistor).
B3 Remove the wire between B2 and B3 and connect an
500W to 5.0kW external regenerative resistor (provided by customer)
between B1 and B2 if the capacity of the internal
regenerative resistor is insufficient.
Connect an external regenerative resistor (provided by
B1, B2 — 6.0kW-15.0kW the user) between terminals B1 and B2. See 5.6:
Selecting a Regenerative Resistor for details.
DC reactor terminal Normally short ⊕1 and ⊕2.
connection for If a countermeasure against power supply harmonic waves is needed, connect a
⊕1, ⊕2 power supply DC reactor between ⊕1 and ⊕2.
harmonic wave The amplifier is delivered from the factory with these terminals shorted. See 5.8.6
countermeasure Reactor for Harmonic Suppression for details.
Main circuit
Negative terminal Normally not connected.

Main circuit Positive

terminal Normally not connected.

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Sigma II User’s Manual Chapter 3: Wiring

3.3.2 Typical Main Circuit Wiring Example

The following figure shows a typical example of main circuit wiring.

R S T Servo Amplifier

1MCCB
SGDH-

AE
A
U
B
V M
C
FIL W
D
L1C

L2C
PG
1MC
L1
L2

L3 CN1
+24V
(For servo alarm display) 31
1Ry ALM 1Ry
1PL
Main Main power supply 0V
power supply ON ALM-SG 32 1D
1Ry 1MC
OFF

1MC 1SUP

1Ry: Relay
1MCCB: Molded-case circuit breaker (for the inverter) 1PL: Indicator lamp
FIL: Noise filter 1SUP: Surge suppressor
1MC: Contactor 1D: Flyback diode

Designing a Power ON Sequence

Note the following when designing the power ON sequence.
Design the power ON sequence so that power is turned OFF when a servo alarm
signal is output. (See the circuit figure above.)

• Hold the power ON button for at least two seconds. The servo amplifier will
output a servo alarm signal for two seconds or less when power is turned ON.
This is required in order to initialize the servo amplifier.

Power Supply
2.0s maximum

Servo alarm (ALM)

output signal

3.3.3 Cable Specifications and Peripheral Devices

Refer to the Sigma II Series Servo System Catalog Supplement (No. G-MI#99001).

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Sigma II User’s Manual Chapter 3: Wiring

3.3.4 Servo Amplifier Power Losses

The following table shows servo amplifier power losses at the rated output.

Servo Amplifier Power Losses at Rated Output

Maximum Output Main Control
Regenerative Total
Applicable Current Circuit Circuit
Main Circuit Resistor Power Power
Servomotor Servo Amplifier (Effective Power Power
Power Supply Model Loss Loss
Capacity Value) Loss Loss
[W] [W]
[kW] [A] [W] [W]
0.03 SGDH-A3BE 0.66 3.5 16.5
Single-phase 0.05 SGDH-A5BE 0.95 5.2 18.2
— 13
100V 0.10 SGDH-01BE 2.4 12 25
0.20 SGDH-02BE 3.0 16.4 29.4
0.03 SGDH-A3AE 0.44 3.1 16.1
0.05 SGDH-A5AE 0.64 4.6 17.6
0.10 SGDH-01AE 0.91 6.7 — 13 19.7
Single-phase
200V 0.20 SGDH-02AE 2.1 13.3 26.3
0.40 SGDH-04AE 2.8 20 33
0.75 SGDH-08AE-S 4.4 47 12 74
15
1.50 SGDH-15AE-S 7.5 60 14 89
0.45 SGDH-05AE 3.8 27 54
0.75 SGDH-08AE 5.7 41 12 68
1.0 SGDH-10AE 7.6 55 82
1.5 SGDH-15AE 11.6 92 14 15 152
2.0 SGDH-20AE 18.5 120 163
Three-phase 28
200V 3.0 SGDH-30AE 24.8 155 198
5.0 SGDH-50AE 32.9 240 56 311
6.0 SGDH-60AE 46.9 290 317
27
7.5 SGDH-75AE 54.7 330 357
—
11.0 SGDH-1AAE 58.6 360 390
30
15.0 SGDH-1EAE 78.0 490 520
0.45 SGDH-05DE 1.9 19 48
1.0 SGDH-10DE 3.5 35 14 64
1.5 SGDH-15DE 5.4 53 82
2.0 SGDH-20DE 8.4 83 126
28
Three-phase 3.0 SGDH-30DE 11.9 118 161
15
400V 5.0 SGDH-50DE 16.5 192 36 243
6.0 SGDH-60DE 20.8 232 247
7.5 SGDH-75DE 25.4 264 279
—
11.0 SGDH-1ADE 28.1 288 303
15.0 SGDH-1EDE 37.2 392 407
Note Regenerative resistor power losses are allowable losses. Take the following action if this value is
exceeded:

• Disconnect the internal regenerative resistor in the servo amplifier by removing the wire
between terminals B2 and B3.
• Install an external regenerative resistor between terminals B1 and B2.
• An external regenerative resistor must be connected to amplifiers with capacity of 6kW or
higher.

See 5.6 Selecting a Regenerative Resistor for more details on the resistors.

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Sigma II User’s Manual Chapter 3: Wiring

3.3.5 Wiring Main Circuit Terminal Blocks

Observe the following precautions when wiring main circuit terminal blocks.

CAUTION
• Remove the terminal block from the servo amplifier prior to wiring.
• Insert only one wire per terminal on the terminal block.
• Make sure that the core wire is not electrically shorted to adjacent core wires.
• Reconnect any wires that were accidentally pulled out.

Servo amplifiers with a capacity below 1.5kW will have connector-type terminal
blocks for main circuit terminals. Follow the procedure below when connecting to
the terminal block.

Connection Procedure
• Strip the end of the wire, leaving the ends twisted together.

0.31 to 0.35in (8 to 9mm)

• Open the wire insert opening of the terminal block (plug) with a tool using either
of the two procedures shown in Fig. A and Fig. B on the following page.

1. Fig. A: Use the provided lever to open the wire insert opening .

Fig. B: Using a commercially available 1/8in (3.0 to 3.5mm) slotted

screwdriver, press down firmly on the screwdriver insert
opening to release the wire insert slot.

Fig. A Fig. B

2. Figs A and B: Insert the wire end into the opening and then clamp it
tightly by releasing either the lever or the screwdriver.

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Sigma II User’s Manual Chapter 3: Wiring

3.4 I/O Signals

This section describes I/O signals for the SGDH servo amplifier

3.4.1 Example of Typical I/O Signal Connections

SGDH Servo Amplifier

V-REF 5 LPF* 37
ALO1
P Alarm c ode maximum output:
SG 6 38
ALO2 Operating voltage: 30VDC
A/D
T-REF 9 LPF* 39 Operating current: 20mADC
ALO3
P 10
SG

PULS 150 Ω
PULS 7
CW P ~
AØ /PULS 8
33
SIGN PAO
SIGN 11
CCW 34
P /PAO
BØ ~
/SIGN 12
35 PG dividing ratio output
Position CLR 15 PBO Applicable line receiver
reference CLR 36 SN75175 or MC3486
P /PBO
/CLR
~ manufactured by T/I or the
14 equivalent
19
+12V PCO
1kΩ 20
3 /PCO
Open-collector PL1
reference 13
PL2 48
power supply
18
Used only PSO Amount of S-phase rotation
PL3 with an 49 Serial data output
absolute encoder /PSO Applicable line receiver
Backup battery 2.8 to 4.5V BAT (+) SN75175 or MC3486
(When using an absolute + 21 1
SG manufactured by T/I or the
P
encoder). BAT (-) equivalent
-
22
SEN signal input SEN
(When using an absolute +5V 4
P
encoder). SG 2
0V

3.3kΩ
+24VIN 47
+
+24V ~
Servo ON - /S-ON 40
(Servo ON when ON)
~
/P-CON 41
P control
(P control when ON) 25
/V-CMP+ Speed coincidence detection
~
N-OT 43 ~
26 (/COIN+) (ON when speed coincides)
Reverse run prohibited
(Prohibited when OFF) /V-CMP- Positioning completed (ON
~ (/COIN-) when positioning is completed)
P-OT 42
Forward run prohibited
27
(Prohibited when OFF) /TGON+ TGON output
~
/ALM-RST 44
~
28 (ON at levels above the setting)
Alarm reset /TGON-
(Reset when ON) 29
/S-RDY+ Servo ready output
/N-CL 46
~ ~ (ON when ready)
30
Reverse current limit /S-RDY- Servo alarm output
(Limit when ON) 31
ALM+ (OFF for an alarm)
~ ~
/P-CL 45 32
Forward current limit ALM-
(Limit when ON) Photocoupler maximum output:
Connector shell
FG Connect shield to
Operating voltage: 30VDC
P: Indicates twisted wire pairs. connector shell.
Operating current: 50mADC
*The time constant for the primary filter is 47µs

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Sigma II User’s Manual Chapter 3: Wiring

3.4.2 List of CN1 Terminals

The following diagram shows the layout and specifications of CN1 terminals.
CN1 Terminal Layout

Speed coin-
1 SG GND 26 /V-CMP- cidence
(/COI N-) detection
TGON sig- output
2 SG GND 27 /TGON+ nal output
Open-collec- TGON sig-
3 PL1 tor reference 28 /TGON nal output
SEN signal power supply /S- Servo ready
4 SEN input 29 RDY+ output
Reference Servo ready
5 V-REF speed input 30 /S-RDY output
Servo alarm
6 SG GND 31 ALM+ output
Reference Servo alarm
7 PULS pulse input 32 ALM output
Reference PG divided
8 /PULS pulse input 33 PAO output
Torque A-phase PG divided
9 T-REF reference 34 /PAO output
input PG divided A-phase
10 SG GND 35 PBO output
Reference B-phase PG divided
11 SIGN sign input 36 /PBO output
Reference Alarm code B-phase
12 /SIGN symbol input 37 AL01 output
Open-collec- Alarm code
13 PL2 tor reference 38 AL02 output
power supply Open-collec-
14 /CLR Clear input 39 AL03 tor output
Servo ON
15 CLR Clear input 40 /S-ON input
P operation
16 — —- 41 P-CON input
Forward
17 — — 42 P-OT overtravel
Open-collec- Reverse input
18 PL3 tor reference 43 N-OT overtravel
power supply PG divided input /ALM- Alarm reset
19 PCO output 44 RST input
PG divided C-phase Forward cur-
20 /PCO output 45 /P-CL rent limit ON
C-phase input Reverse
21 BAT (+) Battery (+) 46 /N-CL current limit
+24V Ext ernal ON input
22 BAT (-) Batt ery (-) 47 -IN input power
supply S-phase
23 — — 48 PSO signal out-
S-phase sig- put
24 — — 49 /PSO nal output
/V-CMP+ Speed coinci-
25 (/COIN+) dence detec- 50 — —
tion output

Note 1. Do not use unused terminals for relays.

2. Connect the shield of the I/O signal cable to the connector shell.
Connect to the FG (frame ground) at the servo amplifier-end connector.

CN1 Specifications
Applicable Receptacles
Specifications for Servo Amplifier Connectors
Solder Type Case Manufacturer
10250-52A2JL or Equivalent 50-pin Right Angle Plug 10150-3000VE 10350-52A0-008 Sumitomo 3M Co.

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Sigma II User’s Manual Chapter 3: Wiring

3.4.3 I/O Signal Names and Functions

The following section describes servo amplifier I/O signal names and functions.

Input Signals
Pin
Signal Name Function Reference
No.
/S-ON 40 Servo ON: Turns ON the servomotor when the gate block in the inverter is 5.5.2
released.
* Function selected via parameter. 5.2.1
5.2.7
Proportional opera- Switches the speed control loop from PI (proportional/ 5.2.1
tion reference integral) to P (proportional) control when ON.
Direction reference With internal reference speed selected: switches the 5.2.6
direction of rotation.
Position
Speed
/P-CON 41
Control mode
switching
Speed
Torque
Torque
Speed
} Enables control mode switching 5.2.7

Speed control with zero-clamp function: reference

Zero-clamp reference speed is zero when ON. 5.4.3
Reference pulse Position control with reference pulse stop: stops
block reference pulse input when ON. 5.2.10
Common Forward Run
P-OT 42 prohibited Overtravel prohibited: stops servomotor when
N-OT 43 Reverse Run movable part travels beyond the allowable range of 5.1.2
prohibited motion.
* Function selected with a parameter. —
Forward current limit
ON
/P-CL 45 Reverse current limit Current limit function used when ON. 5.1.3
/N-CL 46 ON
Internal speed With internal reference speed selected: switches the
switching internal speed settings. 5.2.6
/ALM
-RST 44 Alarm reset: Releases the servo alarm state. 5.5.1

+24V IN Control power supply input for sequence signals: users must provide the
47 +24V power supply. 5.2.4
SEN 4 (2) Initial data request signal when using an absolute encoder. 5.2.3
BATT(+) 21
BATT(-) 22 Connecting pins for the absolute encoder backup battery. 5.2.3
Speed Speed reference input: ±2 to ±10V/rated motor speed (Input gain can be
Reference V-REF 5 (6) modified with a parameter.) 5.2.1
Torque Torque reference input: ±1 to ±10V/rated motor speed (Input gain can be
Reference T-REF 9 (10) modified with a parameter.) 5.2.1

PULS 7 Corresponds to refer- Input mode

/PULS 8 ence pulse input • Code + pulse string 5.2.1
SIGN 11 Line-driver • CCW/CW pulse
/SIGN 12 Open-collector • Two-phase pulse (90° phase differential)
Position
Reference CLR 15
/CLR 14 Error counter clear: Clears the error counter during position control. 5.2.1
PL1 3 +12V pull-up power supply when PULS, SIGN and CLR reference signals
PL2 13 are open-collector outputs (+12V power supply is built into the servo 5.2.1
PL3 18 amplifier).

Note 1. The functions allocated to /S-ON, /P-CON. P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL input
signals can be changed with parameters. (See 5.3.3 Input Circuit Signal Allocation.)
2. Pin numbers in parenthesis ( ) indicate signal grounds.
3. The voltage input range for speed and torque references is a maximum of ±12V.

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Sigma II User’s Manual Chapter 3: Wiring

Output Signals
Pin
Signal Name Function Reference
Number
ALM+ 31
32 Servo alarm: Turns OFF when an error is detected. 5.5.1
ALM-

27 Detection during servomotor rotation: detects whether the servomotor is

/TGON+ rotating at a speed higher than the motor speed setting. Motor speed 5.5.5
/TGON- 28
detection can be set via parameter.

/S-RDY+ 9 Servo ready: ON if there is no servo alarm when the control/main circuit
30 5.5.6
/S-RDY- power supply is turned ON.
PAO 33 (1)
/PAO 34 A phase signal Converted two-phase pulse (A and B phase) encoder
Common PBO 35 B phase signal output signal and origin pulse (C phase) signal: RS-422
/PBO 36 C phase signal or the equivalent.
PCO 19 5.2.3
/PCO 20
48 With an absolute encoder: outputs serial data
PSO S phase signal corresponding to the number of revolutions (RS-422 or
/PSO 49
equivalent).
ALO1 37 Alarm code output: Outputs 3-bit alarm codes.
ALO2 38 Open-collector: 30V and 20mA rating maximum.
ALO3 39 (1)
5.5.1
Connected to frame ground if the shield wire of the I/O signal cable is
FG Shell connected to the connector shell.

25 Speed coincidence (output in Speed Control Mode): detects whether the

Speed /V-CMP+ motor speed is within the setting range and if it matches the reference 5.5.4
/V-CMP- 26
speed value.
Positioning completed (output in Position Control Mode): turns ON when
Position /COIN+ 25 the number of error pulses reaches the value set. The setting is the 5.5.3
/COIN- 26 number of error pulses set in reference units (input pulse units defined by
the electronic gear).
16
17 These terminals are not used.
Not used. 23 Do not connect relays to these terminals. —
24
50

Note 1. Pin numbers in parenthesis () indicate signal grounds.

2. The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN) can be changed via
parameters. Functions /CLT, /VCT, /BK, /WARN, and /NEAR signals can also be changed. (See
5.3.4 Output Circuit Signal Allocation).

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Sigma II User’s Manual Chapter 3: Wiring

3.4.4 Interface Circuits

This section shows examples of servo amplifier I/O signal connection to the host
controller.

Interface for Reference Input Circuits

Analog Input Circuit

Analog signals are either speed or torque reference signals at the impedance below.
• Speed reference input: About 14kΩ
• Torque reference input: About 14kΩ
The maximum allowable voltage for input signals is ±12V.
Servo Amplifier

1.8k Ω (½W) minimum

3 V-REF or
T-REF
25-HP-10B 2
12V
2kΩ
About 14kΩ
1
1000:1 SG

0V

Reference Position Input Circuit

An output circuit for the reference pulse and error counter clear signal at the host
controller can be either line-driver or open-collector outputs. These are shown
below by type.

• Line-driver Output Example:

Host controller end Servo amplifier end
150Ω 4.7kΩ

Applicable line-driver
SN75174 manufactured by
TI, or the equivalent
2.8V ≤ (High level) - (Low level) ≤ 3.7V

• Open-collector Output, Example 1: External power supply

Host
controller end Servo amplifier end
R1
i 150Ω 4.7 kΩ

Tr1 VF = 1.5 to 1.8V

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Sigma II User’s Manual Chapter 3: Wiring

The following examples show how to select the pull-up resistor R1 so the input
current (I) falls between 7 and 15mA.
Application Examples
R1 = 2.2kΩ with R1 = 1kΩ with R1 = 180 Ω with
VCC = 24V ±5% VCC = 12V ±5% VCC = 5V ±5%

• Open-collector Output, Example 2: Using a servo amplifier with an internal 12V

power supply
This circuit uses the 12V power supply built into the servo amplifier. The input
is not isolated in this case.
Host Servo amplifier end
controller end
PL1, PL2, PL3 terminals

1.0 kΩ

150Ω

About
9mA

1.5V maximum V
when ON

Sequence Input Circuit Interface

The sequence input circuit interface connects through a relay or open-collector
transistor circuit. Select a low-current relay, otherwise a faulty contact will result.
Servo amplifier Servo amplifier
24VDC 24V DC
50mA mini mum 24VIN 3.3 kΩ 50mA mini mum 24VIN 3.3kΩ

/S-ON, etc. /S-ON, etc.

Output Circuit Interfaces

Any of the following three types of servo amplifier output circuits can be used.
Connect an input circuit at the host controller following one of these types.
• Connecting to a Line-driver Output Circuit
Encoder serial data converted to two-phase (A and B phase) pulse output signals
(PAO, /PAO, PBO, /PBO), origin pulse signals (PCO, /PCO) and S phase
rotation signals (PCO, /PCO) are output via line-driver output circuits that
normally comprise the position control system at the host controller. Connect
the line-driver output circuit through a line receiver circuit at the host controller.

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Sigma II User’s Manual Chapter 3: Wiring

See 3.5 Wiring to an Encoder for connection circuit examples.

• Connecting to an Open-collector Output Circuit

Alarm code signals are output from open-collector transistor output circuits.

Connect an open-collector output circuit through a photocoupler, relay, or line

receiver circuit.
5 to 12VDC
Photocoupler
5 to 12VDC Relay
Servo amplifier Servo amplifier
end end

0V 0V
0V

5 to 12VDC
Servo amplifier Line receiver
end
P

0V 0V

Note: The maximum allowable voltage and current capacities for open-collector circuits are:
• Voltage: 30VD C
• Current: 20mAD C

• Connecting to a Photocoupler Output Circuit

Photocoupler output circuits are used for servo alarm, servo ready, and other
sequence output signal circuits.
Connect a photocoupler output circuit through a relay or line receiver circuit.

5 to 12VDCRelay 5 to 12VDC
Servo amplifier end Servo amplifier end

0V
0V

Note: The maximum allowable capacities for photocoupler output circuits are:
• Voltage: 30VD C
• Current: 50mAD C

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Sigma II User’s Manual Chapter 3: Wiring

3.5 Wiring Encoders (for SGMGH and SGMSH Motors Only)

The following sections describe the procedure for wiring a servo amplifier to the encoder.

3.5.1 Encoder Connections

The following diagrams show the wiring of the encoder output from the motor to
CN2 of the servo amplifier, and PG output signals from CN1 to the controller. This
applies to both incremental and absolute encoders of SGMGH and SGMSH motors
only.

Incremental Encoders
Servo amplifier
CN1
A phase 1-33 PAO
1-34 /PAO P
Incremental encoder
B phase 1-35 PBO
1-36 /PBO P
CN2
C (5) 2-5 C phase 1-19 PCO
D (6) P 2-6 1-20 /PCO P

PG Output line-driver Applicable line

SN751LS194 manufactured receiver
by T/I, or the equivalent SN75175
H (1) 2-1 manufactured
PG5V by T/I, or the
G (2) 2-2 PG0V equivalent

0V 1-1 SG 0V
22AWG

J Connector shell
(Shell) Shield wires Connector
shell

Absolute Encoders
Absolute encoder Servo amplifier
CN2 CN1
A phase 1-33 PAO
1-34 /PAO P
C (5) 2-5 B phase 1-35 PBO
D (6) P 2-6 1-36 /PBO P
C phase 1-19 PCO
1-20 /PCO P
S phase 1-48 PSO
PG 1-49 /PSO P
H (1) 2-1 PG5V
G (2) 2-2 Applicable line
PG0V receiver: MC3486
Output line-driver : or SN75175
SN751LS194NS manufactured
22AWG manufactured by T/I , by T/I, or the
or the equivalent equivalent
1-4 SEN
+5V
1-2 SG P
1-1 SG 0V
T (3) 2-3 0V 1-21 BAT(+)
+
S(4) 2-4 1-22 BAT(-) P Battery
-

J Connector shell 1-50

(Shell) Shield wires

Connector
P: Indicates twistedwirepairs. shell

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Sigma II User’s Manual Chapter 3: Wiring

3.5.2 CN2 Encoder Connector Terminal Layout and Types

The following tables describe CN2 connector terminal layout and types.

CN2 Connector Terminal Layout

Pin Signal Function Pin Signal Function

1 PG 5V PG power supply +5V 2 PG 0V PG power supply 0V
Battery (+) Battery (-)
3 BAT (+) 4 BAT (-)
(For an absolute encoder) (For an absolute encoder)
5 PS PG serial signal input 6 /PS PG serial signal input

CN2 Connector Models

Applicable Plug (or Socket)
Servo Amplifier
Connectors Soldered Plug Soldered Plug
Manufacturer
(Servo Amplifier Connector) (Servomotor Connector)
55100-0600 54280-0600
53460-0611 (Yaskawa number: (Yaskawa number: Molex Japan Co., Ltd.
JZSP-CMP9-1) JZSP-CMP9-2)

Note: 1. FA1394 is the product number for the servo amplifier end plug and the servomotor end socket set
from Molex Japan Co., Ltd.
2. The servomotor-end relay socket connects to the encoder connector for the SGMAH and
SGMPH servomotor.
3. The following encoder connectors are for the SGMGH and SGMSH servomotor:
L-shaped plug: MS3108B20-29S
Straight: MS3106B20-29S
Cable clamp: MS3057-12A
Note: Encoder cables are available from Yaskawa. For more details on the cables, see Sigma II Series Servo
System Catalog Supplement (G-MI#99001).

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Sigma II User’s Manual Chapter 3: Wiring

3.6 Examples of Standard Connections

The following diagrams show examples of standard servo amplifier connections by
specifications and type of control.

3.6.1 Single-Phase Power Supply Specifications

Single -phas e 200 to 230 Va c or Single-phase 1 00 to 11 5Vac
(50/60Hz) (50/60Hz)

1MCCB

N oise filter
Power Power Alarm
OFF ON processing
1MC

1MC SUP Be sure to attach a surge suppressor to the excitation

coil of the magnetic contactor and relay.

1MC B1 B2
U A (1) Servomotor
L1 B (2)
V M
L2 C (3)
W
D(4)
L1C
L2C SGDH Servo Amplifier Optical
1 encoder
2 2CN PG

Be sure to
ground Be sure to properly prepare the
1CN
end of the shielded wire.
Reference speed: V-REF 5
P LPF*
±2 to ±10V/rated motor speed (set by parameter) SG 6
37
Torque reference: T-REF 9 LPF*
A/D ALO1 Alarm code maximum output:
P 38 ALO3 Operating voltage: 30VDC
±1 to ±10V/rated motor speed (set by parameter) SG 10 Operating current: 20mADC
39 ALO3
PULS PULS 7150Ω
CW P /PULS 8
A phase
SIGN SIGN 11 33 PAO
CCW P
B phase /SIGN 12 34 /PAO
PG dividing ratio output
Position reference CLR CLR 15 Applicable line receiver
P /CLR 14 35 PBO SN75175 or MC3486 manufac-
36 /PBO
tured by T/I, or the equivalent
Open-collector +12V
PL1 3 1kΩ 19 PCO
reference 20
power supply PL2 13 /PCO
PL3 18 48 Amount of S-phase rotation
Used only with PSO Serial data output
49
BAT (+) an absolute encoder /PSO Applicable line receiver
Backup battery 2.8 to 4.5V 21
PBAT (-) 1 SG SN75175 or MC3486 manufac-
(When using an absolute encoder). 22 tured by T/I, or the equivalent
+5V SEN 4
SEN signal input
P SG 2
(When using an absolute encoder).
0V
+24V +24V 47 3.3k Ω 25 Speed coincidence detection
1Ry /V-CMP+ (ON when speed coincides)
ServoON with 2Ry ON /S-ON 40 Servo ON 26 (/COIN+) Positioning completed
/V-CMP-
2RY (ON when positioning is
P control with 2Ry ON /P-CON 41 Proportional control (P control) (/COIN-) completed)
P-LS Forward run 27
Forward run prohibited with P-LS OPEN P-OT 42 prohibited /T-GON+ T-GON output
Reverse run 28 (ON at levels above the setting)
Reverse run prohibited with N-LS OPEN N-LS N-OT 43 /T-GON-
prohibited
29
Alarm reset with 3Ry ON 3Ry Alarm reset /S-RDY+ Servo ready output
/ALM-RST 44 30 /S-RDY- (ON when ready)
Forward current limit ON with 6Ry ON 6Ry Forward current
/P-CL 45 limit ON 31
ALM+ Servo alarm output
Reverse current limit ON with 7Ry ON 7RY Reverse current 32 ALM- (OFF with an alarm)
/N-CL 46 limit ON
Connector shell
Photocoupler maximum output:
FG Operating voltage: 30VDC
Connect shield to connector shell Operating current: 50mA DC

*The time constant for the primary filter is 47µ s P: Indicates twisted wire pairs.

3 - 26
Sigma II User’s Manual Chapter 3: Wiring

3.6.2 Three-Phase Power Supply Specifications (200V)

Thre e-pha se 20 0 to 23 0Vac
(50/60Hz)
R S T
1MCCB

Nois e filter
Power Power Alarm
OFF ON processing
1MC

1MC SUP Be sure to attach a surge suppressor to the excitation

coil of the magnetic contactor and relay.

1MC B1 B2 B3
U A (1) Servomotor
L1 B (2)
V M
L2 C (3)
W
L3 D (4)
L1C
L2C SGDH Servo Amplifier Optical
1 encoder
2 2CN PG

Be sure to
ground Be sure to properly prepare the
1CN
end of the shielded wire.
Reference speed: V-REF 5 LPF*
±2 to ±10V/rated motor speed (set by parameter) P SG 6 LPF*
37
T-REF 9 A/D ALO1 Alarm code maximum output:
Torque reference: LPF*
±1 to ±10V/rated motor torque (set by parameter) P SG 10 LPF* 38 ALO3 Operating voltage: 30VDC
Operating current: 20mADC
39
ALO3
PULS PULS 7150Ω
CW P
A phase /PULS 8
SIGN SIGN 11 33 PAO
CCW P
B phase /SIGN 12 34 /PAO
PG dividing ratio output
Position reference CLR 15
CLR 35 PBO Applicable line receiver
P /CLR 14 36 /PBO SN75175 or MC3486 manufac-
tured by T/I, or the equivalent
Open-collector +12V
reference PL1 3 1kΩ 19 PCO
power supply PL2 13 20
/PCO
PL3 18 Amount of S-phase rotation
Used only with 48 PSO Serial data output
49
BAT (+) 21 an absolute encoder /PSO Applicable line receiver
Backup battery 2.8 to 4.5V
PBAT (-) 1 SG SN75175 or MC3486 manufac-
(When using an absolute encoder). 22 tured by T/I, or the equivalent
+5V SEN 4
SEN signal input
P SG 2
(When using an absolute encoder).
0V
3.3kΩ Speed coincidence detection
+24V +24V 47 25
1Ry /V-CMP+ (ON when speed coincides)
ServoONwith 2Ry ON /S-ON 40 Servo ON 26 (/COIN+) Positioning completed
/V-CMP-
P control with 2Ry ON 2RY (ON when positioning is
/P-CON 41 Proportional control (P control) (/COIN-) completed)
P-LS Forward run 27
Forward run prohibited with P-OT 42 prohibited /T-GON+ T-GON output
P-LS OPEN 28 (ON at levels above the setting)
Reverse run prohibited with N-LS Reverse run /T-GON-
N-OT 43 prohibited
N-LS OPEN 29
Alarm reset with 3Ry ON 3Ry Alarm reset /S-RDY+ Servo ready output
ALM-RST 44 30 /S-RDY- (ON when ready)
6Ry Forward current
Forward current limit ON with 6Ry ON P-CL 45 limit ON 31
ALM+ Servo alarm output
Reverse current limit ON with 7Ry ON 7RY Reverse current 32 ALM- (OFF with an alarm)
N-CL 46 limit ON
Connector shell
Photocoupler maximum output:
FG Operating voltage: 30VDC
Connect shield to connector shell Operating current: 50mADC

*The time constant for the primary filter is 47µ s P: Indicates twisted wire pairs.

3 - 27
Sigma II User’s Manual Chapter 3: Wiring

3.6.3 Three-Phase Power Supply Specifications (400V)

Thre e-pha se 38 0 to 48 0Vac
(50/60Hz)
R S T
1MCCB

Nois e filter
Power Power Alarm
OFF ON processing
1MC

1MC SUP Be sure to attach a surge suppressor to the excitation

coil of the magnetic contactor and relay.

1MC B1 B2 B3
U A (1) Servomotor
L1 B (2)
V M
L2 C (3)
W
L3 D (4)
+24V
24VDC ±15%
0V SGDH Servo Amplifier Optical
1 encoder
2 2CN PG

Be sure to
ground Be sure to properly prepare the
1CN
end of the shielded wire.
Reference speed: V-REF 5 LPF*
±2 to ±10V/rated motor speed (set by parameter) P SG 6
37
T-REF 9 A/D ALO1 Alarm code maximum output:
Torque reference: LPF* 38 ALO3
P SG 10 Operating voltage: 30VDC
±1 to ±10V/rated torque (set by parameter) Operating current: 20mADC
39 ALO3
PULS PULS 7150Ω
CW P /PULS 8
A phase
SIGN SIGN 11 33 PAO
CCW P
B phase /SIGN 12 34 /PAO
PG dividing ratio output
Position reference CLR CLR 15 Applicable line receiver
P /CLR 14 35 PBO SN75175 or MC3486 manufac-
36 /PBO
tured by T/I, or the equivalent
Open-collector +12V
reference PL1 3 1kΩ 19 PCO
power supply PL2 13 20
/PCO
PL3 18 48 Amount of S-phase rotation
Used only with PSO Serial data output
49
BAT (+) an absolute encoder /PSO Applicable line receiver
Backup battery 2.8 to 4.5V 21
PBAT (-) 1 SG SN75175 or MC3486 manufac-
(When using an absolute encoder). 22 tured by T/I, or the equivalent
+5V SEN 4
SEN signal input
P SG 2
(When using an absolute encoder).
0V
+24V +24V 47 3.3kΩ Speed coincidence detection
25
1Ry /V-CMP+ (ON when speed coincides)
ServoONwith 2Ry ON /S-ON 40 Servo ON 26 (/COIN+) Positioning completed
/V-CMP-
P control with 2Ry ON 0V 2RY (ON when positioning is
/P-CON 41 Proportional control (P control) (/COIN-) completed)
Forward run prohibited with P-LS Forward run 27
P-OT 42 prohibited /T-GON+ T-GON output
P-LS OPEN 28 (ON at levels above the setting)
Reverse run prohibited with N-LS Reverse run /T-GON-
N-OT 43 prohibited
N-LS OPEN 29
Alarm reset with 3Ry ON 3Ry Alarm reset /S-RDY+ Servo ready output
ALM-RST 44 30 /S-RDY- (ON when ready)
Forward current limit ON with 6Ry ON 6Ry Forward current
P-CL 45 limit ON 31
ALM+ Servo alarm output
Reverse current limit ON with 7Ry ON 7RY Reverse current 32 ALM- (OFF with an alarm)
N-CL 46 limit ON
Connector shell
Photocoupler maximum output:
FG Operating voltage: 30VDC
Connect shield to connector shell Operating current: 50mADC

*The time constant for the primary filter is 47µ s P: Indicates twisted wire pairs.

3 - 28
Sigma II User’s Manual Chapter 3: Wiring

3.6.4 Position Control Mode

Thre e-pha se 20 0 to 23 0Vac
(50/60Hz)
R S T
1MCCB

Nois e filter
Power Power Alarm
OFF ON processing
1MC

1MC SUP Be sure to attach a surge suppressor to the excitation

coil of the magnetic contactor and relay.

1MC B1 B2 B3 U A (1) Servomotor

L1
V B (2) M
L2 W C (3)
L3 D (4)
L1C
L2C SGDH Servo Amplifier Optical
1 encoder
2 2CN PG

Be sure to
ground Be sure to properly prepare the
1CN
end of the shielded wire.
Torque reference: T-REF 9
LPF*
±1 to ±10V/rated motor torque (set by parameter) P SG 10 A/D
37
ALO1 Alarm code maximum output:
38 ALO3 Operating voltage: 30VDC
Operating current: 20mADC
39 ALO3
PULS PULS 7 150Ω
CW P /PULS 8
A phase
SIGN SIGN 11 33 PAO
CCW P
B phase /SIGN 12 34 /PAO
PG dividing ratio output
Position reference CLR CLR 15
P /CLR 14 35 PBO Applicable
SN75175
line receiver
or MC3486 manufac-
36 /PBO
tured by T/I, or the equivalent
Open-collector +12V 19 PCO
reference PL1 3
power supply PL2 13 20 /PCO
PL3 18 48 Amount of S-phase rotation
Used only with PSO
49 /PSO Serial data output
Backup battery 2.8 to 4.5V BAT (+) an absolute encoder Applicable line receiver
21 1
(When using an absolute encoder). PBAT (-)
22 SG SN75175 or MC3486 manufac-
tured by T/I, or the equivalent
+5V SEN 4
SEN signal input
P SG 2
(When using an absolute encoder).
0V
+24V +24V 47 3.3kΩ
25 Positioning completed
1Ry /COIN+ (ON when positioning is
ServoON with 2Ry ON /S-ON 40 Servo ON 26 completed)
/COIN-
P control with 2Ry ON 2RY
/P-CON 41 Proportional control (P control)

Forward run prohibited with P-LS Forward run 27

P-OT 42 prohibited /T-GON+ T-GON output
P-LS OPEN 28
Reverse run prohibited with N-LS Reverse run /T-GON- (ON at levels above the setting)
N-OT 43 prohibited
N-LS OPEN 29
3Ry /S-RDY+ Servo ready output
Alarm reset with 3Ry ON ALM-RST 44 Alarm reset
30 /S-RDY- (ON when ready)
Forward current limit ON with 6Ry ON 6Ry Forward current
P-CL 45 limit ON 31
ALM+ Servo alarm output
Reverse current limit ON with 7Ry ON 7RY Reverse current 32 ALM- (OFF with an alarm)
N-CL 46 limit ON
Connector shell Photocoupler maximum output:
Operating voltage: 30VDC
FG
Connect shield to connector shell Operati ng current: 50mADC

*The time constant for the primary filter is 47µs P: Indicates twisted wire pairs.

3 - 29
Sigma II User’s Manual Chapter 3: Wiring

3.6.5 Speed Control Mode

Thre e-pha se 20 0 to 23 0Vac

(50/60Hz)
R S T
1MCCB

Nois e filter
Power Power Alarm
OFF ON processing
1MC

1MC SUP Be sure to attach a surge suppressor to the excitation

coil of the magnetic contactor and relay.

1MC B1 B2 B3 A (1) Servomotor

U
L1 B (2)
V M
L2 C (3)
W
L3 D (4)
L1C
L2C SGDH Servo Amplifier Optical
1 encoder
2 2CN PG

Be sure to
ground Be sure to properly prepare the
1CN
end of the shielded wire.
Reference speed: V-REF 5 LPF*
±2 to ±10V/rated motor speed (set by parameter) P SG 6 LPF*
37
T-REF 9 A/D ALO1 Alarm code maximum output:
External torque control: LPF*
LPF* 38 ALO3
P SG Operating voltage: 30VDC
±1 to ±10V/rated motor torque (set by parameter) 10 Operating current: 20mADC
39
ALO3

33 PAO
34 /PAO
PG dividing ratio output
35 PBO Applicable line receiver
36 /PBO SN75175 or MC3486 manufac-
tured by T/I, or the equivalent
19 PCO
20
/PCO
48 PSO Amount of S-phase rotation
Used only with Serial data output
49
BAT (+) 21 an absolute encoder /PSO Applicable line receiver
Backup battery 2.8 to 4.5V
PBAT (-) 1 SG SN75175 or MC3486 manufac-
(When using an absolute encoder). 22 tured by T/I, or the equivalent
+5V SEN 4
SEN signal input
P SG 2
(When using an absolute encoder).
0V
+24V +24V 3.3kΩ
25
1Ry /V-CMP+ Speed coincidence detection
ServoONwith 2Ry ON /S-ON Servo ON 26 (ON when speed coincides)
/V-CMP-
2RY
P control with 2Ry ON /P-CON Proportional control (P control)
P-LS Forward run 27
Forward run prohibited with P-OT prohibited /T-GON+ T-GON output
P-LS OPEN 28 (ON at levels above the setting)
N-LS Reverse run /T-GON-
Reverse run prohibited with N-OT prohibited
N-LS OPEN 29
3Ry ALM-RST Alarm reset /S-RDY+ Servo ready output
Alarm reset with 3Ry ON 30 (ON when ready)
Forward current /S-RDY-
Forward current limit ON with 6Ry ON 6Ry
P-CL limit ON 31
ALM+ Servo alarm output
Reverse current limit ON with 7Ry ON 7RY Reverse current 32 (OFF with an alarm)
N-CL limit ON ALM-

Connector shell
Photocoupler maximum output:
FG Operating voltage: 30VDC
Connect shield to connector shell Operating current: 50mADC

*The time constant for the primary filter is 47µs P: Indicates twisted wire pairs.

3 - 30
Sigma II User’s Manual Chapter 3: Wiring

3.6.6 Torque Control Mode

Thr ee-pha se 20 0 to 23 0Va c
(50/60Hz)
R S T
1MCCB

Noise filte r
Power Power Alarm
OFF ON processing
1MC

1MC SUP Be sure to attach a surge suppressor to the excitation

coil of the magnetic contactor and relay.

1MC B1 B2 B3 U A (1) Servomotor

L1 B (2)
V M
L2 C (3)
W
L3 D(4)
L1C
L2C SGDH Servo Amplifier Optical
1 encoder
2 2CN PG

Be sure to
ground Be sure to properly prepare the
1CN
end of the shielded wire.
External speed control: V-REF 5
P SG 6 LP F*
LPF*
±2 to ±10V/rated motor speed (set by parameter)
37
T-REF 9 A/D ALO1 Alarm code maximum output:
Torque Reference: LPF*
LPF* 38 ALO3
±1 to ±10V/rated motor speed (set by reference) P Operating voltage: 30VDC
SG 10 Operating current: 20mADC
39 ALO3

33 PAO
34 /PAO
PG dividing ratio output
35 PBO Applicable line receiver
36 /PBO SN75175 or MC3486 manufac-
tired by T/I, or the equivalent
19 PCO
20 /PCO
48 Amount of S-phase rotation
Used only with PSO Serial data output
49 /PSO
Backup battery 2.8 to 4.5V BAT (+) 21 an absolute encoder Applicable line receiver
PBAT (-) 1 SG SN75175 or MC3486 manufac-
(When using an absolute encoder). 22 tired by T/I, or the equivalent
+5V SEN 4
SEN signal input
P SG 2
(When using an absolute encoder).
0V
+24V +24V 3.3kΩ
25
1Ry /VLT+ Speed control output
ServoONwith 2Ry ON /S-ON Servo ON 26 (ON during speed control)
/VLT-
P control with 2Ry ON 2RY
/P-CON Proportional control (P control)

Forward run prohibited with P-LS Forward run 27

P-OT prohibited /T-GON+ T-GON output
P-LS OPEN 28
Reverse run prohibited with N-LS Reverse run /T-GON- (ON at levels above the setting)
N-OT prohibited
N-LS OPEN 29
Alarm reset with 3Ry ON 3Ry Alarm reset /S-RDY+ Servo ready output
ALM-RST 30 /S-RDY- (ON when ready)
Forward current limit ON with 6Ry ON 6Ry Forward current
P-CL limit ON 31
ALM+ Servo alarm output
Reverse current limit ON with 7Ry ON 7RY Reverse current 32 ALM- (OFF with an alarm)
N-CL limit ON
Connector shell
Photocoupler maximum output:
FG Operating voltage: 30VDC
Connect shield to connector shell Operating current: 50mADC

*The time constant for the primary filter is 47µs P: Indicates twisted wire pairs.

3 - 31
Sigma II User’s Manual Chapter 3: Wiring

Notes:

3 - 32
Sigma II User’s Manual Chapter 4: Trial Operation

4 Trial Operation

This chapter describes a two-step trial operation. Be sure to

complete step 1 before proceeding to step 2.

4.1 Two-Step Trial Operation .................................................................................... 4-2

4.1.1 Step 1: Trial Operation for Servomotor without Load................................ 4-3
4.1.2 Step 2: Trial Operation with the Servomotor Connected to a Load............ 4-9
4.2 Additional Setup Procedures in Trial Operation................................................ 4-10
4.2.1 Servomotors with Brakes .......................................................................... 4-10
4.2.2 Position Control by Host Controller ......................................................... 4-11
4.3 Minimum Parameters and Input Signals ............................................................ 4-12
4.3.1 Parameters ................................................................................................. 4-12
4.3.2 Input Signals ............................................................................................. 4-12

4- 1
Sigma II User’s Manual Chapter 4: Trial Operation

4.1 Two-Step Trial Operation

Make sure that all wiring is completed prior to starting trial operation.
Perform the trial operation in the order given below (step 1 and 2) for your safety. See
4.1.1 Trial Operation for Servomotor without Load and 4.1.2 Trial Operation for
Servomotor Connected to a Load for more details on the trial operation.

Step 1: Trial Operation for Servomotor without Load

Make sure the servomotor is wired properly and then turn the
shaft prior to connecting the servomotor to the equipment.

YASKAWA 200V
200V
SERVOPACK
SGDM-
SGDM-

MODE/SET DATA/
CHARGE POWER

L1 CC
NN
L2 33
1

C
C
L1C N
N
L2C 11

B1
B2

V
CC
W
NN
22

Check wiring.

Do not connect to the equipment.

Step 2: Trial Operation with the Equipment and Servomotor Connected

Adjust the servomotor according to equipment characteristics.

Connect the servomotor to the equipment, and perform the trial
operation.

Adjust speed by autotuning.

SGM
H
SGDH servomotor
servo
amplifier

Connect to the equipment.

4- 2
Sigma II User’s Manual Chapter 4: Trial Operation

4.1.1 Step 1: Trial Operation for Servomotor without Load

CAUTION
• Do not operate the servomotor while it is connected to the equipment.
To prevent accidents, initially perform step 1 where the trial operation is conducted under no-load conditions
(with all couplings and belts disconnected).

In step 1, make sure that the servomotor is wired properly as shown below. Incorrect
wiring is generally the reason why servomotors fail to operate properly during trial
operation.
• Check main power supply circuit wiring.
• Check servomotor wiring.
• Check CN1 I/O signal wiring.
Make sure the host controller and other adjustments are completed as much as
possible in step 1 (prior to connecting the servomotor to equipment).

YASKAWA 200V
200V
SERVOPACK
SGDH-

MODE/SET DATA/

CHARGE POWER

L1 C
N
L2 3

C
L1C N
L2C 1

B1
B2

V
C
W N
2

Check wiring.

Do not connect to the equipment.

Note Check the items on the following pages in the order given during the servomotor trial operation.
See 4.2.1 Servomotors with Brakes, if you are using a servomotor with brakes.

4- 3
Sigma II User’s Manual Chapter 4: Trial Operation

1. Secure the servomotor.

Secure the mounting plate of the
servomotor to the equipment.

Do not connect anything to the sha

(no-load conditions).

Secure the servomotor mounting plate to the equipment in order to prevent the
servomotor from moving during operation.
2. Check the wiring.
YASKAWA 200V
200V
SERVOPACK
SGDH
-

MODE/SET DATA/
CHARGE POWER

L1
L1 C
C
N
N
L2
L2 3
L3
1
2
C
N
1
L1C
L2C
B1
B2
B3
C
U N
2
V
W

Disconnect the CN1

connector.

Disconnect the CN1 connector and check servomotor wiring in the power supply
circuit. The CN1 I/O signals are not used, so leave the connector disconnected.
3. Turn ON power.
Normal display

Alternate display

Example of Alarm Display

Turn ON servo amplifier power. If the servo amplifier has turned ON normally,
the LED display on the front panel of the servo amplifier will appear as shown
above. Power is not supplied to the servomotor because the servo is OFF.
If an alarm display appears on the LED indicator as shown above, the power
supply circuit, servomotor wiring, or encoder wiring is incorrect. In this case,
turn OFF power and take appropriate action. See 9.2 Troubleshooting.
Note If an absolute encoder is used, it must be set up. Refer to 5.7.4 Absolute Encoder Setup.

4- 4
Sigma II User’s Manual Chapter 4: Trial Operation

4. Operate with the panel operator.

YASKAWA 200V
SERVOPACK
SGDH-

Panel operator

MODE/SET DATA/

CHARGE POWER

Operate the servomotor using the panel operator. Check to see if the servomotor runs
normally.

See 7.2.2 JOG Operation Using the Digital Operator for more details on the procedure.

5. Connect the signal lines.

200V
200V
YASKAWA
SERVOPACK
200V
200V

SGDH-

MODE/SET DATA/
CHARGE POWER

L1 C
N
L2 3
L3
1
2
C
N
1
L1C
L2C
B1
B2
B3
C
U N
2
V
W

Connect the
CN1 connector.

Use the following procedure to connect the CN1 connector.

a) Turn OFF power.
b) Connect the CN1 connector.
c) Turn ON power again.
6. Check the input signals.
Check input signal wiring in Monitor Mode using the panel operator. See 7.1.7
Operation in Monitor Mode for more details on the procedure.
Turn ON and OFF each signal line to see if the LED monitor bit display on the panel
changes as shown below.
Input signal LED display

P-OT /P-CON
N-OT /S-ON

Top lights: ON = high level

Bottom lights: ON = low level

/ALM-RST
/P-CL
/N-CL
SEN

4- 5
Sigma II User’s Manual Chapter 4: Trial Operation

Input Signal Status LED Display

OFF (high level) Top LED indicators light.
ON (low level) Bottom LED indicators light.

Note: The servomotor will not operate properly if the following signal lines are not wired correctly. Always
wire them correctly. Short the signal lines if they will be unused. The input signal selections
(parameters Pn50A to Pn50D) can be used to eliminate the need for external short circuiting.

Signal Connector Pin

Description
Symbol Number
The servomotor can rotate in the forward
P-OT CN1-42
direction when this signal line is low (0V).
The servomotor can rotate in the reverse
N-OT CN1-43
direction when this signal line is low (0V).
The servomotor is turned ON when this signal
/S-ON CN1-40
line is low (0V). Leave the servomotor OFF.
Control power supply terminal for sequence
+24VIN CN1-47
signals.

Note: IF an absolute encoder is being used, the servo will not turn ON when the servo ON signal (/S-ON) is
input unless the SEN signal is also ON.

When the SEN signal is checked in monitor mode, the top of the LED will light because the SEN
signal is high when ON.
7. Turn ON the servo.
Servo amplifie
Servomotor

/S-ON
CN1-40

0V
Turns ON the servo.

Turn ON the servo using the following procedure.

a. Make sure there are no reference signals input.

• Set V-REF (CN1-5) and T-REF (CN1-9) to 0V for speed and torque
control.
• Set PULS (CN1-7) and SIGN (CN1-11) to low for position control.

4- 6
Sigma II User’s Manual Chapter 4: Trial Operation

b. Turn ON the servo ON signal.

Display with the servo ON.

Set /S-ON (CN1-40) to 0V. If normal, the servomotor will turn ON and the LED
indicator on the front panel will display as shown above. If an alarm display
appears, take appropriate action as described in 9.2 Troubleshooting.

Note: If there is noise in the reference voltage for speed control, the “-” on the left of the 7-segment LED may flash.

Operating Using Reference Input

The operating procedure here depends on the parameter settings (control mode selection at
memory switch Pn000.1). Use the following procedure for operations with speed and
position control.

Operating Procedure in Speed Control Mode: Set Pn000.1 to 0

Standard speed control setting is described here.
Servopack
Servomotor
V-REF
(CN1-5)

SG
(CN1-6)
Servomotor rotates at a speed proportional
to the reference voltage.

1. Gradually increase the reference speed input (V-REF, CN1-5) voltage. The servomotor
will rotate.
2. Check the following items in Monitor Mode. See 7.1.7 Operation in Monitor Mode.

Un000 Actual motor speed

Un001 Reference speed

• Has the reference speed been input?

• Is the motor speed as designed?
• Does the reference speed coincide with the actual motor speed?
• Does the servomotor stop when the speed reference is 0?

3. If the servomotor rotates at extremely slow speed with 0V specified for the reference
voltage, correct the reference offset value as described in 7.2.3 Automatic Adjustment of
the Speed and Torque Reference Offset or 7.2.4 Manual Adjustment of the Speed and
Torque Reference Offset.

4- 7
Sigma II User’s Manual Chapter 4: Trial Operation

4. Reset the following parameters to change the motor speed or direction of

rotation.
Sets the reference speed input gain
Pn300
See 5.2.1 Speed Reference.
Selects the rotation direction.
Pn000.0
See 5.1.1 Switching Servomotor Rotation Direction.

Operating Procedure In Position Control Mode: Set Pn000.1 to 1

1. Set the parameter Pn200.0 so the reference pulse form is the same as the host
controller output form.
Selecting the reference pulse form: See 5.2.2 Position Reference.
2. Input a slow speed pulse from the host controller and execute low-speed
operation.
Host controller Servo amplifier
Servomotor
PULS (CN1-7)
Reference
/PULS
pulse (CN1-8)
SIGN
(CN1-11)
/SIGN
(CN1-12)

3. Check the following data in Monitor Mode. See 7.1.7 Operation in Monitor
Mode.
Un000 Actual motor speed
Un007 Reference pulse speed display
Un008 Position offset

• Has the reference pulse been input?

• Is the motor speed as designed?
• Does the reference speed coincide with the actual motor speed?
• Does the servomotor stop when the speed reference is 0?

4. Reset the parameters shown below to change the motor speed or direction of
rotation.

Electronic gear ratio

Pn202, Pn203 See 5.2.5 Using the Electronic Gear Function.
Selects the direction of rotation.
Pn000.0 See 5.1.1 Switching Servomotor Rotation Direction.

If an alarm occurs or the servomotor fails to operate during the above operation,
CN1 connector wiring is incorrect or parameter settings do not match the host
controller specifications. Check the wiring and review the parameter settings,
then repeat step 1.
Note: References
• List of alarms: See 9.2.3 Alarm Display Table.
• List of parameters: See Appendix B List of Parameters.

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Sigma II User’s Manual Chapter 4: Trial Operation

4.1.2 Step 2: Trial Operation with the Servomotor Connected to a Load

WARNING
Follow the procedure below for step 2 operation precisely as given.
Malfunctions that occur after the servomotor is connected to the equipment not only damage
the equipment, but may also cause an accident resulting in death or injury.

Before proceeding to step 2, repeat step 1 (servomotor trial operation without a load) until
all concerns including parameters and wiring have fully satisfied expectations.
After step 1 has been completed, proceed to step 2 for trial operation with the servomotor
connected to the equipment. The servo amplifier is now adjusted in the following ways to
meet the specific equipment’s characteristics.
• Using autotuning to match the servo amplifier to the equipment’s characteristics.
• Matching the direction of rotation and speed to the equipment’s specifications.
• Checking the final control form.

SGDH Servomotor
servo
amplifier

Connect to the machine.

Follow the procedures below to perform the trial operation.

1. Make sure power is OFF.
2. Connect the servomotor to the equipment.
See 2.1 Servomotors for more details on connecting the servomotor.
3. Use autotuning to match the servo amplifier to equipment characteristics.
See 6.3 Autotuning.
4. Operate the servomotor by reference input.
As in step 1 (Servomotor Trial Operation without Load ), execute operation by reference
input as described in 4.1.1 Step 1: Trial Operation for Servomotor without Load. Tune
to match the host controller at this time, as well.
5. Set and record user settings.
Set parameters as required and record all settings for use later in maintenance.
Note: The servomotor will not be broken in completely during the trial operation. Therefore, let the system run for a
sufficient amount of time after the trial operation has been completed to ensure that it is properly broken in.

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Sigma II User’s Manual Chapter 4: Trial Operation

4.2 Additional Setup Procedures in Trial Operation

Before starting trial operation, precautionary setup procedures must be followed when
either of two equipment configurations are used. These are delineated in the two
subsequent sections.

4.2.1 Servomotors with Brakes

Use a servomotor with a brake for vertical shaft applications or when external force
must be applied to the shaft to prevent rotation due to gravity or external force
during a power loss.
The servo amplifier uses the brake interlock output (/BK) signal to control the
holding brake operation when using servomotors with brakes.
•Vertical shaft •Shaft with external force applied

Servomotor

Holding brake External Servomotor

force
Prevents the
servomotor from
rotating due to gravity.

Note: To prevent faulty operation due to gravity or external force, first make sure that both the servomotor
and holding brake work properly when . When assured that each operates properly, connect the
servomotor to the rest of the equipment to start the trial operation.

The following figure shows wiring for a servomotor with brakes. See 5.4.4 Using
the Holding Brake for details on wiring.

Power supply Servomotor with Brake

Three-Phase 200V SGDH
L1, L2, L3 servo
amplifier U, V, W
M PG

CN2

Magnetic contactor

Single-Phase
200V 24VD C

Brake control relay Brake power supply

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 Sigma II User’s Manual Chapter 4: Trial Operation

4.2.2 Position Control by Host Controller

If the position control algorithm of the host controller has not been established or finalized,
disconnect the servomotor from the equipment before performing a trial operation. This
will prevent the servomotor from running out of control and damaging the equipment.
Reference
speed
SGDH
Host servo M
controller amplifier
Trial operation for
servomotor without load
Speed control
Position contro
Check servomotor operation as described in the following table.

Controller
Check Procedure Description
Reference
Check motor speed as follows:
JOG Operation • Use the speed monitor (Un000) on Check the parameter
the panel operator.
(Constant setting at Pn300 to see
Motor speed • Run the servomotor at low speed.
Reference Speed if the reference speed
Input a reference speed of 60rpm, for
Input from Host gain is correct.
example, to see if the servomotor
Controller) makes one revolution per second.
Input a reference equivalent to one Check the parameter
Simple Number of motor servomotor rotation and visually check setting at Pn201 to see
Positioning rotations to see if the shaft makes one if the number of dividing
revolution. pulses is correct.
Whether the servo- Check to see if the servomotor stops
Overtravel Review P-OT and N-OT
motor stops rotating when P-OT and N-OT signals are input
(P-OT and wiring if the servomotor
when P-OT and N-OT during continuous servomotor
N-OT Used) does not stop.
signals are applied operation.

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Sigma II User’s Manual Chapter 4: Trial Operation

4.3 Minimum Parameters and Input Signals

This section of this manual describes the minimum parameters and input signals required
for trial operation.

4.3.1 Parameters

See 7.1.6 Operation in Parameter Setting Mode for more details on setting
parameters.
Turn OFF power once after changing any parameter except Pn300. The change will
not be valid until power is restored.

Basic Parameters

Pn000.1 Function Selection Basic Switches: Control Mode Selection See 5.3.5

Speed Control
Pn300 Speed Reference See 5.2.1
Pn201 Using the Encoder Signal Output See 5.2.3

Position Control

Pn200.0 Position Reference See 5.2.2

Pn202 Using the Electronic Gear Function (Numerator) See 5.2.5
Pn203 Using the Electronic Gear Function (Denominator) See 5.2.5

Changing Servomotor Rotation Direction

The wiring may be incorrect if the specified direction differs from the actual
direction of rotation. Recheck the wiring and correct if necessary. Use the
following parameter to reverse the direction of rotation.

Pn000.0 Switching Servomotor Rotation Direction See 5.1.1

4.3.2 Input Signals

Input signal selection settings through parameters can be used to eliminate the need
for external short circuits.

Pin
Signal Name Description
Number
/S-ON Servo ON CN1-40 See 5.5.2 f or more details on turning ON and OFF the servomotor.
Forward run pro-
P-OT hibited CN1-42
See 5.1.2 for more details on the overtravel limit switch.
Reverse run pro-
N-OT hibited CN1-43

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

5 Parameter Settings and Functions

This chapter describes the procedure for setting and applying
parameters.
5.1 Settings According to Device Characteristics ..................................................... 5-4
5.1.1 Switching Servomotor Rotation Direction ................................................. 5-4
5.1.2 Setting the Overtravel Limit Function ........................................................ 5-5
5.1.3 Limiting Torque .......................................................................................... 5-8
5.2 Settings According to Host Controller............................................................... 5-13
5.2.1 Speed Reference ....................................................................................... 5-13
5.2.2 Position Reference .................................................................................... 5-15
5.2.3 Using the Encoder Signal Output ............................................................. 5-21
5.2.4 Sequence I/O Signals ................................................................................ 5-25
5.2.5 Using the Electronic Gear Function.......................................................... 5-27
5.2.6 Contact Input Speed Control..................................................................... 5-32
5.2.7 Using Torque Control ............................................................................... 5-37
5.2.8 Torque Feed-Forward Function ................................................................ 5-44
5.2.9 Speed Feed-Forward Function.................................................................. 5-46
5.2.10 Torque Limiting by Analog Voltage Reference ........................................ 5-48
5.5 Parameter Settings and Functions ................................................................... 5 - 51
5.3.1 Parameters .............................................................................................. 5 - 51
5.3.2 JOG Speed ............................................................................................ 5 - 51
5.3.3 Input Circuit Signal Allocation.............................................................. 5 - 52
5.3.4 Output Circuit Signal Allocation ........................................................... 5 - 56
5.3.5 Control Mode Selection ......................................................................... 5 - 59
5.4 Setting Stop Functions ..................................................................................... 5 - 62
5.4.1 Adjusting Offset ..................................................................................... 5 - 62
5.4.2 Servo OFF Stop Mode Selection ......................................................... 5 - 63
5.4.3 Using the Zero Clamp Function............................................................. 5 - 64
5.4.4 Using the Holding Brake ....................................................................... 5 - 66
5.5 Forming a Protective Sequence ...............................................................................7 - 71
5.5.1 Using Servo Alarm and Alarm Code Outputs ....................................... 5 - 71
5.5.2 Using the Servo ON Input Signal (/S-ON) ............................................ 5 - 73

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

5.5.3 Using the Positioning Completed Output Signal (/COIN) .................... 5 - 75

5.5.4 Speed Coincidence Output (/V-CMP).................................................... 5 - 77
5.5.5 Using the Running Output Signal (/TGON) .......................................... 5 - 79
5.5.6 Using the Servo Ready Output Signal (/S-RDY) .................................. 5 - 81
5.5.7 Using the Warning Output Signal (/WARN) ........................................ 5 - 82
5.5.8 Using the Near Output Signal (/NEAR) ................................................ 5 - 84
5.5.9 Handling Power Loss ............................................................................. 5 - 86
5.6 Selecting a Regenerative Resistor.................................................................... 5 - 87
5.6.1 External Regenerative Resistor.............................................................. 5 - 88
5.6.2 Calculating the Regenerative Power Capacity....................................... 5 - 91
5.7 Absolute Encoders ......................................................................................... 5 - 101
5.7.1 Interface Circuit ................................................................................... 5 - 102
5.7.2 Configuring an Absolute Encoder ....................................................... 5 - 103
5.7.3 Handling Batteries ............................................................................... 5 - 105
5.7.4 Absolute Encoder Setup....................................................................... 5 - 106
5.7.5 Absolute Encoder Reception Sequence ............................................... 5 - 110
5.8 Special Wiring................................................................................................ 5 - 115
5.8.1 Wiring Precautions............................................................................... 5 - 115
5.8.2 Wiring for Noise Control ..................................................................... 5 - 122
5.8.3 Using More Than One Servodrive ....................................................... 5 - 126
5.8.4 Extending Encoder Cables ................................................................... 5 - 127
5.8.5 400V Power Supply Voltage ................................................................ 5 - 129
5.8.6 Reactor for Harmonic Suppression...................................................... 5 - 131
5.9 Reserved Parameters ..................................................................................... 5 - 133

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Before Reading this Chapter

This chapter describes the use of each CN1 connector I/O signals in the SGDH servo
amplifier as well as the procedure for setting the related parameters for the intended
purposes.
The following sections can be used as references for this chapter.
• List of CN1 I/O signals: See 3.4.3 I/O Signal Names and Functions.
• CN1 I/O signal terminal layout: See 3.4.2 List of CN1 Terminals.
• List of parameters: Appendix B List of Parameters.
• Parameter setting procedure: 7.1.6 Operation in Parameter Setting Mode
The CN1 connector is used to exchange signals with the host controller and external
circuits.

Parameter Configurations
Parameters are comprised of the types shown in the following table. See Appendix B List
of Parameters.

Parameter
Type Description
Number

Function Selection Constants Pn000 to Pn003 Select basic and application functions such as the type of
control or the stop mode used when an alarm occurs.

Servo Gain and Other Constants Pn100 to Pn123 Set numerical values such as speed and position loop
gains.

Position Control Constants Pn200 to Pn208 Set position control parameters such as the reference
pulse input form and gear ratio.

Speed Control Constants Pn300 to Pn308 Set speed control parameters such as speed reference
input gain and soft start deceleration time.

Torque Control Constants Pn400 to Pn409 Set torque control parameters such as the torque reference
input gain and forward/reverse torque limits.

Sequence Constants Pn500 to Pn512 Set output conditions for all sequence signals and changes
I/O signal selections and allocations.
Others Pn600 to Pn601 Specify the capacity for an external regenerative resistor
and reserved constants.
Auxiliary Function Execution Fn000 to Fn014 Execute auxiliary functions such as JOG Mode operation.

Monitor Modes Un000 to Enable speed and torque reference monitoring, as well as
Un00D monitoring to check whether I/O signals are ON or OFF.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

5.1 Settings According to Device Characteristics

This section describes the procedure for setting parameters according to the dimensions
and performance characteristics of the equipment used.

5.1.1 Switching Servomotor Rotation Direction

The servo amplifier has a Reverse Rotation Mode that reverses the direction of
servomotor rotation without rewiring. Forward rotation in the standard setting is
defined as counterclockwise as viewed from the load.
With the Reverse Rotation Mode, the direction of servomotor rotation can be
reversed without changing other parameters. Only the direction (+, −) of shaft
motion is reversed.

Standard Setting Reverse Rotation Mode

Encoder output from

Encoder output from servo amplifier
servo amplifier

Forward Reference PAO (Phase A) PAO (Ph ase A)

PAO (Phase B) PAO (Ph ase B)

Encoder output from Encoder output from

servo amplifier servo amplifier

Reverse Reference PAO (Ph ase A) PAO (Ph ase A)

PAO (Ph ase B) PAO (Ph ase B)

Setting Reverse Rotation Mode

Use the parameter Pn000.0.

Parameter Signal Setting Control Mode

Speed/Torque Control,
Pn000.0 Direction Selection Default Setting: 0 Position Control

Use the following settings to select the direction of servomotor rotation.

Setting Description
Forward rotation is defined as counterclockwise
0 (CCW) rotation as viewed from the load. (Standard setting)

Forward rotation is defined as clockwise (CW)

1 rotation as viewed from the load. (Reverse Rotation Mode)

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

5.1.2 Setting the Overtravel Limit Function

The overtravel limit function forces movable equipment parts to stop if they exceed
the allowable range of motion.

Using the Overtravel Function

To use the overtravel function, connect the overtravel limit switch input signal
terminals shown below to the correct pins of the servo amplifier CN1 connector.

Forward Run Prohibited Speed/Torque Control,

Input
P-OT CN1-42
(Forward Overtravel) Position Control
Reverse Run Prohibited Speed/Torque Control,
Input
N-OT CN1-43
(Reverse Overtravel) Position Control

Connect limit switches as shown below to prevent damage to the devices during
linear motion.
Reverse rotation end Forward rotation end

Servomotor
Limit Limit
switch switch
Servo Amplifier
P-OT
CN1-42

N-OT
CN1-43

Drive status with an input signal ON or OFF is shown in the following table.

Signal State Input Level Description

Forward rotation allowed, (normal operation
ON CN1-42: low status).
P-OT
Forward run prohibited (reverse rotation
OFF CN1-42: high allowed).
Reverse rotation allowed, (normal operation
ON CN1-43: low status).
N-OT
Reverse run prohibited (forward rotation
OFF CN1-43: high allowed).

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Enabling/Disabling Input Signals

Set the following parameters to specify whether input signals are used for overtravel
or not. The default setting is “used.”

Parameter Signal Setting Control Mode

Pn50A.3 P-OT Signal Mapping Default Setting: 2 Speed/Torque Control,

(Forward Run Prohibit Input Signal) Position Control

Pn50B.0 N-OT Signal Mapping Default Setting: 3 Speed/Torque Control,

(Reverse Run Prohibit Input Signal) Position Control

Servo Amplifier

CN1-42
(P-OT) The short-circuit wiring shown in the figure can be
omitted when P-OT and N-OT are not used.
CN-43
(N-OT)

0V

Parameter Signal Setting Description

Uses the P-OT input signal to prevent forward
rotation. (Forward rotation is prohibited when
Default Setting: 2 CN1-42 is open and is allowed when CN1-42 is
P-OT Signal Mapping at 0V).
Pn50A.3 (Forward Run Prohibit
Input Signal) Does not use the P-OT input signal to prevent
forward rotation. (Forward rotation is always
8 allowed and has the same effect as shorting
CN1-42 to 0V).
Uses the N-OT input signal to prevent reverse
rotation. (Reverse rotation is prohibited when
Default Setting: 3 CN1-43 is open and is allowed when CN1-43 is
N-OT Signal Mapping at 0V).
Pn50B.0 (Reverse Run Pro-
hibit Input Signal) Does not use the N-OT input signal to prevent
reverse rotation. (Reverse rotation is always
8 allowed and has the same effect as shorting
CN1-43 to 0V).

Servomotor Stop Mode for P-OT and N-OT Input Signals

Set the following parameters to specify the Servomotor Stop Mode when P-OT and
N-OT input signals are used.
Specify the Servomotor Stop Mode when either of the following signals is input
during servomotor operation.
• Forward run prohibited input (P-OT,CN1-42)
• Reverse run prohibited input (N-OT,CN1-43)

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Parameter Signal Setting Control Mode

Pn001.1 Overtravel Stop Mode Default Setting: 0 Speed/Torque Control,

Position Control

Overtravel Stop Mode After stopping Pn001.1

sett ing
Pn00 1.0 = 0, 1 Stop by dynamic brake
Pn 001.1 = 0
Coast status 0
2
Co ast to a sto p

Zero clamp 1
Pn0 01.1 = 1 or 2
Dece lerate to a stop

Coast status 2

Note: For torque control, the servomotor will be placed in coast status after either decelerating or coasting
to a stop (according to the stop mode set in Pn001.0), regardless of the setting of Pn001.1.

Parameter Signal Setting Description

0 Stops the servomotor the same way as turning the servo
OFF (according to Pn001.0).
Decelerates the servomotor to a stop at the preset torque,
Pn001.1 Overtravel Stop Mode 1 and then locks the servomotor in Zero Clamp Mode.
Torque setting: Pn406 Emergency Stop Torque
Decelerates the servomotor to a stop at the preset torque,
2 and puts the servomotor in coast status.
Torque setting: Pn406 Emergency Stop Torque

Pn406 specifies the stop torque applied for overtravel when the input signal for
prohibiting forward or reverse rotation is used.
The torque limit is specified as a percentage of rated torque.

Setting
Parameter Signal Control Mode
(%)
Emergency Stop Torque Range: 0% to Maximum Speed/Torque Control,
Pn406 (Valid when Pn001.1 is 1 or 2) Torque Position Control
Default Setting: 800

Stop Mode
Stop by dynamic brake
Forward run
prohibit input
Coast to a stop
P-OT (CN1-42)
Reverse run Decelerate to a stop
prohibit input
N-OT (CN1-43)
Max. torque setting for an
emergency stop
Pn406

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

5.1.3 Limiting Torque

The SGDH servo amplifier limits torque as follows:

• Level 1: Limits maximum output torque to protect the equipment or workpiece.
• Level 2: Limits torque after the servomotor moves the equipment to a specified
position (internal torque limit).
• Level 3: Always limits output torque rather than speed.
• Level 4: Switches between speed and torque limit.

Application of levels 1 and 2 in the torque limit function are described below.

Setting Level 1: Internal Torque Limits

Maximum torque is limited to the values set in the following parameters.

Setting
Parameter Signal Control Mode
(%)

Pn402 Forward Torque Limit Range: 0 to 800 Speed/Torque Control,

Default Setting: 800 Position Control

Pn403 Reverse Torque Limit Range: 0 to 800 Speed/Torque Control,

Default Setting: 800 Position Control

Sets the maximum torque limits for forward and reverse rotation.
Used when torque must be limited due to equipment conditions.

The torque limit function always monitors torque and outputs the signals
below when the limit is reached.

The following signals are output by the torque limit function.

Signal Description
/CLT Generated when Pn50F.0 allocates an output terminal from SO1 to SO3.
Monitor Mode (Un006) Output signal monitor

The torque limits are specified as a percentage of the rated torque.

Note: If torque limit is set higher than the maximum torque of the servomotor, the maximum torque of the
servomotor is the limit.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Application Example: Equipment Protection

Torque limit Too small a torque limit will result in a
insufficient torque during acceleration and
Motor deceleration.
speed

Torque

Using the /CLT Signal

The following section describes the use of the contact output signal /CLT as a torque
limit output signal.
I/O power supply
Servo amplifier +24V

CN 1-† 1 CLT+
Photocoupler output levels per output node:
• Maximum operating voltage: 30V DC
• Maximum output current: 50mADC C N1-† 2 CLT—

Speed/Torque Control,
Output
/CLT CN1-†1 Torque Limit Output
Position Control

This signal indicates whether servomotor output torque (current) is being limited.

Status Conditions Description

The circuit between CN1- †1 and †2 Servomotor output torque is being limited.
ON is closed. (Internal torque reference is greater than the
limit setting).
CN1-†1 is at low level.
The circuit between CN1- †1 and †2
is open. Servomotor output torque is not being limited.
OFF (Internal torque reference is less than the limit
setting).
CN1-†1 is at high level.

Settings: Pn402 (Forward Torque Limit)

Pn403 (Reverse Torque Limit)
Pn404 (Forward External Torque Limit): /P-CL input only
Pn405 (Reverse External Torque Limit): /N-CL input only
When the /CLT signal is used, the following parameter must be used to select the
output signal.

Parameter Signal Setting Control Mode

Pn50F Output Signal Selections 2 Default Setting: 0000 Speed/Torque Control,

Position Control

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Pn50F.0 Output terminal

1
/CLT CN1-25, 26 (SO1)
Torque limit 2
CN1-27, 28 (SO2)
detection 3
CN1-29, 30 (SO3)

Use the following table to select which terminal will output the /CLT signal.

Output Terminal (CN1-)

Parameter Setting
†1 †2

0 — —
1 25 26
Pn50F.0
2 27 28
3 29 30

Note: Multiple signals allocated to the same output circuit are output using OR logic. Set other output
signals to a value other than that allocated to the /CLT signal in order to use just the /CLT output
signal. See 5.3.4 Output Circuit Signal Allocation.

Setting Level 2: External Torque Limit

A contact input signal is used to enable the torque (current) limits previously set in
parameters. Torque limits can be set separately for forward and reverse rotation.
Servo amplifier

Torque Limit
Pn402
Reverse Rotation
/P-CL rotation Speed

CN1-45 Torque Limit

Pn402 or Pn404
(limited by whichever
Rotation is smaller
Speed

Torque Limit
Pn403
Forward Rotation
rotation Speed
/N-CL
CN1-46 Torque Limit
Pn403 or Pn405
Rotation (limited by whichever
Speed is smaller

Input /P-CL CN1-45 Forward External Torque Limit Input Speed/Torque Control,
Position Control

Output /N-CL CN1-46 Reverse External Torque Limit Input Speed/Torque Control,
Position Control

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

This is the external torque (current) limit input for forward and reverse rotation.
Check input signal allocation status when using this function. (See 5.3.3
Input Circuit Signal Allocation). Default settings are given in the table on
the following page.

Parameter Signal Status Comments Description

CN1-45 at low level when ON Use forward torque limit. Limit: Pn404
/P-CL Do not use forward torque limit.
CN1-45 at high level when OFF —
Normal operation.
CN1-46 at low level when ON Use reverse torque limit. Limit: Pn405
/N-CL Do not use reverse torque limit.
CN1-46 at high level when OFF —
Normal operation.

The following output signals and monitor methods are used when torque is
being limited.

Signal Description

/CLT Generated when Pn50F.0 is allocated to an output terminal from SO1

to SO3.
Monitor Mode (Un006) —
• Un005: Numbers 6
and 7 (With Default Refer to 7.1.7 Operation in Monitor Mode.
Settings)
• Un006: Depending
on output signal —
allocation condi-
tions.

Application Examples:

• Forced stop.

• Robot holding a workpiece.

Setting
Parameter Signal Control Mode
(%)
Range: 0 to 800 Speed/Torque Control,
Pn404 Forward External Torque Limit
Default Setting: 100 Position Control
Range: 0 to 800 Speed/Torque Control,
Pn405 Reverse External Torque Limit
Default Setting: 100 Position Control

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Set the torque limits when the torque is limited by an external contact input.

Setting Description
/P-CL (CN1-45) Input Pn404 torque limit applied.
/N-CL (CN1-46) Input Pn405 torque limit applied.

See 5.2.10 Torque Limiting by Analog Voltage Reference.

Using /P-CL and /N-CL Signals

The procedure for using /P-CL and /N-CL as torque limit input signals is illustrated
below.
Servo Amplifier
I/O power supply
+24V

3.3kΩ Photocoupler
CN1-47

Host controller 5mA

/P-CL
CN1-45

/N-CL CN1-46

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

5.2 Settings According to Host Controller

This section describes the procedure for connecting a Sigma II Series servo to a host
controller, including the procedure for setting related parameters.

5.2.1 Speed Reference

Input the speed reference using the input signal Speed Reference Input. Since this
signal has various uses, set the optimum reference input for the system created.
Servo amplif ier

T-REF CN1-9
Torque reference input Torque
(analog voltage input) SG P CN1-9
reference
V-REF CN1-5
Speed reference input Speed
(analog voltage input) SG P CN1-6 reference

P represents twisted pair wires.

Input V-REF CN1-5 Speed Reference Input Speed Control

Input SG CN1-6 Signal Ground Speed Control

The above inputs are used for speed control (analog reference). (Pn000.1 = 0, 4, 7,
9, or A).
Always wire for normal speed control.
The motor speed is controlled in proportion
Refer to 7.1.7 Operation in Monitor Mode.
to the input voltage between V-REF and SG.

Rated motor speed

Factory setting

-12 -8 -4
4 8 12
Input voltage (V)

Rated motor speed

The slope is set in Pn300.

Setting Examples
Pn300 = 600: This setting means that 6V is equivalent to the rated motor speed.

Speed SGMAH
Rotation Direction Motor Speed
Reference Input Servomotor
+6V Forward rotation Rated motor speed 3000rpm
+1V Forward rotation (1/6) rated motor speed 500rpm
-3V Reverse rotation (1/2) rated motor speed 1500rpm

Parameter Pn300 can be used to change the voltage input range.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Input Circuit Example

470Ω, ½W minimum Servo Amplifier

V R EF
+ 12V 2k Ω
CN1-5
P
SG CN1-6

• Always use twisted pair cable for noise control.

Recommended variable resistor: Model 25HP-10B manufactured by Sakae
Tsushin Kogyo Co., Ltd.

Connect V-REF and SG to the speed reference output terminals on the host
controller when using a host controller, such as a programmable controller, for
position control.
Host controller Servo amplifier
V-REF
Speed CN1-5
P SG
reference CN1-6
output
terminals
P AO
Feedback P /PAO CN1-33
pulse input P BO CN1-34
terminals P /P BO CN1-35
CN1-36
P represents twisted pair wires.

Adjust Pn300 according to the output voltage specifications of the host controller.
Adjust the speed reference input adjustment factor at the following parameter.

Parameter Signal Setting Control Mode

Speed Reference Input Range: 150 to 3000 x (0.01V/

Pn300 Speed Control
Adjustment Factor rated motor speed)

Set the voltage range for the speed reference input V-REF at CN1-5 according to
host controller and external circuit output range.

Reference
speed (rpm) Set this slope.

Reference
voltage (V)

The default setting is adjusted so that a 6V input is equivalent to the rated motor
speed of all applicable servomotors.
Note: The maximum allowable voltage to the speed reference input (between CN1-5 and 6) is ± 12VD C .

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Using the /P-CON Signal

Speed Control,

Input P-CON CN1-41 Proportional Control Reference
Position Control

The /P-CON input signal switches the Speed Control Mode from PI
(proportional-integral) to P (proportional) control.
Proportional control can be used in the following two ways:

• When operation is performed by sending speed references from the host

controller to the servo amplifier, the host controller can selectively use P control
mode for particular conditions only. This method can prevent the occurrence of
overshoot and also shorten settling time.
• If PI control mode is used when the speed reference has a reference offset, the
motor may rotate at a very slow speed and fail to stop even if 0 is specified as a
speed reference. In this case, use P control mode to stop the motor.

5.2.2 Position Reference

The reference pulse, reference code, and clear inputs are used for the position
reference. Since this signal can be used in different ways, set the optimum reference
input for the system created.

Reference by Pulse Input

Positioning is controlled by entering a reference pulse for a move.
Servo Amplifie
Photocoupler
PULS CN1-7
Reference
pulse input /PULS P CN1-8
SIGN CN1-11
Reference /SIGN P CN1-12
code input
CLR CN1-15
Clear input /CLR P CN1-14

P represents twisted pair wires

Any of the following forms can be used for the position reference:
• Line-driver output
• +12V open-collector output
• +5V open-collector output

Connection Example 1: Line-driver Output

Applicable line driver: SN75174 manufactured by Texas Instruments Inc., MC3487

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

or equivalent
Host controller Servo amplifie

Photocoupler
Line-driver PULS CN1-7
150Ω
P
/PULS CN1-8

SIGN CN1-11
P /SIGN CN1-12
CLR CN1-15
P /CLR CN1-14

Connection Example 2: Open-collector Output

Set limiting resistor R1 so that input current, I, falls within the following range:
Host controller Servo amplifier

Vcc
Photocoupler
R1 i PULS CN1-7
150Ω
P
/PULS CN1-8
Tr1

SIGN CN1-11
R1
P /SIGN CN1-12

CLR CN1-15
R1
P /CLR CN1-14

P represents twisted pair wires

The examples below show how to select the pull-up resistor R1 so the input current,
I, falls between 7 and 15mA.
Application Examples of V = IR
R1 = 1kΩ with VCC = 12V ±5% R1 = 180Ω with VCC = 5V ±5%
Note: The following table shows the signal logic for an open-collector output.

Tr1 Output Level Signal Logic

ON Equivalent to high-level input
OFF Equivalent to low-level input

This circuit uses the 12V power supply built into the servo amplifier. The input is
not isolated in this case.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Host controller Servo Amplifier

PL1
CN1-3 1kΩ +12V
CN1-7 Photocoupler
Approx. PULS
9mA 150Ω
/PULS CN1-8
Tr1
P
CN1-13
PL2
CN1-11
SIGN
ON: 1.5V maximum /SIGN CN1-12
P
CN1-18
PL3
CN1-15
CLR
/CLR CN1-14
P CN1-1

P represents twisted pair wires

Note: The noise margin of the input signal will decrease if the reference pulse is provided by an
open-collector output. Set parameter Pn200.3 to 1 if the position drifts due to noise.

Selecting a Reference Pulse Form

Use the following parameters to select the reference pulse form used.

Input PULS CN1-7 Reference Pulse Input Position Control

Input /PULS CN1-8 Reference Pulse Input Position Control

Input SIGN CN1-11 Reference Code Input Position Control

Input /SIGN CN1-12 Reference Code Input Position Control

The servomotor only rotates at an angle proportional to the input pulse.

Parameter Signal Setting Range Control Mode

Pn200.0 Reference Pulse Form Default Setting: 0 Position Control

Set reference pulse form input to the servo amplifier from the host controller.
Host
controller Position
reference Servo Amplifier
pulse
PULS
CN1-7

CN1-11
SIGN

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Since the reference pulse form can be selected from among those listed below, set
one according to host controller specifications.

Input
Parameter Reference Forward Rotation Reverse Rotation
Pulse Logic
Pn200.0 Pulse Form Reference Reference
Multiplier

Sign + pulse PULS PULS

0 — (CN1-7) (CN1-7)
train Low
SIGN High SIGN
(CN1-11) (CN1-11)

PULS Low
CW pulse + Positive (CN1-7) PULS
1 -— logic (CN1-7)
CCW pulse SIGN Low
(CN1-11) SIGN
(CN1-11)

2 ×1
Two-phase
3 pulse train ×2 PULS 90° PULS 90°
(CN1-7) (CN1-7)
with 90° phase
SIGN SIGN
4 differential ×4 (CN1-11) (CN1-11)

Sign + pulse PULS PULS

5 train -— (CN1-7) (CN1-7)
SIGN Low SIGN High
(CN1-11) (CN1-11)

CW pulse + PULS High PULS

6 CCW pulse -— Negative (CN1-7) (CN1-7)
logic SIGN SIGN High
(CN1-11) (CN1-11)
7 ×1
8 Two-phase ×2 90° 90°
pulse train PULS PULS
(CN1-7)
with 90° phase (CN1-7)
9 differential ×4 SIGN SIGN
(CN1-11) (CN1-11)

Input Pulse Multiplier

Number of
servomotor ×4
move pulses
×2

×1
Input reference pulse
PULS
(CN1-7)

SIGN
(CN1-11)

The input pulse multiplier function can be used if the reference pulse is a two-phase
pulse train with a 90° phase differential. The electronic gear function can also be
used to convert input pulses.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Example of I/O Signal Generation Timing

Servo ON
Release
t1 ≤ 30ms
Baseblock t2 ≤ 6ms
(when parameter
CN1-1 Pn506 is set to 0)
Sign+pulse 1 t3 ≥ 40ms
train CN1-
7

PAO t4, t5, t6 ≤ 2ms

t7 ≥ 20ms
PG pulse
PBO

t6

Note: 1. In order for the input pulse to register, the interval from the time the servo ON signal is turned
ON until a reference pulse is entered must be a minimum of 40ms.
2. The error counter clear signal must be on for at least 20µs.

Reference Pulse Input Signal Timing

Reference Pulse Form Electrical Specifications

Sign + pulse train input t1 t2 t1, t2 ≤ 0.1µs

SIGN
(SIGN + PULS signal) t3 t7 t3, t7 ≤ 0.1µs
Maximum reference t4, t5, t6 > 3µs Sign (SIGN)
PULS H = Forward reference
frequency: 500kpps t4 t5 t6 τ ≥ 1.0µs
(200kpps open-collector τ L = Reverse reference
T (τ/T) × 100 ≤
output) Forw ard
re fe rence
Reve rse
referen ce
50%

t1
CW pulse and CCW T t1, t2 ≤ 0.1µs
pulse t3 > 3µs
Maximum reference τ
frequency: 500kpps
CCW
t2
τ ≥ 1.0µs —
(200kpps open-collector (τ/T) × 100 ≤
CW
output) t3 50%
Forwa rd Reve rse
refere nce referen ce

Two-phase pulse train t1 t2

with 90° phase differential
(A phase + B phase)
Maximum reference A p hase t1, t2 ≤ 0.1µs Parameter Pn200.0 is
frequency × 1: 500kpps B p hase τ ≥ 1.0µs used to switch the
(200kpps open-collector τ (τ/T) × 100 = input pulse multiplier
output) T 50% mode.
× 2: 400kpps Forw ard
re fe rence
R everse
re fe rence
B p hase l ead s B pha se lag s
× 4: 200kpps A p hase b y 9 0° A pha se by 90°

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Error Counter Clear Input

The procedure for clearing the error counter is described below.

Input CLR CN1-15 Clear Input Position Control

Input /CLR CN1-14 Clear Input Position Control

The following occur when the CLR signal is set to high level.
Servo Amplifier
CLR
Clear

Position loop
error counter

• The error counter inside the servo amplifier is set to 0.

• Position loop control is prohibited.
Use this signal to clear the error counter from the host controller or select the
following clear operation through parameter Pn200.1.

Parameter Signal Setting Range Control Mode

Pn200.1 Error Counter Clear Signal Form Default Setting: 0 Position Control

Select the pulse form for the error counter clear signal CLR (CN1-15).

Pn200.1
Description Clear Timing
Setting
Clears the error counter when the
CLR signal goes high. CLR High
0 (CN1-15)
Error pulses do not accumulate as
long as the signal remains high. Cleared state

Clears the error counter on the rising

edge of the CLR signal. CLR High
1 (CN1-15)
Clears the error counter only once on
the rising edge of the CLR signal. Cleared only once at this point

Clears the error counter when the

CLR signal goes low. CLR Low
2 (CN1-15)
Error pulses do not accumulate as
long as the signal remains low. Cleared state

Clears the error counter on the falling

edge of the CLR signal. CLR Low
3 (CN1-15)
Clears the error counter only once on Cleared only once at this point
the falling edge of the CLR signal.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

5.2.3 Using the Encoder Signal Output

Encoder output signals divided inside the servo amplifier can be output externally.
These signals can be used to form a position control loop in the host controller.

Servo amplifier Host controller

(Servomotor)
CN2 CN1
Encoder
Serial data Phase A
PG Phase B
Phase C

The output circuit is for line-driver output. Connect each signal line according to the
following circuit diagram.

Servo amplifier Host controller

Line receiver
Ph ase A CN1 -33 PAO R 2 3
Pha se A
CN1 -34 /PAO P 1

Phase B CN1 -35 PBO R 6 5

Pha se B
CN1 -36 /PBO P 7

Pha se C CN1 -19 PCO R 10 11

Pha se C
CN1 -20 /PC O P 9

8 C 16
C hoke co il
+5 V
0V +5 V
+
CN1 -1 -
0V
Smo othin g
0V ca paci to r
Con nector she ll Sh iel d

R = 220 to 470Ω
P represents twisted pair wires. C = 0.1µF (Decoupling capacitor)

Note: Dividing means converting an input pulse train from the encoder mounted on the servomotor
according to the preset pulse density and outputting the converted pulse. The units are pulses per
revolution (PPR).

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

I/O Signals
I/O signals are described below.

Output
PAO CN1-33 Encoder Output Phase A Speed/Torque Control,

Position Control
Output
/PAO CN1- Encoder Output Phase /A Speed/Torque Control,
34 Position Control
Output
PBO CN1-35 Encoder Output Phase B Speed/Torque Control,
Position Control
Output
/PBO CN1- Encoder Output Phase /B Speed/Torque Control,
36 Position Control
Output
PCO CN1-19 Encoder Output Phase C Speed/Torque Control,
Position Control
Output
/PCO CN1- Encoder Output Phase /C Speed/Torque Control,
20 Position Control

Divided encoder signals are output.

Always connect these signal terminals when a position loop is formed in the host
controller for position control.
Set a dividing ratio at the following parameter.

PG Dividing Ratio Pn201

The dividing ratio setting is not related to the gear ratio setting (Pn202 and 203) for
the servo amplifier electronic gear function during position control.

Output Phase Form

Forward 90° Reverse 90°

rotation rotation

Phase A Phase A

Phase B Phase B

Phase C Phase C
t t

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Input SEN CN1-4 SEN Signal Input Speed/Torque Control

Input /SEN CN1-2 Signal Ground Speed/Torque Control
Output
PSO CN1-48 Encoder Output Phase S Speed/Torque Control,
Position Control
Output
/PSO CN1- Encoder Output Phase /S Speed/Torque Control,
49 Position Control

Input BAT (+) CN1-21 Battery (+) Speed/Torque Control,
Position Control

Input /BAT (-) CN1-22 Battery (-) Speed/Torque Control,
Position Control

Use SEN to BAT (-) signals for absolute encoders. See 5.7 Absolute Encoders for
more details.

Output
SG CN1-1 Signal ground Speed/Torque Control,

Position Control

SG: Connect to 0V on the host controller.

IMPORTANT
• When using the servo amplifier phase C pulse signal to return to the machine origin, always turn the
servomotor at least twice before starting the original return operation.
If the configuration of the mechanical system prevents turning the servomotor before the origin return
operation, then perform the origin return operation at a servomotor speed of 600rpm or below. The phase C
pulse signal may not be correctly applied if the servomotor turns faster than 600rpm.

Pulse Divider Setting

Set the pulse dividing ratio in the following parameter.

Setting
Parameter Signal Control Mode
(PPR)
Range: 16 to 16384 Speed/Torque Control,
Pn201 PG Divider Default Setting: 16384 Position Control

Set the number of pulses for PG output signals (PAO, /PAO, PBO, /PBO).

Output terminals: PAO (CN1-33)

/PAO (CN1-34)
Servo Amplifier PBO (CN1-35)
Servomotor /PBO (CN1-36)
encoder
Frequency
Phase A
PG division Output
Phase B
Serial
data

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Pulses from the servomotor encoder (PG) are divided by the preset number before
being output.
The number of output pulses per revolution is set at this parameter. Set the value
using the reference units of the equipment or the controller used.
The setting range varies with the encoder used.
Setting Preset value: 16
Example
PAO
PBO

1 revolution

Servomotor Model Number of Encoder

Resolution
and Encoder Pulses Per Revolution Setting Range
(Bits)
Specifications (PPR)
A 13 2048 16 to 2048
B, 1 16
16384 16 to 16384
C, 2 17

Note: 1. Turn OFF power once and turn ON again after changing the parameter.
2. A 13-bit encoder will run at 2048PPR even if the setting at Pn201 is set higher than 2049.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

5.2.4 Sequence I/O Signals

Sequence I/O signals are used to control servo amplifier operation. Connect these
signal terminals as required.

Input Signal Connections

Connect the sequence input signals as shown below.
Servo Amplifier
I/O power
supply
+ 24V

+24VIN CN1-47
3.3kΩ Photocoupler
Host controller

/S-ON CN1-40

/P-CON CN1-41

P-OT CN1-42

N-OT CN1-43

/ALM-RST CN1-44

/P-CL CN1-45

/N-CL CN1-46

0V

Note: Provide a separate external I/O power supply; the servo amplifier does not have an internal 24V
power supply.
• External power supply specifications: 24V ±1 VD C , 50mA minimum.
Yaskawa recommends using the same type of external power supply as that used for output circuits.
The function allocation for sequence input signal circuits can be changed.
See 5.3.3 Input Circuit Signal Allocation for more details.

Input +24VIN CN1-47 Speed/Torque Control,

External I/O Power Supply Input Position Control

The external power supply input terminal is common to sequence input signals.
Servo amplifier
I/O power supply

+24V
+24Vin
CN1-47

Connect an external I/O power supply

Contact input signals: /S-ON (CN1-40)
/P-CON (CN1-41)
P-OT (CN1-42)
N-OT (CN1-43)
/ALM-RST (CN1-44)
/P-CL (CN1-45)
/N-CL (CN1-46)
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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Output Signal Connections

Connect the sequence output signals as shown in the following figure.
Servo amplifier I/O power supply
+24V 0V
Photocoupler CN1
31 ALM+
~ 50mA max.
32 ALM-
25 V-CMP+

Photocoupler output levels per output node: ~ 50mA max.

26 V-CMP-
• Maximum operating voltage: 30VDC 27 TGON+
• Maximum output curr ent: 50mADC
~
28 TGON-
29 S-RDY+
~
30 S-RDY-

CN1
37 ALO1

20mA max.
Open collector output levels per output node: 38 ALO2
• Maximum operating voltage: 30VDC
• Maximum output curr ent: 20mADC
39 ALO3

1 SG Host controller
0V 0V

Note: Provide a separate external I/O power supply; the servo amplifier does not have an internal 24V
power supply. Yaskawa recommends using the same type of external power supply as that used for
input circuits.

Function allocation for some sequence output signal circuits can be changed.
See 5.3.4 Output Circuit Signal Allocation for more details.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

5.2.5 Using the Electronic Gear Function

The electronic gear function enables the servomotor travel distance per input
reference pulse to be set to any value. It allows the pulses generated by the host
controller to be used for control without having to consider the equipment gear ratio
or the number of encoder pulses.
When the Electronic Gear When the Electronic Gear
Function is Not Used Function is Used
Workpiece
Workpiece
Reference unit: 1 µm

No. of encoder pulses: 2048

Ball screw pitch: 0.24in. (6mm) No. of encoder pulses: 2048 Ball screw pitch: 0.24in. (6mm)

To move a workpiece 0.39in. (10mm): To move a workpiece 0.39in. (10mm):

1 revolution = 6mm. Therefore,

Equipment conditions and reference
10 ÷ 6 = 1.6667 revolutions.
units must be defined for the electronic
(2048 × 4) pulses = 1 revolution. So,
gear function beforehand.
(1.6667 × 2048 × 4) = 13653 pulses
13563 pulses are in put as the reference. Reference unit is 1µm. Therefore,
The equation must be calculated at the 10mm = 10000 pulses
host controller. 1µm

Setting the Electronic Gear

Calculate the electronic gear ratio (B/A) using the following procedure, and set the
values in parameters Pn202 and 203.
1. Check equipment specifications related to the electronic gear:
• Deceleration ratio
• Ball screw pitch
• Pulley diameter

Ball screw pitch

Deceleration ratio

2. Check the number of encoder pulses for the SGMH servomotor.

Servomotor Model
Number of Encoder Pulses
and Encoder Encoder Type
Per Revolution (PPR)
Specifications
A 13-bit 2048
B Incremental encoder 16-bit 16384
C 17-bit 32768
1 16-bit 16384
Absolute encoder
2 17-bit 32768

Note: The number of bits representing the resolution of the applicable encoder is not the same as the
number of encoder signal pulses (A and B phase) output from the servo amplifier.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

3. Determine the reference unit used.

A reference unit is the minimum position data unit used to move a load.
(Minimum unit of reference from the host controller).
To move a table in 0.001mm units

Reference unit: 0.001mm

Determine the reference unit according to

equipment specifications and positioning accuracy.

Examples (in mm):

• Reference unit can be 0.1in or 0.01in or 0.01mm or 0.001mm, etc.
A reference unit of one pulse moves the load by one reference unit.
• When the reference unit is 1µm
If a reference of 50000 units is input, the load moves 50mm (1.97in)
(50000 × 0.001mm = 50mm).
4. Determine the load travel distance per load shaft revolution in reference units.

Travel distance per load shaft revolution = Travel distance per load shaft revolution
Reference Unit

• When the ball screw pitch is 0.20in (5mm) and the reference unit is
0.00004in (0.001mm),
0.20 - = 5000 (reference units)
------------------
0.00004

Ball Screw Disc Table Belt and Pulley

Load shaft π∆
P Load shaft

P: Pitch
LLoadd shaft
h f D: Pulley
P 360°
1 revolution = 1 revolution = πD
reference unit reference unit 1 revolution =
reference unit

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

§B---·
5. Electronic gear ratio is given as: © A¹

m
----
If the gear ratio of the motor and the load shaft is given as: n
where m is the rotation of the motor and n is the rotation of the load shaft,
§B Number of encoder pulses × 4 m
--- ·
Electronic gear ratio © A ¹ = Travel distance per load shaft revolution (reference unit) ×
----
n

Note: Make sure the electronic gear ratio satisfies the following condition:
§ B·
---
0.01 ≤ Electronic gear ratio © A ¹ ≤ 100

The servo amplifier will not work properly if the electronic gear ratio exceeds this range. In that case,
modify either the load configuration or the reference unit.
6. Set the parameters.
Reduce the electronic gear ratio to the lower terms so that both A and B are
integers smaller than 65535, then set A and B in the respective parameters:

()
B
A
Pn202

Pn203
Electronic Gear Ratio (Numerator)

Electronic Gear Ratio (Denominator)

Parameter Signal Setting Control Mode

Pn202 Electronic Gear Ratio (Numerator) Range: 1 to 65535 Position Control

Default Setting: 4
Pn203 Electronic Gear Ratio (Denominator) Range: 1 to 65535 Position Control
Default Setting: 1

Set the electronic gear ratio according to equipment specifications.

SGDH Servo amplifier
Reference Electronic
input pulse gear
SGM
H
M servomotor

§B---·
Pn202
Electronic gear ratio = © A¹ =
Pn203
• B = [(Number of encoder pulses) × 4] × [motor speed]
• A = [Reference units (travel distance per load shaft revolution)] × [load shaft
revolution speed]

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Electronic Gear Setting Examples

The following examples show electronic gear settings for different load
mechanisms.

Ball Screws

Reference unit 0.00004in (0.0001mm) 0.24in = 6000

Travel distance per load shaft revolution =
Load shaft 0.00004in

13-bit incremental Ball screw pitch: 0.24in (6mm) B 2048 × 4 × 1 Pn202

encoder Electronic gear ratio = §© -A--·¹ = =
6000 Pn203

Preset Pn202 8192

Values Pn203 6000

Circular Tables

Reference unit: 0.1°

Travel distance per load shaft revolution = 360° = 3600
Deceleration
0.1°
ratio: 3:1
Load Shaft
B 2048 × 4 × 3 Pn202
13-bit Incremental encoder
Electronic gear ratio = §© -A--·¹ = =
3600 Pn203

Preset Pn202 24576

Values Pn203 3600

Belts and Pulleys

Reference unit: 0.0010in (0.0254mm) 3.1416 × 4in
Load shaft Travel distance per load shaft revolution = = 12566
0.0010in

B 16384 × 4 × 3 Pn202
Electronic gear ratio = §© -A--·¹ =
Deceleration Pulley diameter Φ4in (101.6mm)
ratio: 3:1 =
12566 Pn203
16-bit absolute encoder = 196608 = 20480
12566 1309

Preset Pn202 20480

Values Pn203 1309

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Control Block Diagram

The following diagram illustrates a control block for position control.

Servo Amplifier (position control)

Pn109 Pn202 Pn10A

Pn107
Differentiation Feed- B Primary
forward gain
A lag filter Bias
Pn108
Pn203
Bias addition
Pn200.0 range
Pn204 Pn202
Reference
X1 B Pn102 Servomotor
pulse Smoothing + + +
X2 A Error + Speed Current
X4 counter Kp loop loop M
Pn203 -

PG

PG signal Pn201
Encoder
output
Frequency
dividing

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

5.2.6 Contact Input Speed Control

This function provides a method for easy speed control. It allows the user to initially
set three different motor speeds with parameters, and then select one of the speeds
externally using a contact input.
Servo amplifier

/P-CON (/SPD-D) CN1-41

M
Contact /P-Cl (/SPD-A) CN1-45
input
/N-Cl (/SPD-B) CN1-46 Servomotor

Speed selection
SPEED1 Pn301
The servomotor operates at
SPEED2 Pn302 the speed set in the parameter.
External speed SPEED3 Pn303
setting devices and
pulse generators
are not required.

Using Contact Input Speed Control

Follow steps 1 to 3 below to use the contact input speed control function.
1. Set contact input speed control as shown below.

Parameter Signal Setting Control Mode

Pn000.1 Control Mode Selection Default Setting: 0 Speed/Torque Control,

Position Control

The speed can be controlled via contact inputs.

Servo amplifier
Servo operates
at the i nternally M
set speed.

Servomotor
Contact
input SPEED1
SPEED2
SPEED3

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Meanings for the following signals change when the contact input speed control
function is used.

Pn000.1
Description Input Signal
Setting

/P-CON (CN1-41) Used to switch between P and PI

control.
Contact input
0, 1, 2, 7, 8, speed control /P-CL (CN1-45) Used to switch between forward
9, A, B function not external torque limit ON and OFF.
used.
/N-CL (CN1-46) Used to switch between reverse
external torque limit ON and OFF.
/P-CON /P-CL /N-CL Speed setting
(/SPD-D) (/SPD-A) (/SPD-B)
0 0 0 reference,
etc.
Contact input
3, 4, 5, 6 speed control Direction of 0 1 SPEED 1
function used. rotation (Pn301)
0: Forward SPEED 2
1: Reverse 1 1
(Pn302)
1 0 SPEED 3
(Pn303)

Note: 1. 0: OFF (high level); 1: ON (low level)

2. /P-CON, /P-CL and /N-CL functions differ from those in the table above when Pn000.1 is set to 3, 4, 5, or
6. The function is switched automatically when Pn50A. 0 is set to 0.
3. The /SPD-D, /SPD-A, and /SPD-B signals can be used only when signals are allocated to the input circuits.
See 5.3.3 Input Circuit Signal Allocation.

2. Set the motor speeds with the following parameters.

Setting
Parameter Signal Control Mode
(rpm)

Pn301 Speed 1 (SPEED 1) Range: 0 to 10000 Speed Control

(Contact Input Speed Control) Default Setting: 100
Pn302 Speed 2 (SPEED 2) Range: 0 to 10000 Speed Control
(Contact Input Speed Control) Default Setting: 200
Pn303 Speed 3 (SPEED 3) Range: 0 to 10000 Speed Control
(Contact Input Speed Control) Default Setting: 300

These parameters are used to set motor speeds when the contact input speed
control function is selected. If the setting is higher than the maximum motor
speed of the servomotor, then the servomotor will rotate at its maximum speed.
Contact Input Speed Control
Servo amplifier
Servo operates
at the internally M
set speed.

Servomotor
SPEED1
SPEED2
SPEED3

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Speed selection input signals /P-CL(SPD-A)(CN1-45) and /N-CL (/SPD-B)

(CN1-46) and the rotation direction selection signal /P-CON (/SPD-D)(CN1-41)
enable the servomotor to run at the preset speeds.
3. Set the soft start time.

Setting
Parameter Signal Control Mode
(ms)

Pn305 Soft Start Acceleration Time Setting Range: 0 to 10000 Speed Control
Default Setting: 0
Pn306 Soft Start Deceleration Time Setting Range: 0 to 10000 Speed Control
Default Setting: 0

The servo amplifier internal speed reference controls speed by applying this
acceleration setting.

Speed
reference
Soft start

Maximum speed
Servo amplifier
internal speed
reference
Pn305: Sets this time interval.
Maximum speed

Pn306: Sets this time interval.

Smooth speed control can be performed by entering a progressive speed

reference or using contact input speed control. Set each constant to 0 for normal
speed control.
Set each parameter to the following time intervals.
• Pn305: Time interval from when the servomotor starts until it reaches
maximum speed.
• Pn306: Time interval from when the servomotor reaches maximum speed
until it stops.

Operation by Contact Input Speed Control

The following describes operation by contact input speed control.

Start and Stop

The following input signals are used to start and stop the servomotor.

Speed Selection 1 Speed/Torque Control,

Input /P-CL CN1-45 (Forward External Torque Limit Input) Position Control
Speed Selection 2 Speed/Torque Control,

Input /N-CL CN1-46 (Reverse External Torque Limit Input) Position Control

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Use the following table when contact input speed control is used.

Contact Signal Parameter

/P-CON /P-CL /N-CL Selected Speed
Pn000.1
(/SPD-D) (/SPD-A) (/SPD-B)
3 Stopped by an internal speed
reference of 0.
Analog speed reference (V-REF)
4 input
- 0 0
5 Pulse reference input (position
control)
Analog torque reference input
6 (torque control)
Direction of 0 1 SPEED 1 (Pn301)
rotation 1 1 3, 4, 5, 6, SPEED 2 (Pn302)
0: Forward Common
1: Reverse 1 0 SPEED 3 (Pn303)

Note: 1. 0: OFF (high level); 1: ON (low level)

2. Input signals indicated by the horizontal bar (-) are optional.
• When contact input speed control is not used, input signals are used as external
torque limit inputs.
Note: The contact input speed control function is used only when signals are allocated to /SPD-D, /SPD-A,
and /SPD-B.

Direction of Rotation Selection

The input signal /P-CON(/SPD-D) is used to specify the direction of servomotor
rotation.

Speed/Torque Control,

Input /P-CON CN1-41 Proportional Control Reference, etc. Position Control

• When contact input speed control is used, the input signal /P-CON (/SPD-D)
specifies the direction of servomotor rotation.

/P-CON (/SPD-D)
Signal Logic
Input Level
0 Forward rotation
1 Reverse rotation

Note: 0: OFF (high level); 1: ON (low level)

• When contact input speed control is not used, the /P-CON signal is used for
proportional control, zero clamping, and torque/speed control switching.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Example of Contact Input Speed Control Operation

The following example shows operation by contact input speed control. Using the
soft start function reduces physical shock when the speed is changed.

Motor speed
Speed 3
+SPEED 3
Set acceleration and
Speed 2 deceleration at Pn305 and
+SPEED 2 Pn306 (soft start times).
Speed 1
+SPEED 1

Stop Stop
0
Stop

-SPEED 1
Speed 1

-SPEED 2
Speed 2

-SPEED 3
Speed 3

/P-CL (/SPD-A)
OFF OFF ON ON OFF OFF ON ON OFF

/N-CL (/SPD-B)
OFF ON ON OFF OFF ON ON OFF OFF

ON ON ON OFF OFF OFF OFF OFF

/P-CON (/SPD-D)

Note: The soft start function is available only when contact input speed control is used with Pn000.1 set to
5, and is not available when a pulse reference input is used. If the Contact Input Speed Control Mode
is switched to Pulse Reference Input Mode while the servomotor is operating at speed 1, speed 2, or
speed 3, the servo amplifier will not receive a reference pulse until the positioning completed signal
(/COIN) is output. Always start pulse reference output from the host controller after a positioning
completed signal is output from the servo amplifier.

Signal Generation Timing for Position Control

Motor Speed

0rpm

/COIN

Pulse
Reference
t1 t1
/P-CL (/SPD-A) OFF ON ON OFF OFF
/N-CL (/SPD-B) ON ON OFF OFF ON
Selected Speed Speed 1 Speed 2 Speed 3 Pulse reference Speed 1
t1 > 2ms

1. The above figure illustrates signal generation timing when the soft start function is used.
2. The value of t1 is not affected by the use of the soft start function. A maximum 2ms delay
occurs when the /PC-L(/SPD-A) or /N-CL(/SPD-B) signal is read.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

5.2.7 Using Torque Control

The SGDH servo amplifier limits torque as shown below.

• Level 1: Limits maximum output torque to protect the equipment or workpiece.
• Level 2: Limits torque after the Servomotor moves the equipment to a specified
position (internal torque limit).
• Level 3: Controls torque output rather than speed output.
• Level 4: Switches between speed and torque control.

The following describes uses for levels 3 and 4 in the torque control function.

Torque Control Selection

Set the following parameter to select the type of control described in levels 3 and 4.

Parameter Signal Setting Control Mode

Pn000.1 Control Method Selection Default Setting: 0 Speed/Torque Control,

Position Control

For further explanation of settings, see Appendix B.2 Switches.

A torque reference is entered from the host controller to the servo amplifier in order
to control torque.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Application Examples
• Tension control
• Pressure control
Pn000.1 Control Mode

Torque Control
This is a dedicated Torque Control Mode. Servo amplifier
•A torque reference is input from T-REF (CN1-9).
•Speed reference input V-REF (CN1-5) cannot be Torque T-REF
reference Cn1-9
used for speed control if Pn002.1 is set to 1.
•Parameter Pn407 can be used for maximum speed Speed V-REF
Limit Cn1-5
control.
2
Application Example Servomotor
Servo
Tension control amplifier
Tension

Torque Control <-> Speed Control (Analog Refer-

ence) Servo amplifier
Switches between torque and speed control
•V-REF (CN1-5) inputs a speed reference or speed
limit. Speed V-REF
reference Cn1-5
•T-REF (CN1-9) inputs a torque reference, torque
feed-forward reference or torque limit depending on Torque T-REF
reference Cn1-9
the control mode.
•/P-CON (/C-SEL)(CN1-41) is used to switch /P-CON
Speed and
between torque and speed control. torque Cn1-41
(/C-SEL)
reference
switching

9 CN1-41
Selects
State
Open Torque Control
0V Speed Control
Torque Control: When /P-CON (/C-SEL) is OFF
•The T-REF reference controls torque.
•V-REF can be used to limit servomotor speed
when Pn002.1 is set to 1. V-REF voltage (+) limit
servomotor speed during forward and reverse
rotation.
•parameter Pn407 can be used to limit the maximum
servomotor speed.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Pn000.1 Control Method

Speed Control: When /P-CON (/C-SEL) is ON
Set the parameter Pn002.0 as shown below.

Speed Reference Torque Reference

Parameter
Input Input
Pn002.0 Comments
(V-REF) (T-REF)
State
(CN1-5,6) (CN1-9,10)
Speed Control
9 0
Speed Reference Cannot be used.
Torque limit speed control by analog voltage See 5.2.9 Speed Feed-Forward
1 reference Function for more details on
torque limit speed control by
Speed Reference Torque Limit analog voltage reference.
Speed control with torque feed-forward See 5.2.8 Torque Feed-Forward
Function for more details on
2 torque feed-forward speed con-
Speed reference Torque feed-forward
trol.

Position Control ⇔ Torque Control

Can be used to switch between speed (contact reference) and torque control.
•/P-CON (/C-SEL)(CN1-41) is used to switch control.

8 CN1-41
Selects
State
Open Position Control
0V Torque Control

Speed Control (Contact Reference) ⇔ Torque Control

Can be used to switch between speed (contact reference) and torque control.
•/P-CON (/C-SEL)(CN1-45) and /N-CL(SPD-B)(CN1-46) are used to switch control.

Parameter Parameter
/P-CL (/SPD-A) /N-CL (/SPD-B)
6 CN1-45 CN1-46
State State
0 0 Torque Control
0 1
Speed Control
1 1 (Contact reference)
1 0

Note: Input signal /C-SEL can be used only when a signal is allocated to the input circuit. See 5.3.3 Input
Circuit Signal Allocation.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Input Signals

Torque Reference Inputs

The following input signals are used for torque control.
Servo Amplifier

T-REF CN1-9
Torque reference input Torque
SG P CN1-10 reference
(Analog voltage input)
V-REF CN1-5
Speed reference input Speed
SG P CN1-6 reference
(Analog voltage input)

P represents twisted pair wires

Input T-REF CN1-9 Torque Reference Input Speed/Torque Control

Input SG CN1-10 Signal Ground for the Torque Speed/Torque Control
Reference Input

These signals are used when torque control is selected.

Servomotor torque is controlled so that it is proportional to the input voltage
between T-REF and SG.
300
Reference torque (%)
200

100
-12 -8 -4

Default setting 0 4 8 12
Input voltage (V)
-100

-200

-300 The slope is set to Pn400.

Default Settings
Parameter Pn400 establishes the voltage level that applies rated torque.
For example:

With Pn400 = 30
VIN (V) Resulting Applied Torque
+3 100% of rated torque in the forward direction
+9 300% of rated torque in the forward direction
-0.3 10% of rated torque in the reverse direction

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Example of an Input Circuit

Servo Amplifier
470Ω
1/2W minimum

+12V
2kΩ T-REF
CN1-9
P
SG
CN1-10

Note:
• Always use twisted pair cables for noise control.
• Recommended variable resistor: Model 25HP-10B manufactured by Sakae Tsushin Kogyo Co.,
Ltd.

Speed Reference Inputs

Refer to Section 5.2.1.

Using the /P-CON Signal

Input /P-CON CN1-41 Proportional Control Reference, etc. Speed/Torque Control,

Position Control

The function of the input signal /P-CON varies with the setting applied to Pn000.1.
Servo Amplifier

P and PI control switching

Zero clamp ON/OFF switching

/ P-CON
Inhibit ON/OFF switching

Control mode switching

Direction of rotation switching

(Pn000.1)

Pn000.1 Setting /P-CON Function

0, 1 Switches between P (proportional) and PI (proportional-integral) control.
2 Not used.
3, 4, 5, 6 Switches the direction of rotation in Contact Input Speed Control Mode.
7, 8, 9 Switches the control mode.
A Turns ON/OFF zero clamp.
B Turns inhibit ON/OFF.

Note: The /P-CON signal function switches automatically when Pn50A.0 is set to 0.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Torque Control Parameter

The following parameter is used for torque control. Set the parameter according to
requirements of the servo system that is used.

Setting
Parameter Signal Control Mode
(0.1V x rated torque)

Pn400 Torque Reference Input Gain Setting Range: 10 to 100 Speed/Torque Control
Default Setting: 30

This parameter sets the voltage range for torque reference input T-REF (CN1-9)
depending on the output range of the host controller or external circuit.
The default setting is 30, so the rated torque output is equal to 3V (30 × 0.1).
Reference torque
Rated torque

Reference
voltage (V)
This reference voltage is set

Pn002.1 Setting Description

0 Uses speed limit set by Pn407 (internal speed limit function).
Uses V-REF (Cn1-5 and -6) as external speed limit input and sets speed
1 limit by voltage, which are input to V-REF and Pn300 (external speed limit
function).

Internal Speed Limit Function

Setting
Parameter Signal Control Mode
(rpm)

Pn407 Speed Limit during Torque Control Setting Range: 0 to 10000 Speed/Torque Control
Default Setting: 10000

This parameter sets a motor speed limit when torque control is selected. It is used to
prevent excessive equipment speed during torque control.
Since the speed limit detection signal /VLT functions the same in torque control as
the /CLT signal, see 5.1.3 Limiting Torque, where the /CLT signal is described

Torque Control Range

Motor speed

Speed limit
Torque
control
range
Torque

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

The maximum speed of the servomotor will be used if Pn407 is set to a value higher
than the maximum speed of the servomotor.

External Speed Limit function:

This function sets the voltage range for speed reference input V-REF (CN1-5)
according to the output range of the host controller or external circuit.
When the default setting (600) is multiplied by 0.01V, the result (6V) corresponds to
the rated motor speed.

Setting
Parameter Signal Control Mode
(0.01V / Rated Speed)

Pn300 Speed Reference Input Gain Setting Range: 150 to 3000 Speed/Torque Control
Default Setting: 600

The default setting is 6V = the rated motor speed.

Reference This slope is set.

speed
(rpm)

Reference voltage (V)

Principle of Speed Limit

When the control speed range is exceeded, torque, inversely proportional to the
difference between the speed limit and the actual speed, is fed back in order to return
the system to a level within the control speed range. In effect, the actual motor speed
limit depends on the load condition.
Motor speed

Speed
limit
range
V-REF

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

5.2.8 Torque Feed-Forward Function

The torque feed-forward function is used only in speed control (analog reference).
This function is used to:
• Shorten positioning time.
• Differentiate a speed reference at the host controller to generate a torque
feed-forward reference.
• Input this reference together with the speed reference to the servo amplifier.
Too high a torque feed-forward value will result in an overshoot or an undershoot.
To prevent this, set the optimum value while closely observing the system response.
Connect a speed reference signal to V-REF (CN1-5 and 6) and a torque feed-forward
reference signal to T-REF (CN1-9 and 10).
Host controller SGDH Servo amplifier

T-REF
Differential KFF Pn400 Servomotor
+ V-REF + + +
Kp Pn100 Current loop M
Position - - + +
Reference Integration
(Pn101)
Speed PG
calculation
Encoder
Divider

Using the Torque Feed-Forward Function

To use the torque feed-forward function, set the following parameter to 2.

Parameter Signal Setting Control Mode

Pn002.0 Speed Control Option Default Setting: 0 Speed/Torque Control

(T-REF Terminal Allocation)

This setting enables the torque feed-forward function.

Pn002.0 Setting T-REF Function

0 None.
1 T-REF terminal used for external torque limit input.
2 T-REF terminal used for torque feed-forward input.

The torque feed-forward function cannot be used with the torque limiting by analog
voltage reference function described in 5.2.10 Torque Limiting by Analog Voltage
Reference.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Setting
Torque feed-forward is set using parameter Pn400.
The default setting at Pn400 is 30. If, for example, the torque feed-forward value is
±3V, then torque is limited to ±100% of the rated torque.

Setting
Parameter Signal Control Mode
(0.1V/Rated Torque)

Pn400 Torque Reference Input Adjustment Factor Setting Range: 0 to 100 Speed/Torque Control
Default Setting: 30

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

5.2.9 Speed Feed-Forward Function

The speed feed-forward function uses analog voltages and is effective only for
position control. This function is used to:
• Shorten positioning time.
• Differentiate a position reference at the host controller to generate a speed
feed-forward reference.
• Input this reference together with the position reference to the servo amplifier.
Too high a speed feed-forward value will result in either overshoot or undershoot.
To prevent this, set the optimum value while closely observing the system response.
Connect a position reference signal to PULS and SIGN (CN1-7, 8, 11, and 12) and a
speed feed-forward reference signal to V-REF (CN1-5 and 6).

Host controller SGDH Servo amplifier

V-REF
Differential KFF Pn300
Servomotor
Position Kp (Pn102) Pn100 Current loop M
reference
Integration
(Pn101)
Speed PG
calculation

Kp: Position loop gain

KFF : Feed-Forward gain

Using the Speed Feed-Forward Function

To use the speed feed-forward function, set the following parameter to 1.

Parameter Signal Setting Control Mode

Pn207.1 Speed Control Option Default Setting: 0 Position Control

This setting enables the speed feed-forward function.

Pn207.1 Setting T-REF Function

0 None.
1 V-REF terminal used for speed feed-forward input.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Setting
Speed feed-forward is set using parameter Pn300.
The default setting at Pn300 is 600. If, for example, the speed feed-forward value is
±6V, then speed is limited to ±100% of the rated torque.

Setting
Parameter Signal Control Mode
(0.01V/Rated Speed)

Pn300 Speed Reference Input Adjustment Setting Range: 150 to 3000 Position Control
Factor Default Setting: 600

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

5.2.10 Torque Limiting by Analog Voltage Reference

Torque limiting by analog voltage reference limits torque by assigning a torque

analog voltage to the T-REF terminal (CN1-9 and 10). It cannot be used for torque
control because the torque reference input terminal T-REF is used as an input
terminal.
Torque is limited at the forward run side when the P-CL signal turns ON; and is
limited at the reverse run side when the N-CL signal turns ON.

T-REF (/N-CL: ON) (/P-CL: ON)

Torque limit value Pn400
Pn402
Pn404
Speed loop (/P-CL: ON)
V-REF Pn300 + gain +
Speed reference Torque
(Pn100) +
- reference
Integration
(Pn101)
Pn405 Pn403
Speed feedback (/N-CL: ON) Torque limit

Using Torque Limiting by Analog Voltage Reference

To use this function, set the following parameter to 3:

Setting
Parameter Signal Control Mode
(rpm)

Pn002.0 Speed Control Option Default Setting: 0 Speed Control

(T-REF Terminal Allocation) Position Control

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

This parameter can be used to enable torque limiting by analog voltage reference.
Pn002.0 Setting T-REF Function
0 None.
1 T-REF terminal used for external torque limit input.
2 T-REF terminal used for torque feed-forward input.
3 T-REF terminal used for external torque limit input when P-CL and N-CL are valid.

This function cannot be used with the torque feed-forward function described in
5.2.8 Torque Feed-Forward Function.

To use this function, verify how input signals have been allocated. (Refer to section
5.3.3 Input Circuit Signal Allocation). The following table outlines factory default
settings.

Input
Signal Level Description Comments
Signal

CN1-45 is at “L” level when Torque is limited at the Limit value: either Pn404 or
ON forward run side. T-REF input, whichever is
smaller.
/P-CL
CN1-45 is at “H” level when Torque is not limited at the —
OFF forward run side.
Normal Operation
CN1-46 is at “L” level when Torque is limited at the Limit value: either Pn405 or
ON reverse run side. T-REF input, whichever is
smaller.
/N-CL
CN1-46 is at “H” level when Torque is not limited at the —
OFF forward run side.
Normal operation.

Setting
The torque limit is set at parameter Pn400.
The default setting at Pn400 is 30. If, for example, the torque limit is ±3V, then
torque is limited to 100% of the rated torque. (A torque value higher than 100%
torque is clamped at 100%.)

Setting
Parameter Signal Control Mode
(rpm)

Pn400 Torque Reference Input Adjust- Setting Range: 0 to 100 Speed/Torque Control
ment Factor Default Setting: 30

When either the P-CL or the N-CL signal is turned ON, the following torque limits
become valid simultaneously.

Setting
Parameter Signal Control Mode
(rpm)

Pn404 Forward Run Side External Torque Setting Range: 0 to 800 Speed/Torque Control,
Limit Default Setting: 100 Position Control
Pn405 Reverse Run Side External Torque Setting Range: 0 to 800 Speed/Torque Control,
Limit Default Setting: 100 Position Control

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5.2.11 Reference Pulse Inhibit Function (/INHIBIT)

This function inhibits the servo amplifier from counting input reference pulses
during position control. The servomotor remains locked (clamped) while the
function is in use. The /P-CON(/INHIBIT) signal is used to enable or disable the
function.
Servo Amplifier

Pn000.1

1
+
Reference OFF
pulse Error
B
- counter
O
P-CON P-CON (INHIBIT) N
(INHIBIT)
Feedback pulse

Using Reference Pulse Inhibit Function (/INHIBIT)

To use the inhibit function, set the parameter as shown below.

Setting
Parameter Signal Control Mode
(rpm)
Pn000.1 Control Method Selection Default Setting: 0 Position Control

The following settings enable the inhibit function.

Pn000.1 Setting Description

1 Enables the inhibit function.

Always counts reference pulses.
Enables the inhibit function. The /P-CON (/INHIBIT) signal is used to
enable or disable the inhibit function.
/P-CON (/INHIBIT) Description
B OFF Counts reference pulses.
Prohibits the servo amplifier from
ON counting reference pulses.
The servomotor remains locked.

Note: Parentheses ( ) around an /INHIBIT signal indicate that a signal has been allocated to the input circuit.
See 5.3.3 Input Circuit Signal Allocation for more details.

Relationship between Inhibit Signal and Reference Pulses

/INHIBIT signal ON OFF ON
(/P-CON)

Reference
pulse
t1 t2

t1, t2 ≥ 0.5ms
Input reference pulses
are not counted
during this period.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

5 Pa rame te r Settings and Functions

5.3 Setting Up the Servo Amplifier

This section describes the procedure for setting parameters to operate the SGDH servo
amplifier.

5.3.1 Parameters

The Sigma IΙ Series servo amplifier provides many functions and has parameters
that allow the user to specify functions and perform fine adjustments.
Servo amplifier
Parameters

A panel operator or
digital operator is used
to set parameterts.

Parameters are divided into the following three groups.

Parameter Function
Pn000 to Pn601 Specify servo amplifier functions, set servo gains, etc.
Execute auxiliary functions such as JOG Mode operations
Fn000 to Fn012 and origin searches.
Enable monitoring the motor speed and torque reference on
Un000 to Un00D the panel display.

Note: Appendix B shows a list of parameters provided for reference. See 7.1.6 Operation in Parameter
Setting Mode for more details on the procedure for setting parameters.

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5.3.2 JOG Speed

Use the following parameter to set or modify motor speed when operating the
servomotor from a panel or digital operator.

Setting
Parameter Signal Description
(rpm)

Pn304 JOG Speed Setting Range: 0 to 10000 Speed/Torque Control,

Default Setting: 500 Position Control

Use this parameter to set the motor speed when operating the servomotor from a
panel or digital operator. If the setting is higher than the maximum motor speed of
the servomotor, then the servomotor will rotate at its maximum speed.

SERVOPACK 200V
SGDH-
YASKAWA

MODE/SET DATA/

CHARGE POWER

Digital Operator Panel Operato

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

5.3.3 Input Circuit Signal Allocation

The functions allocated to sequence input signal circuits can be changed. CN1
connector input signals are allocated with the default settings as shown in the
following table.

CN1 Default Setting

Connector Input Terminal
Terminal Name Symbol Name
Numbers
40 SI0 /S-ON Servo ON

41 SI1 /P-CON (Proportional control refer-

ence) *
42 SI2 P-OT Forward run prohibit
43 SI3 N-OT Reverse run prohibit
44 SI4 /ALM-RST Alarm reset
45 SI5 /P-CL (Forward current limit) *
46 SI6 /N-CL (Reverse current limit) *

Note: * The functions of these input signals are automatically switched according to the setting at
parameter Pn000.1 as long as Pn50A.0 is set to 0.

The following parameter is used to enable input signal allocation.

Parameter Signal Setting Description

Pn50A.0 Input Signal Allocation Mode Default Setting: 0 Speed/Torque Control,

Position Control

Pn50A.0 Setting Description

0 Default setting for sequence input signal allocation.

This setting is the same as Yaskawa SGDB-
AD
servo amplifiers.
1 Enables any sequence input signal settings.

Note: The default setting for parameter Pn50A.0 is 0. Functions and applications in this manual are
generally described for the factory defaults.

Input Signal Allocation

The following signal can be allocated when Pn50A.0 is set to 1.
Servo amplifier

/S-ON CN1
40 (SI0) CN1-40 is default set for
41 (SI1)
the /S-ON input signal.
Determines 42 (SI2)
terminal
allocation 43 (SI3) Any terminal from CN1-40 to
for input 44 (SI4) 46 can be allocated to the
signals. 45 (SI5) /S-ON signal through the
46 (SI6) Pn50A.1 parameter.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

The following table shows the parameter default settings for input settings 1 to 4.

Parameter Signal Setting Description

Pn50A Input Signal Selection 1 Default Setting: 2100 Speed/Torque Control,

Position Control

Pn50B Input Signal Selection 2 Default Setting: 6543 Speed/Torque Control,

Position Control

Pn50C Input Signal Selection 3 Default Setting: 8888 Speed/Torque Control,

Position Control

Pn50D Input Signal Selection 4 Default Setting: 8888 Speed/Torque Control,

Position Control

Select the input terminal on the CN1 connector that will be used for each input
signal.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Examples of Input Signal Allocation

The procedure used to allocate sequence input signals is described using the /S-ON
signal as a typical example.

Pn50A.1
Description
Setting
0 Inputs the /S-ON signal from the SI0 (CN1-40) input terminal.
1 Inputs the /S-ON signal from the SI1 (CN1-41) input terminal.
2 Inputs the /S-ON signal from the SI2 (CN1-42) input terminal. Signal polarity:
Normal.
3 Inputs the /S-ON signal from the SI3 (CN1-43) input terminal. Servo ON signal is
valid when low
4 Inputs the /S-ON signal from the SI4 (CN1-44) input terminal. (ON)
5 Inputs the /S-ON signal from the SI5 (CN1-45) input terminal.
6 Inputs the /S-ON signal from the SI6 (CN1-46) input terminal.
7 Sets /S-ON signal so that it is always valid.
8 Sets /S-ON signal so that it is always invalid.
9 Inputs the S-ON signal from the SI0 (CN1-40) input terminal.
A Inputs the/S-ON signal from the SI1 (CN1-41) input terminal.
B Inputs the S-ON signal from the SI2 (CN1-42) input terminal. Signal polarity:
Inversion.
C Inputs the S-ON signal from the SI3 (CN1-43) input terminal. Valid at OFF
(H level) with Servo
D Inputs the S-ON signal from the SI4 (CN1-44) input terminal. ON signal
E Inputs the S-ON signal from the SI5 (CN1-45) input terminal.
F Inputs the/S-ON signal from the SI6 (CN1-46) input terminal.

As shown in the table above, the /S-ON signal can be allocated to any input terminal
from SI0 to SI6. /S-ON is always input when Pn50A.1 is set to 7, and an external
signal line would therefore not be needed because the servo amplifier will determine
whether the servo is ON or OFF.
The /S-ON signal is not used when Pn50A.1 is set to 8. This setting is meaningful
only in the following instances.
• When the factory set input signal are to be replaced by another input signal.

• The signal must be left ON (low level) during normal operation to make the
signal valid when OFF (high level) when forward run prohibit (P-OT) and
reverse run prohibit (N-OT) are input. The input terminal signal line must be left
ON even in system configurations that do not require this signal, but unnecessary
wiring can be eliminated by setting Pn50A.1 to 8.

• By setting 9 to F, the signal polarity can be reversed.

Note: Several signals can be allocated to the same input circuit.
When the servo is ON, the forward run prohibit or reverse run prohibit signal is used.
At a setting with inverted polarity, the failed safe operation may not be possible in the case of signal
line disconnection.

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Allocating Other Input Signals

Input signal allocation can be changed as shown below.

Input Signal Parameter

Applicable Description
Name Number Setting
Logic
0 Inputs the specified signal from SI0 (CN1-40).
1 Inputs the specified signal from SI1 (CN1-41).
2 Inputs the specified signal from SI2 (CN1-42).
3 Inputs the specified signal from SI3 (CN1-43).
4 Inputs the specified signal from SI4 (CN1-44).
5 Inputs the specified signal from SI5 (CN1-45).
6 Inputs the specified signal from SI6 (CN1-46).
Proportional Control Reference ON 7 Sets the specified signal to always enabled.
Pn50A.2
(/P-CON) (low level) 8 Sets the specified signal to always disabled.
9 Inputs the specified inverse signal from SI0 (CN1-40).
A Inputs the specified inverse signal from SI1 (CN1-41).
B Inputs the specified inverse signal from SI2 (CN1-42).
C Inputs the specified inverse signal from SI3 (CN1-43).
D Inputs the specified inverse signal from SI4 (CN1-44).
E Inputs the specified inverse signal from SI5 (CN1-45).
F Inputs the specified inverse signal from SI6 (CN1-46).
Forward Run Prohibit Pn50A.3
(P-OT) OFF
Reverse Run Prohibit (high level) Pn50B.0
(N-OT)
Alarm Reset Pn50B.1
(/ARM-RST)
Forward Current Limit ON Pn50B.2
(/P-CL) (low level)
Reverse Current Limit Pn50B.3
(/N-CL)
Contact Input Speed Control Pn50C.0
Selection
(/SPD-D)
Contact Input Speed Control Pn50C.1 0 to F Same as above.*
Selection —
(/SPD-A)
Contact Input Speed Control Pn50C.2
Selection
(/SPD-B)
Control Mode Select ion Pn50C.3
(/C-SEL)
Zero Clamp Pn50D.0
(/ZCLAMP) ON
Reference Pulse Inhibit (low level) Pn50D.1
(/INHIBIT)
Gain Switching Pn50D.2
(/G-SEL)

Note: *Same as above” means that input signals and terminals SI0 to SI6 are enabled or disabled through
parameter settings 0 to 8.

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5.3.4 Output Circuit Signal Allocation

Output Signal Allocation

Output signal functions can be allocated to the sequence signal output circuits shown
below.

CN1 Connector Default Setting

Output Terminal
Terminal Comments
Name Symbol Name
Numbers

25 /V-CMP+
(/COIN+) Speed coincidence The signal output
SO1 detection (positioning will vary depending
26 (SG) /V-CMP– completed) on the control mode.
(/COIN–)
27 /TGON+
SO2 Rotation detection —
28 (SG) /TGON–
29 /S-RDY+
SO3 Servo ready —
30 (SG) /S-RDY–

Output Signal Selection Default Settings

The output signal selection parameters and their default settings are shown below.

Parameter Signal Setting Description

Pn50E Output Signal Selections 1 Default Setting: 3211 Speed/Torque Control,

Position Control

Pn50F Output Signal Selections 2 Default Setting: 0000 Speed/Torque Control,

Position Control

Pn510 Output Signal Selections 3 Default Setting: 0000 Speed/Torque Control,

Position Control

Select the CN1 connector terminals that will output the signals.
Pn50E.
to Pn510.

1
SO1 (CN1-25, 26)
Output 2
signal SO2 (CN1-27, 28)
3
SO3 (CN1-29, 30)

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Allocating Other Output Signals

Parameter
Output Signal Description
Number Setting

0 Disabled. (Not used for the specified output

signal.)

1 Outputs the specified signal from the SO1

Positioning Completed (CN1-25 and 26) output terminal.
(/COIN) Pn50E.0
2 Outputs the specified signal from the SO2
(CN1-27 and 28) output terminal.

3 Outputs the specified signal from the SO3

(CN1-29 and 30) output terminal.
Speed Coincidence
Detection Pn50E.1 0 to 3
(/V-CMP)
Rotation Detection Pn50E.2 0 to 3
(/TGON)
Servo Ready Pn50E.3 0 to 3
(/S-RDY)
Torque Limit Detection Pn50F.0 0 to 3 Same as above (Output signals are disabled or
(/CLT) allocated to output terminals SO1 to SO3
Speed Limit Detection Pn50F.1 0 to 3
through parameter settings 0 to 3).
(/VLT)
Brake Interlock Pn50F.2 0 to 3
(/BK)
Warning Pn50F.3 0 to 3
(/WARN)
Near Pn510.0 0 to 3
(/NEAR)
Not used — — —

Note: Signals are output with OR logic when multiple signals are allocated to the same output circuit.
Signals that are not detected are invalid. For example, the positioning completed signal /COIN is
invalid in Speed Control Mode.

The following parameters can be used to invert the signals on output terminals SO1
to SO3.

Parameter Signal Setting Description

Pn512 Output Signal Inverted Setting Default Setting: 0000 Speed/Torque Control,
Position Control

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These settings specify which of the connector CN1 output signals are to be inverted:

Parameter
Output Terminal Description
Number Setting
SO1 0 Does not invert the signal.
(CN1-25, 26) Pn512.0
1 Inverts the signal.
SO2 0 Does not invert the signal.
(CN1-27, 28) Pn512.1
1 Inverts the signal.
0 Does not invert the signal.
SO3(CN1-29, 30) Pn512.2
1 Inverts the signal.
Not used. Pn512.3 — —

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5.3.5 Control Mode Selection

The SGDH servo amplifier offers speed control, position control, torque control, and
the other control modes shown in the following table.
The following parameter is used to set the control mode.

Parameter Signal Setting Description

Pn000.1 Control Mode Selection Default Setting: 0 Speed/Torque Control,

Position Control

Pn000.1 Setting Control Mode

0 Speed Control (Analog Reference)
1 Position Control (Pulse Train Reference)
2 Torque Control (Analog Reference)
3 Contact Input Speed Control Selection (Contact Reference)

4 Contact Input Speed Control Selection (Contact Reference) ↔ Speed Control

(Analog Reference)

5 Contact Input Speed Control Selection (Contact Reference) ↔ Position Control

(Pulse Train Reference)

6 Contact Input Speed Control Selection (Contact Reference) ↔ Torque Control

(Analog Reference)
7 Position Control (Pulse Train Reference) ↔ Speed Control (Analog Reference)
8 Position Control (Pulse Train Reference) ↔ Torque Control (Analog Reference)
9 Torque Control (Analog Reference) ↔ Speed Control (Analog Reference)
A Speed Control (Analog Reference) ↔ Zero Clamp Control
B Position Control (Pulse Train Reference) ↔ Position Control (Inhibit)

Description of Control Modes

The control modes are described below.

Speed Control (Analog Reference)

This mode controls speed using an analog voltage input reference. See 5.2.1 Speed
Reference.

Position Control (Pulse Train Reference)

This mode controls positioning using a pulse train input reference. See 5.2.2
Position Reference.

Torque Control (Analog Reference)

This mode controls torque using an analog voltage input reference. See 5.2.7 Using
Torque Control.

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Contact Input Speed Control Selection (Contact Reference)

This mode uses the /P-CON (/SPD-D), /P-CL (/SPD-A), and /N-CL (/SPD-B) input
signals to control speed as it switches among the three preset operating speeds in the
servo amplifier. See 5.2.6 Contact Input Speed Control.

Contact Input Speed Control Selection (Contact Reference) ↔

Speed Control (Analog Reference)
This mode controls speed by switching between contact reference and analog
voltage reference speed control. Analog voltage reference speed control is enabled
when both /P-CL (/SPD-A) and /N-CL (/SPD-B) input signals are OFF (high level).
See 5.2.6 Contact Input Speed Control.

Contact Input Speed Control Selection (Contact Reference) ↔

Position Control (Pulse Train Reference)
This mode switches between contact reference speed control and pulse train
reference position control. Pulse train reference position control is enabled when
both /P-CL (/SPD-A) and /N-CL (/SPD-B) input signals are OFF (high level). See
5.2.6 Contact Input Speed Control.

Contact Input Speed Control Selection (Contact Reference) ↔

Torque Control (Analog Reference)
This mode switches between contact reference speed control and analog voltage
reference torque control. Torque control using an analog voltage reference is
enabled when both /P-CL (/SPD–A) and /N-CL (/SPD-B) input signals are OFF
(high level). See 5.2.6 Contact Input Speed Control.

Position Control (Pulse Train Reference) ↔ Speed Control (Analog

Reference)
This mode switches between position and speed control through the /P-CON
(/C-SEL) signal.

Position Control (Pulse Train Reference) ↔ Torque Control

(Analog Reference)
This mode switches between position and torque control through the /P-CON
(/C-SEL) signal.

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Torque Control (Analog Reference) ↔ Speed Control (Analog

Reference)
This mode switches between torque and speed control through the /P-CON (/C-SEL)
signal. See 5.2.7 Using Torque Control.

Speed Control (Analog Reference) ↔ Zero Clamp

This speed control mode is used to set the zero clamp function when the servo
amplifier is stopped. Zero clamp operates when the /P-CON (/ZCLAMP) signal is
ON (low level). See 5.4.3 Using the Zero Clamp Function.

Position Control (Pulse Train Reference) ↔ Position Control

(Inhibit)
This mode controls positioning by inhibiting reference pulse input through the
/P-CON (/INHIBIT)signal. See 5.2.11Reference Pulse Inhibit Function (INHIBIT)

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5.4 Setting Stop Functions

This section describes the procedure used to stop the servo amplifier properly.

5.4.1 Adjusting Offset

When the Servomotor Will Not Stop

The servomotor may rotate at very low speed and not stop even when 0V is specified
as the reference voltage for servo amplifier speed and torque control (analog
reference). This happens when the reference voltage from the host controller or
external circuit is slightly offset (in mV units). The servomotor will stop if this
offset is properly adjusted to 0V.
Reference Reference
voltage Offset voltage
Offset
corrected by
the servo
amplifier

Reference Offset adjustment Reference

speed or speed or
torque torque

Reference Offset Adjustment

The following methods can be used to adjust the reference offset to 0V.

Adjustment Method Result

Automatic Adjustment of Reference Offset The reference offset is automatically adjusted to 0V.
Manual Adjustment of Reference Offset The reference offset can be set to a specified value.

Note: Use manual rather than automatic adjustment if a position control loop is formed in the host control-
ler.
See the following sections in Chapter 7 Using the Digital Operator for more details
on adjustment procedures.

Adjustment Method Reference Source

Automatic Adjustment of Reference 7.2.3 Automatic Adjustment of the Speed and Torque Reference Offset
Offset
Manual Adjustment of Reference 7.2.4 Manual Adjustment of the Speed and Torque Reference Offset
Offset

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5.4.2 Servo OFF Stop Mode Selection

To stop the servomotor by applying the dynamic brake (DB), set the desired mode in
the following parameter. The servomotor will stop due to equipment friction if the
dynamic brake is not applied.

Setting
Parameter Signal Description
(ms)
Speed/Torque Control,
Pn001.0 Servo OFF or Alarm Stop Mode Default Setting: 0 Position Control

The SGDH servo amplifier turns OFF under the following conditions:
• The Servo ON input signal (/S-ON, CN1-40) is turned OFF.
• A servo alarm occurs.
• Power is turned OFF.
Servo
Stop mode After stopping
OFF
0
Pn001.0 = 0 Hold dynamic brake
or 1
Dynamic
brake stop
Coast status
1
Pn001.0
=2
Coast to a
Coast status
stop

Specify the Stop Mode if any of these occurs during operation.

Pn001.0 Setting Result

Uses the dynamic brake to stop the servomotor.
0
Maintains dynamic brake after the servomotor stops. *

1 Uses the dynamic brake to stop the servomotor.

Releases dynamic brake after the servomotor stops, and the servomotor coasts to a stop.

2 Coasts the servomotor to a stop.**

The servomotor is turned OFF and motion stops due to equipment friction.

Note: * If the servomotor is stopped or moving at extremely low speed, it will coast to a stop.
** When the main power supply is turned OFF for the following servo amplifiers, the DB circuit is
turned ON when the control power supply is OFF:
30 to 200W for 100V: SGDH-A3BE to -02BD
30 to 1500W for 200V: SGDH-A3AE to -04AE
0.5 to 7.5kW for 400V: SGDH-05DE to -75DE
If the DB circuit needs to be turned OFF when the main power supply or the control power
supply is OFF, disconnect the servo amplifier’s wiring (U, V, and W).
Note: The dynamic brake is an emergency stop function. Do not repeatedly start and stop the servomotor
using the servo ON signal (/S-ON) or by repeatedly turning power ON and OFF.
Se rvo ampl ifier Servo motor

Note: Dynamic brake (DB) is a common way of quickly stopping

a servomotor by electrically shorting its electrical windings.
The DB circuit is incorporated into the servo amplifier.

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5.4.3 Using the Zero Clamp Function

Zero Clamp Function

The zero clamp function is used for systems where the host controller does not form
a position loop for the speed reference input. In other words, this function is used to
stop and lock the servomotor even when the input voltage of speed reference V-REF
is not 0V. An internal position loop is temporarily formed to clamp the servomotor
within one pulse when the zero clamp function is turned ON. Even if the servomotor
is forcibly rotated by external force, it will still return to the zero clamp position.
A spe ed refere nce lo wer than
the Pn 501 se ttin g is ign ored . Stops
precisely.

Host controller Speed reference

V-REF

/P-CON
(/Z-CLAMP)

Parameter Setting
Set the following parameter so that the input signal /P-CON (/ZCLAMP) can be
used to enable or disable the zero clamp function.

Setting
Parameter Signal Description
(ms)
Pn000.1 Control Method Selection Default Setting: 0 Speed Control

Input /P-CON CN1-41 Proportional Control, etc. Speed/Torque Control,

Position Control

Note: The /ZCLAMP signal can be used when an input circuit signal is allocated. See 5.3.3 Input Circuit
Signal Allocation for more details.

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Pn000.1 Setting Control Mode

Zero Clamp Control Mode
This mode allows the zero clamp function to be Servo amplifier
set when the servomotor stops.
• The speed reference is input from V-REF Speed reference V-REF
(CN1–5). CN1-5
• /P-CON (/ZCLAMP)(CN1–41) is used to
turn the zero clamp function ON and OFF. /P-CON
Zero clamp CN1-41
A /ZCLAMP

CN1-41 is Turns the zero

open (OFF). clamp function OFF. Zero clamp is performed when the
following two conditions are satisfied:
CN1-41 is 0V Turns the zero • /P-CON (/ZCLAMP) is ON.
(ON). clamp function ON.
• Speed reference is below the
setting designated at Pn501.

Setting Motor Speed

Use the following parameter to set the motor speed level at which zero clamp is
performed

Setting
Parameter Signal Description
(rpm)

Pn501 Zero Clamp Level Setting Range: 0 to 10000 Speed Control

Default Setting: 10

If zero clamp speed control is selected, set the motor speed at which zero clamp is to
be performed. The maximum speed will be used if the value of Pn501 is set higher
than the maximum speed of the servomotor.

Zero Clamp Conditions

Zero clamp is performed when all the following conditions are satisfied:
• Zero clamp speed control is selected (parameter Pn000.1 is set to A).
• /P-CON (/ZCLAMP)(CN1-41) is ON (0V).
• Speed reference drops below the setting level of Pn501.
V-REF speed reference
Speed

Preset value for zero clamping

Time
Closed
(ON)
/P-CON (/ZCLAMP) input Open (OFF)
Zero clamp is performed

Note: When the /ZCLAMP signal is allocated, the zero clamp operation will be used even for speed control
(Pn000.1 = 0).

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5.4.4 Using the Holding Brake

The holding brake is used when a servodrive controls a vertical axis. In other words,
a servomotor with brake prevents the movable part from shifting due to the force of
gravity when system power goes OFF.

Servomoto

Holding brake

Prevents the movable part from

shifting due to gravity when
system power goes OFF.

Note: The brake built into the servomotor SGM
H 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.
Brake torque is at least 120% of the rated motor torque.

Wiring Example
Use the servo amplifier contact output signal /BK and the brake power supply to
form a brake ON/OFF circuit. The following diagram shows a standard wiring
example.
Servomotor
Servo amplifier with brake

Power supply A (1)

L1 U
L2 B (2)
V
L3 C (3) M
W
L1C D (4)
L2C E (5)
BK-RY
CN1-† 1 F (6) BK
/BK+*
+24V

CN1- †2
/BK-*

CN2 PG

BK-RY Blue or
yellow Red
White AC DC Black
Brake power supplies are available
Brake Power Supply in 200V and 100V models.

*CN1- †1 /BK+ and CN1-† 2 /BK- are the output terminals allocated at parameter Pn50F.2.

Speed/Torque Control,
Output
/BK Brake Interlock Output Position Control

This output signal controls the brake when using a servomotor with a brake and does

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not have to be connected when using a servomotor without a brake.

State Status Result

ON: Closed or low level Releases the brake.
OFF: Open or high level Applies the brake.

Related Parameters

Parameter Description
Pn506 Time Delay from Brake Reference until Servo OFF
Pn507 Speed Level for Brake Reference Output during Motor Operation
Pn508 Timing for Brake Reference Output during Motor Operation

The following parameter must be selected to determine the location of the output
signal, when the /BK signal is used.

Parameter Signal Setting Description

Pn50F Output Signal Selections 2 Default Setting: 0000 Speed/Torque Control,

Position Control

Pn50F.2 Input terminals

1
/BK CN1-25, 26 (SO1)
2
Brake interlock CN1-27, 28 (SO2)
output 3
CN1-29, 30 (SO3)

Select the /BK output terminal.

Output Terminal (CN1)

Parameter Setting
† †
1 2
0 — —
1 25 26
Pn50F.2
2 27 28
3 29 30

Note: Signals are output with OR logic when multiple signals are allocated to the same output circuit. Set
other output signals to a value other than that allocated to the /BK signal in order to output the /BK
signal alone. See 5.3.4 Output Circuit Signal Allocation.

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Brake ON Timing
If the equipment moves slightly due to gravity when the brake is applied, set the
following parameter to adjust brake ON timing.

Setting
Parameter Signal Description
(10ms)

Pn506 Brake Reference Servo OFF Setting Range: 0 to 50 Speed/Torque Control,

Delay Time Default Setting: 0 Position Control

This parameter is used to set the output time from the brake control signal /BK until
the servo OFF operation (servomotor output stop) when a servomotor with a brake is
used.
/S-ON input Servo ON
Servo OFF
(CN1-40)
Release brake
Hold with brake
/BK output
Servomotor
Servo ON/OFF ON
Servomotor OFF
operation
(Servomotor
ON/OFF status)
Servo OFF
time delay

With the standard setting, the servo is turned OFF when the /BK signal (brake
operation) is active. The equipment may move slightly due to gravity depending on
equipment configuration and brake characteristics. If this happens, use this
parameter to delay servo OFF timing.
This setting sets the brake ON timing when the servomotor is stopped. Use Pn507
and 508 for brake ON timing during operation.
Note: The servomotor will turn OFF immediately if an alarm occurs. The equipment may move due to
gravity in the time it takes for the brake to operate.

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Holding Brake Setting

Set the following parameters to adjust brake ON timing so the holding brake is
applied when the servomotor stops.

Parameter Signal Setting Description

Pn507 Brake Reference Output Speed Setting Range: 0 to 10000rpm Speed/Torque Control,
Level Default Setting: 100rpm Position Control

Pn508 Timing for Brake Reference Output Setting Range: 0 to 100 x 10ms Speed/Torque Control,
during Motor Operation Default Setting: 50 x 10ms Position Control

Set the brake timing used when the servo is turned OFF by input signal /S-ON
(CN1-40) or when an alarm occurs during motor operation.
/S-ON input
Power OFF by Servo ON
/S-ON (CN1-40) Servo OFF
input or alarm
occurrence

Stop by dynamic brake

or coast to a stop.
Motor speed (Pn001.0)
(rpm)

Pn-507

Release
brake
/BK output Hold with brake

Pn508

Brake ON timing when the servomotor stops must be adjusted properly because
servomotor brakes are designed as holding brakes. Adjust the parameter settings
while observing equipment operation.

/BK Signal Output Conditions During Servomotor Operation

The circuit is open under either of the following conditions:

• Motor speed drops below the setting at Pn507 after servo OFF.
• The time set at Pn508 has elapsed since servo OFF.

The actual speed used will be the maximum speed even if Pn507 is set higher than the
maximum speed.

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5 Pa rame te r Settings and Functions

5.5 Forming a Protective Sequence

This section describes the procedure for using I/O signals from the servo amplifier to form
a protective safety sequence.

5.5.1 Using Servo Alarm and Alarm Code Outputs

The basic procedure for connecting alarm output signals is described below.
I/O pow er supply
Se rvo am plifier
+ 24V 0V
Ph oto cou pler C N 1-3 1 ALM+
Photocoupler output levels per output node:
5 0mA
• Maximum operating voltage: 30V DC (ma xi mum )
• Maximum output current: 50mADC C N 1-3 2 ALM-

C N 1-3 7 AL01
20 mA
(ma xim um)
Open collector output levels per output node: C N 1-3 8 AL02
• Maximum operating voltage: 30V DC
• Maximum output current: 20mADC
C N 1-3 9 AL03

C N1 -1 SG
0V 0V

H ost controller

A suitable external I/O power supply must be provided by the user separately
because there is no internal 24V power supply in the servo amplifier.
The use of the photocoupler output signals is described below.

Output  ALM+ CN1-31 Servo Alarm Output Speed/Torque Control,

Position Control
Output  ALM- CN1-32 Signal Ground for Servo Alarm Output Speed/Torque Control,
Position Control

These alarms are output when a servo amplifier alarm is detected.

Servo amplifie

Alarm
detection ALM output

Turns power OFF.

Form an external circuit so this alarm output (ALM) turns OFF the servo amplifier.

State Status Result

ON Circuit between CN1-31 and 32 is closed, and Normal state.

CN1-31 is at low level.

OFF Circuit between CN1-31 and 32 is open, and Alarm state.

CN1-31 is at high level.

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Alarm codes ALO1, ALO2 and ALO3 are output to indicate each alarm type.
The uses of open-collector output signals ALO1, ALO2, and ALO3 is described
below.

Output
ALO1 CN1-37 Alarm Code Output Speed/Torque Control,

Position Control
Output
ALO2 CN1-38 Alarm Code Output Speed/Torque Control,
Position Control
Output
ALO3 CN1-39 Alarm Code Output Speed/Torque Control,
Position Control

Output
/SG CN1-1 Signal Ground for Alarm Code Output Speed/Torque Control,
Position Control

These signals output alarm codes to indicate the type of alarm detected by the servo
amplifier. Use these signals to display alarm codes at the host controller. See 9.2.3
Alarm Display Table for more on the relationship between alarm display and alarm
code output.
When a servo alarm (ALM) occurs, eliminate the cause of the alarm and set the
following /ALM-RST input signal to high level (ON) to reset the alarm.

Input
/ALM-RST CN1-44 Alarm Reset Speed/Torque Control,

Position Control

The alarm reset signal is used to reset a servo alarm.

Form an external circuit so the servo amplifier turns OFF when an alarm occurs.
Alarms are reset automatically when the control power supply is turned OFF.
Alarms can also be reset using a panel or digital operator.
Note: 1. Encoder alarms cannot always be reset by inputting the /ALM-RST signal. In that case, turn the
control power supply OFF to reset the alarm.
2. When an alarm occurs, always eliminate the cause before resetting the alarm. See 9.2.1 Trouble-
shooting Problems with Alarm Displays for more details on troubleshooting the system when an
alarm occurs.

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5.5.2 Using the Servo ON Input Signal (/S-ON)

The basic use and wiring procedure for the Servo ON (/S-ON) input signal
(sequence input signal) is described below. Use this signal to forcibly turn OFF the
servomotor from the host controller.
I/O power supply Servo amplifier
+24V +24VIN 3.3kΩ Photo
CN1-47 coupler

Host controller
/S-OUT CN1-40 7mA

0V

Input /S-ON CN1-40 Servo ON Speed/Torque Control,

Position Control

This signal is used to turn the servomotor ON and OFF.

CN1-40
Status Result
State
Turns ON the servomotor: operates
ON Closed or low level according to signal input.
This is the default state.
Servomotor cannot operate.
OFF Open or high level Do not turn OFF the servomotor while it is
operating except in an emergency.

CAUTION
• Do not use the Servo ON (/S-ON) signal to start or stop the motor. Always use an input reference
signal, such as Speed Reference to start or stop the servomotor.
Doing so will shorten the life of the servo amplifier.

Set the following parameter to 7 if the /S-ON signal will not be used.

Parameter Signal Setting Description

Pn50A.1 /S-ON Signal Mapping Default Setting: 0 Speed/Torque Control,

Position Control

Servo amplifier

CN-40 The external short-circuit wiring shown

(/S-ON) in the figure can be omitted if the Servo ON
0V (/S-ON) input is not used.

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Pn50A.1
Status Result
Setting

0 Enables the servo ON The servo is OFF when CN-40 is open, and is ON when
(/S-ON) input signal. CN1-40 is at 0V.

7 Disables the servo ON The servo is always ON, and has the same effect as
(/S-ON) input signal. shorting CN1-40 to 0V.

Note See 5.3.3 Input Circuit Signal Allocation for other Pn50A.1 settings.

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5.5.3 Using the Positioning Completed Output Signal (/COIN)

The basic use and wiring procedure for the positioning completed (/COIN) output
signal (photocoupler output signal) is described below. The signal is output to
indicate that servomotor operation is completed.
I/O power supply

+24V 0V
Servo amplifier

Photocoupler output levels per output node: CN1-25 /COIN+

• Maximum operating voltage: 30V DC
• Maximum output current: 50mADC CN1-26 /COIN-

Positioning Completed Output

Output
/COIN CN1-25 Signal Position Control

This signal indicates that servomotor movement has been completed during position
control. The host controller uses the signal as an interlock to confirm that
positioning is completed.
Reference
Servomotor
Speed

Pn500
Error pulse
(Un008)
/COIN
(CN1-25)

/COIN
Status Result
State
Circuit between CN1-25 and 26 is Positioning is completed. (Position
ON closed, and CN1-25 is at low level. error is below the setting.)
Circuit between CN1-25 and 26 is Positioning is not completed. (Position
OFF open, and CN1-25 is at high level. error is above the setting.)

The following parameter is used to change the CN1 connector terminal that outputs
the /COIN signal.

Setting
Parameter Signal Description
(rpm)
Pn50E Output Signal Selection 1 Default Setting: 3211 Position Control

The parameter is factory set so the /COIN signal is output between CN1-25 and 26.
See 5.3.4 Output Circuit Signal Allocation for more details on parameter Pn50E.
The following parameter is used to set the number of error pulses and to adjust the

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output timing of the positioning completed signal.

Setting
Parameter Signal Description
(reference units*)

Pn500 Positioning Completed Width Setting Range: 0 to 250 Position Control

Default Setting: 7

Note: *reference units for this parameter are the number of input pulses as defined using the electronic gear
function.
This parameter is used to set output timing for the positioning completed signal
(/COIN) when the position reference pulse is input and servomotor operation is
completed.
Set the number of error pulses in reference units.
Too large a value set at this parameter may output only a small error during
low-speed operation that will cause the /COIN signal to be output continuously.
The positioning completed width setting has no effect on final positioning accuracy.
Note: /COIN is a position control signal.
With the default setting, this signal is used for the speed coincidence output /V-CMP for speed
control, and it is always ON for torque control.

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5.5.4 Speed Coincidence Output (/V-CMP)

The basic use and wiring procedures for the speed coincidence (/V-CMP) output
signal (photocoupler output signal), used to indicate a match with the speed
reference, are described below. The host controller uses the signal as an interlock.
I/O power supply

+24V 0V
Servo amplifier

Photocoupler output levels per output node: CN 1 -25 /V-C MP+

• Maximum operating voltage: 30V DC
CN 1-2 6 /V-C MP-
• Maximum output current: 50mADC

Speed Coincidence Output

Output
/V-CMP CN1-25 Signal Speed Control

This signal is output when the actual motor speed during speed control is the same as
the speed reference input.

/V-CMP
Status Result
State
Circuit between CN1-25 and 26 is Speed coincides. (Speed error is below
ON closed, and CN1-25 is at low level. the setting).
Circuit between CN1-25 and 26 is Speed does not coincide. (Speed error
OFF open, and CN1-25 is at high level. is above the setting).

Motor
speed
Pn503

Reference speed

/V-CMP is output in this range.

The following parameter setting is used to change the CN1 connector terminal that
outputs the /V-CMP signal.

Setting
Parameter Signal Description
(rpm)
Pn50E Output Signal Selections 1 Default Setting: 3211 Position Control

The parameter is default set so the /V-CMP signal is output between CN1-25 and 26.
See 5.3.4 Output Circuit Signal Allocation for more details on parameter Pn50E.

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The following parameter is used to set conditions for speed coincidence output.

Setting
Parameter Signal Description
(rpm)

Pn503 Speed Coincidence Signal Setting Range: 0 to 100 Speed Control

Output Width Default Setting: 10

This parameter is used to set conditions for speed coincidence signal /TGON output.
The /V-CMP signal is output when the difference between the speed reference and
actual motor speed is below this setting.
Example:The /V-CMP signal turns ON at 1900 to 2100rpm if the parameter is set to 100 and the reference
speed is 2000rpm.
Note: /V-CMP is a speed control signal. With the default setting, this signal is used as the positioning
completed signal /COIN for position control, and it is always ON for torque control .

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5.5.5 Using the Running Output Signal (/TGON)

The basic use and wiring procedures for the running (/TGON) output signal
(photocoupler output signal) are described below. The signal can be activated to
indicate that the servomotor is currently operating. It is used as an external
interlock.

I/O power supply

+24V 0V
Servo amplifier

Photocoupler output levels per output node: CN 1 -27 /TGON+

• Maximum operating voltage: 30V DC

CN 1-2 8 /TGON-
• Maximum output curr ent: 50mA DC

Speed/Torque Control,
Output
/TGON CN1-27 Running Output Signal Position Control

/TGON
Status Result
State
Servomotor is operating. (Motor speed
ON Closed or low level. is above the setting level).
Servomotor is not operating. (Motor
OFF Open or high level. speed is below the setting level).

The following parameter setting is used to change the CN1 connector terminal that
outputs the /TGON signal.

Setting
Parameter Signal Description
(rpm)
Pn50E Output Signal Selections 1 Default Setting: 3211 Position Control

The parameter is default set so the /TGON signal is output between CN1-27 and 28.
See 5.3.4 Output Circuit Signal Allocation for more details on parameter Pn50E.
This parameter is used to set output conditions for the operation detection output
signal /TGON.

Motor speed
(Un000)
Pn502

/TGON

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Setting
Parameter Signal Description
(rpm)

Pn502 Rotation Detection Level Setting Range: 1 to 10000 Speed/Torque Control,

Default Setting: 20 Position Control

This parameter is used to set the speed at which the servo amplifier determines that
the servomotor is running and then to output an appropriate signal. The following
signals are generated when motor speed exceeds the preset level.
Signals generated when servomotor operation is detected:
• /TGON
• Status Indication Mode
• Monitor Mode Un006

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5.5.6 Using the Servo Ready Output Signal (/S-RDY)

The basic use and wiring procedures for the Servo Ready (/S-RDY) output signal
(photocoupler output signal) are described below.
Servo Ready means there are no servo alarms and the main circuit power supply is
turned ON. An added condition with absolute encoder specifications is that the SEN
signal is at high level and absolute data was output to the host controller.
I/O power supply

+24V 0V
Servo amplifier

Photocoupler output levels per output node: CN 1 -29 /S-R D Y+

• Maximum operating voltage: 30V DC
CN 1-3 0 /S-R DY -
• Maximum output current: 50mADC

Speed/Torque Control,
Output
/S-RDY CN1-29 Servo Ready Output Signal Position Control

This signal indicates that the servo amplifier has completed all preparations and is
ready to receive the Servo ON signal.

/S-RDY
Status Result
State
ON Closed or low level. Servomotor is ready.
OFF Open or high level. Servomotor is not ready.

The following parameter setting is used to change the CN1 connector terminal that
outputs the /S-RDY signal.

Parameter Signal Setting) Description

Pn50E Output Signal Selections 1 Default Setting: 3211 Position Control

The parameter is factory set so the /V-CMP signal is output between CN1-29 and 30.
See 5.3.4 Output Circuit Signal Allocation for more details on parameter Pn50E.

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5.5.7 Using the Warning Output Signal (/WARN)

The basic use and wiring procedure for the warning (/WARN) output signal
(photocoupler output signal) are given below.
The signal consists of the following two output signals.

I/O power supply

+24V 0V
Servo amplifier

†
Photocoupler output levels per output node: CN1- 1* /WA RN +

• Maximum operating voltage: 30V DC †

CN1- 2* /WAR N -
• Maximum output current: 50mADC

Note: *CN1-† 1 and CN1-† 2 terminals are allocated using parameter Pn50F.3.

Speed/Torque Control,
Output
/WARN Warning Output Signal Position Control

This output signal indicates an overload or regenerative overload warning.

/WARN
Status Result
State
ON Closed or low level. Error warning.
OFF Open or high level. Normal operation. No warning.

The following parameter setting is used to change the CN1 connector terminal that
outputs the /WARN signal.

Parameter Signal Setting Description

Speed/Torque Control,
Pn50F Output Signal Selections 2 Default Setting: 0000 Position Control

Pn50F.3 is used to allocate the /WARN output signals above.

Pn50F.3 Output Terminal (CN1-)

State *1 *2
0 — —
1 25 26
2 27 28
3 29 30

Notes: *1 and *2 are output terminals allocated with parameter Pn 510.0.

Multiple signals allocated to the same output terminal follow Boolean OR logic. In order to use the /
WARN output signal alone, set other output signals to a value other than that allocated to the /WARN
signal. See 5.3.4 Output Circuit Signal Allocation.

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Pn50F.3 Output terminals

1
CN1-25, 26 (SO1)
/WARN 2
CN1-27, 28 (SO2)
Warning output 3
signal CN1-29, 30 (SO3)

The following parameter is used to output warning details with an alarm code.

Parameter Signal Setting Description

Pn001.3 Warning Code Output Selection Default Setting: 0 Speed/Torque Control,

Position Control

Pn001.3
Result
Setting

0 Outputs alarm codes alone for alarm codes

ALO1, ALO2 and ALO3.
Outputs both alarm and warning codes for
1 alarm codes ALO1, ALO2 and ALO3 and
outputs an alarm code when an alarm occurs.

The following warning codes are output in 3 bits.

Warning Warning Code Output

Warning Description
Indication ALO1 ALO2 ALO3

A.91 ON signal OFF signal OFF signal Overload

(low level) (high level) (high level)

A.92 OFF signal ON signal OFF signal Regenerative overload

(high level) (low level) (high level)

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5.5.8 Using the Near Output Signal (/NEAR)

The basic use and wiring procedures for the near (/NEAR) output signal
(photocoupler output signal) are described below. The signal is a sequence signal
that is generally output together with the positioning completed signal (/COIN), and
it is used to indicate the servomotor is close to completing operation.

I/O power supply

+24V 0V
Servo amplifier

†
Photocoupler output levels per output node: CN1- 1* /N EA R+

• Maximum operating voltage: 30V DC †

CN1- 2* /NEA R-
• Maximum output current: 50mADC

Note: *CN1-† 1 and CN1-† 2 terminals are allocated using parameter Pn510.0.

Output
/NEAR Near Output Signal Position Control

The host controller can use the /NEAR signal to prepare the next motion sequence
before receiving the positioning completed signal. This reduces the time required to
complete the desired motion profile.
/NEAR
Status Result
State
The servomotor has nearly completed operation. (Posi-
ON Closed or low level. tion error is below the near signal setting range.)
The servomotor is not close to completing operation.
OFF Open or high level. (Position error is above the near signal setting range.)
To use the /NEAR signal, an output terminal must be allocated with the parameter
below.

Parameter Signal Setting Description

Pn510 Output Signal Selections 3 Default Setting: 0000 Position Control

Pn510.0 is used to allocate the /NEAR output signals above.

Output Terminal (CN1-)

Pn510.0
State †
1 †
2
0 — —
1 25 26
2 27 28
3 29 30

Notes: *1 and *2 are output terminals allocated with parameter Pn 510.0.

Multiple signals allocated to the same output terminal follow Boolean OR logic. In order to use the /
WARN output signal alone, set other output signals to a value other than that allocated to the /WARN

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signal. See 5.3.4 Output Circuit Signal Allocation.

The following parameter is used to set the timing for /NEAR signal output.

Setting
Parameter Signal Description
(reference unit*)

Pn504 /NEAR Signal Width Setting Range: 1 to 250 Position Control

Default Setting: 7

*The number of input pulses defined using the electronic gear function.

Generally set the near signal width higher than the positioning completed width.
Also see 5.5.3 Using the Positioning Completed Output Signal (/COIN)‘.
Reference
Servomotor

Speed

Pn504 Pn500

Error pulse

/NEAR

/COIN

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5.5.9 Handling Power Loss

The following parameter is used to specify whether to generate an alarm when

power loss occurs.

Setting
Parameter Signal Description
(ms)

Pn509 Momentary Hold Time Setting Range: 20 to 1000 Speed/Torque Control,

Default Setting: 20 Position Control

The servo amplifier turns the servomotor OFF if it detects a voltage drop in the
power supply. The default setting of 20ms means that servomotor operation will
continue if power is lost for less than 20ms.
In the following instances, however, either a servo alarm is generated or control is
lost (equivalent to normal power OFF operation) regardless of the parameter setting.
• When an insufficient voltage alarm (A.41) occurs during power loss with a large
servomotor load.
• Loss of the control power supply is equivalent to normal power OFF operation,
thus control is lost.

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5 Pa rame te r Settings and Functions

5.6 Selecting a Regenerative Resistor

When the servomotor operates in generator mode, power is returned to the servo amplifier
side. This is called regenerative power. The regenerative power is absorbed by charging
the smoothing capacitor, but when the capacitor’s charging limit is exceeded, the
regenerative power is then reduced by the regenerative resistor.
The servomotor is driven in regeneration (generator) mode in the following conditions:
• While decelerating to a stop during acceleration/deceleration operation.
• With a load on the vertical axis.
• During continuous operation with the servomotor driven from the load side (negative
load).
The capacity of the servo amplifier’s built-in regenerative resistor is designed for
short-term operation only, such as the deceleration stop period. Operation under a
negative load is not possible.
If the regenerative power exceeds the processing capacity of the servo amplifier, install an
external regenerative resistor. The following table shows the specifications of the servo
amplifier’s built-in resistor and the amount of regenerative power (average values) that it
can process.
Built-in Resistor Regenerative
Minimum
Specifications Power
Allowable
Applicable Servo Amplifiers Processed by
Resistance Capacity Resistance
Built-in
(Ω) (W) (Ω)
Resistor* (W)
Single-phase, 100V SGDH-A3BE to -02BE — — — 40
SGDH-A3AE to -04AE — — —
Single-phase 40
200V SGDH-08AE-S 50 60 12
SGDH-15AE-S 25 140 28 20
SGDH-05AE to -10AE 50 60 12 40
SGDH-15AE 30 70 14 20
SGDH-20AE 25
Three-phase 140 28 12
200V SGDH-30AE 12.5
SGDH-50AE 8 280 56 8
SGDH-60AE (6.25)** (880)** (180)** 5.8
SGDH-75AE to -1EAE (3.13)*** (1760)** (350)*** 2.9
SGDH-05DE to -15DE 108 70 14 73
SGDH-20DE to -30DE 45 140 28 44
Three-phase
400V SGDH-50DE 32 180 36 28
SGDH-60DE to -75DE 18**** 880**** 180**** 18
SGDH-1ADE to -1EDE 14.25***** 1760***** 350***** 14.2
* The amount of regenerative power (average value) that can be processed is rated at 20% of the
capacity of the servo amplifier’s built-in regenerative resistor.
** The values in parentheses are for the optional JUSP-RA04 Regenerative Resistor Unit.
*** The values in parentheses are for the optional JUSP-RA05 Regenerative Resistor Unit.
**** The values in parentheses are for the optional JUSP-RA18 Regenerative Resistor Unit.
***** The values in parentheses are for the optional JUSP-RA19 Regenerative Resistor Unit.

When installing an external regenerative resistor, make sure that the resistance is the same
as that of the servo amplifier’s built-in resistor. If combining multiple small-capacity
regenerative resistors to increase the regenerative resistor capacity (W), select resistors so
that the resistance value including error is at least as high as the minimum allowable
resistance shown in the above table.
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5.6.1 External Regenerative Resistor

When installing an external regenerative resistor, a parameter setting must be
changed as shown below.

Setting
Parameter Signal Description
(x 10W)
Setting Range: 0 to maximum Speed/Torque Control,
Pn600 Regenerative Resistor Capacity Default Setting: 0 Position Control

The default setting of “0” in the above table is the set value when the servo
amplifier’s built-in resistor is used or when a servo amplifier without a built-in
resistor is used.
When installing an external regenerative resistor, set the regenerative resistor’s
capacity (W).
Example: When the external regenerative resistor’s actual consumable capacity is 100W, set the parameter
to “10” (10 x 10W = 100W)
Notes: 1. In general, when resistors for power are used at the rated load ratio, the resistor temperature
increases to between 200°C and 300°C. The resistors must be used at or below the rated values.
Check with the manufacturer for the resistor’s load characteristics. Use resistors at no more than
20% of the rated load ratio with natural convection cooling, and no more than 50% of the rated
load ratio with forced air cooling. Parameter Pn600 must be set for the derated resistor.
2. Use of resistors with thermal switches is recommended as a safety precaution.

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Connecting Regenerative Resistors

The method for connecting regenerative resistors is shown below.

Servo Amplifier Capacity of 400W or Less

Connect an external regenerative resistor between the servo amplifier’s B1 and B2
terminals.

Servo amplifier

Regenerative resistor*
B1

B2

*The user must provide the regenerative resistor.

Servo Amplifier Capacity of 0.5 to 5.0kW

Disconnect the wire between the servo amplifier’s B2 and B3 terminals and connect
an external regenerative resistor between the B1 and B2 terminals.

Servo amplifier

Regenerative resistor*
B1

B2

B3 Be sure to take out the lead wire

between the B2 and B3 terminals.

*The user must provide the regenerative resistor.

Servo Amplifier Capacity of 6.0kW or More

Servo amplifiers with capacities of 6.0kW or more do not have built in regenerative
resistors, so an external unit is required. The following regenerative resistor units
are designed to meet this need.

Applicable
Resistance
Servo Amplifier Regenerative Specifications
Ω
Resistor Unit
SGDH-60AE JUSP-RA04 6.25 25Ω (220 W) × 4 resistors in parallel
SGDH-75AE to 1EAE JUSP-RA05 3.13 25Ω (220 W) × 8 resistors in parallel
SGDH-60AE to 75AE JUSP-RA18 18 18Ω (220 W) × 8 resistors in series-parallel
SGDH-1AAE to 1EAE JUSP-RA19 14.25 28.5 Ω (220W) × 8 resistors in series-parallel

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Connect the servo amplifier and regenerative resistor unit as shown in the following
diagram.

Servo amplifier Regenerative

resistor unit*

B1 R1

B2 R2

B3

*The user must provide the regenerative resistor.

Note: Adequate cooling must be provided for regenerative resistors because they reach very high
temperatures. Also use heat-resistant, non-flammable wire and make sure that the wiring does not
come into contact with the resistors.

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5.6.2 Calculating the Regenerative Power Capacity

Simple Calculation Method

When driving a servomotor normally along the horizontal axis, check the external
regenerative resistor requirements using the calculation method shown below.

Servo Amplifiers with Capacity of 400W or Less

Servo amplifiers with a capacity of 400W or less do not have built-in regenerative
resistors. The energy that can be absorbed by capacitors is shown in the following
table. If the rotational energy in the servo system exceeds these values, then connect
a regenerative resistor externally.

Regenerative Energy
Applicable Servo
Voltage that Can be Processed Comments
Amplifiers
(joules)
SGDH-A3BE 7.8
100V Value when the input voltage is 100VAC
SGDH-A5BE to -02BE 15.7
SGDH-A3AE, -A5AE 18.5
200V Value when the input voltage is 200VAC
SGDH-01AE to -04AE 37.1

Calculate the rotational energy in the servo system using the following equation:
J x (N M)2
ES = Joules
182
Where: J = JM + JL
JM: Servomotor rotor inertia (kg·m2 ) (oz·in·s2)
JL : Motor axis conversion load inertia (kg·m2 ) (oz·in·s2 )
NM: Rotation speed of the servomotor (rpm)

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Servo Amplifier Capacity of 0.5 to 5.0kW

Servomotors with a capacity of 500W to 5kW have built-in regenerative resistors.
The allowable frequencies for just the servomotor during acceleration/deceleration
operation, in the run cycle from 0  maximum rotation speed  0, are summa-
rized in the following table.
Convert the data into the values obtained with actual rotation speed used and load
inertia to determine whether an external regenerative resistor is needed.

Series Allowable Frequencies in Regeneration Mode (cycles/min)

Voltage Capacity
03 05 08 09 10 13 15 20 30
Symbol
SGMAH — — 89 — — — — — —
SGMPH — — 29 — — — 17 — —
200V SGMGH- 34 — 13 — 10 — 12 8

A
A
SGMSH — — — — 39 — 31 48 20
SGMGH — 42 — 15 — 10 — 12 8
400V SGMSH — — — — 47 — 31 48 20
SGMUH — — — — 27 — 19 — 13

Series Allowable Frequencies in Regenerative Mode (cycles/min)

Voltage Capacity
40 44 50
Symbol
SGMGH- — 11 —
200V
A
A
SGMSH 29 — 22
SGMGH — 11 —
400V SGMSH 29 — 22
SGMUH 19 — —

Servo Amplifier Capacity of 6.0kW or More

Servomotors with a capacity of 6.0kW or more do not have built-in
regenerative resistors. The following table summarizes the allowable frequencies
for the servomotor during regeneration mode, when the servo amplifier is combined
with the JUSP-RA04 or JUSP-RA05 Regenerative Resistor Unit.

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Series Allowable Frequencies in Regenerative Mode (cycles/min)

Voltage Capacity
55 60 75 1A 1E
Symbol
SGMGH-
200V 26 — 36 36 32

A
A
400V SGMGH-
D 26 — 18 36 32

Use the equation in the following section to calculate the allowable frequency from
the servo system’s operating conditions and load inertia.

Operating Conditions for Allowable Regenerative Frequency

Calculation
Load inertia = 0 (motor only)

Speed reference
0 t

Maximum rotation speed

Servomotor rotation speed 0 t

Regeneration mode
Maximum cycle
Servomotor-generated torque t
0

Maximum cycle

T
(Operating cycle)
Allowable frequency = 1 Cycles
T Minute

Use the following equation to calculate the allowable frequency for regeneration
mode operation.

( )
2
Allowable frequency for servomotor only Max. rotation speed Cycles
Allowable frequency = ×
(1 + n) Rotation speed used Minute

Where: n = JL /JM
JL : Motor axis conversion load inertia [oz·in·s2 (kg·m2 )]
JM: Servomotor rotary inertia [oz·in·s2 (kg·m 2)]

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Regenerative Energy Calculation Method

This section shows the procedure for calculating the regenerative resistor capacity
when acceleration and deceleration operation is as shown in the following diagram.
NM: Motor rotation speed

Rotation speed
0
tD
TL : Load torque
Motor torque

Regenerative
torque
T

Calculation Procedure
The procedure for calculating the capacity is as follows:

Units
Step Procedure Equation
[in. (mm)]

(JL + JM) × ΝΜ 2
ES = [Joules] = [J]= ES =
1
Find the rotational energy of the [ oz·in·s 2 (kg·m 2·s 2)] 182
servo system (ES). JL = JM = J Where: N M = Motor speed
NM = rpm J L = Load Inertia
J M = Motor Inertia

τL =
(Ν )
oz·in (N·m)
Find the energy consumed by π
2 load system loss (EL) during the EL = Joules = J EL = Μ × τL × tD
NM = rpm 60
deceleration period (t D). Where: τ L = Motor torque
tD = s

Calculate the energy lost (E M) tD = s = deceleration EM = ( Value from the “Servomotor

3 from servomotor winding stopping time Winding Resistance Loss” graph
resistance. EM = Joules = J below) × tD

Calculate the servo amplifier EC = Value from the “Absorbable

4 energy (EC) that can be EC = Joules = J Servo Amplifier Energy” graph
absorbed. below.

5
Find the energy consumed by
the regenerative resistor (E K).
EK = ES =EL =EM = EC =
Joules = J
(
EK = ES — EL +EM + EC )

WK = W EK
Calculate the required regener- WK =
6 ative resistor capacity (W K). EK = Joules = J
T = s
0.2 × T
Where: T = Time

Note: 1. The “0.2” in the equation for calculating W K is the value for when the regenerative resistor’s
utilized load ratio is 20%.

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If the previous calculation determines that the amount of regenerative power (W Wk.)
that can be processed by the built-in resistor is not exceeded, then an external
regenerative resistor is not required.
If the amount of regenerative power that can be processed by the built-in resistor is
exceeded, install an external regenerative resistor for the capacity obtained from the
above calculation.
If the energy consumed by load system loss (in step 2 above) is unknown, then
perform the calculation using EL = 0.
When the operation period in regeneration mode is continuous, add the following
items to the above calculation procedure in order to find the required capacity (W)
for the regenerative resistor.
• Energy for continuous regeneration mode operation period: E G (joules)
• Energy consumed by regenerative resistor: EK = ES - (EL + EM + EC) + EG
• Required capacity of regenerative resistor: W K = EK/ (0.2 × T)
Here, E G = (2 π/60) NM G × τG × t G
• τG :
Servomotor’s generated torque [oz·in (N·m)] in continuous regeneration
mode operation period.
• NM G : Servomotor rotation speed (rpm) for same operation period as above.
• tG : Same operation period (s) as above.

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Servomotor Winding Resistance Loss

The following diagrams show the relationship between the generated torque and the
winding resistance loss for each servomotor.

• SGMAH Servomotor, 200V • SGMAH Servomotor, 100V

300 200
S GMA H -
180 01 B
SGM AH -
0 4A 02 B
250
0 8A 160
140
Loss

200
120
(W)

Loss
0 1A , 0 2 A A5 B
150 100
(W)
80 A3 B
A5 A
100
60
A3 A
40
50
20

0 0
0 100 200 300 0 100 200 300
To rqu e (%) To rqu e (%)

• SGMPH Servomotor, 200V • SGMPH Servomotor, 100V

300 160
SGM PH -
15A
08A 140
250 SGMPH-
02B
120
01B
Loss

Loss

200
100
(W) 04A (W)
150 80
01A
60
100
02A 40
50
20
0 0
0 100 200 300 0 100 200 300
To rqu e (% ) Torque (%)

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

• SGMGH Servomotor, 200V, 1500rpm

2800
2600
2400
2200
S GM GH-
2000
1E A
A
Loss

1800
55A
A
1600 75A
A
(W) 1A A
A
1400
44A
A
1200 30A
A
1000 20A
A
800 13A
A

600 09A
A
400
200 05A
A
00
0 100 200 300
Torque (%)

• SGMSH Servomotor, 200V

1400

SGMSH-
1200 50A
40A
30A
1000
Loss

20A

800
(W)
15A
600
10A
400

200

00
0 100 200 300
Torque (%)

• SGMGH Servomotor, 400V, 1500rpm • SGMSH Servomotor, 400V

2500
SGMGH- SGMSH-
1ED
A 50D
75D
A 1200 40D
2000 55D
A 30D
1AD
A 1000 20D
Loss

Loss

1500 800
(W)
44D
A (W)
600
1000 30D
A
20D
A
400
13D
A
500 15D
09D
A
200 10D
05D
A
0 00
0 100 200 300 100 200 300
Torque (%) Torque (%)

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

• SGMUH Servomotor, 400V

600 SGMUH-
30D
500 15D
10D

400
Loss

300
(W)

200

100

0
0 100 200 300 400
Torque (%)

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Servo Amplifier’s Absorbable Energy

The following diagrams show the relationship between the servo amplifier’s input
power supply voltage and its absorbable energy.

• Servo Amplifier for 100V motor

18
Se rv o a mp li fie r
SGD H -
16 A5 BE to 0 2B E
Ab sor bab le en erg y

14

12

10
A3 BE
8

6
(J)
4

0
90 100 110 120
AC in pu t p o wer su pp ly vol tag e (V r ms)

• Servo Amplifier for 200V motor • Servo Amplifier for 200V motor, continued

120
700
Servoamplifier
S e rvo am p li fi e r
SGDH-
100 600
Ab so rb able en erg y

SGD H -
Absorbable Energy

1EAE
2 0A E, 3 0A E
1AAE
0 1A E to 0 4 AE 500
80 0 5A E to 1 0 AE 75AE
1 5A E 60AA
400
A3 AE , A5 AE 50AE
60
300

40
(J) 200
(J)
100
20
00
180 200 220 240 260
0
180 200 220 240 260
AC input power supply voltage (Vrms)
AC in pu t p o wer su pp ly vol tag e (V r ms)

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

• Servo Amplifier for 400V motor

140
Servo amplifier-
SGDH-
120 20DE, 30DE
Absorbable energy

10DE, 15DE
100
05DA
80

60

40
(J) 20

0
320 360 100 440 480 520
AC input power supply voltage (Vrms )

• Servo Amplifier for 400V motor, continued

800
700 Servo amplifier
Absorbable Energy

SG DH-
600
1ADE, 1EDE
500 60DE, 75DE
50DE
400
300
200
(J)
100
0
320 360 400 440 480 520
AC input power supply voltage (Vrms)

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

5.7 Absolute Encoders

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

Motor SGM
H-


1
···With 16-bit absolute encoder

SGM
H-


2
···With 17-bit absolute encoder

Always detects Origin return operation

absolute position.

Absolute encoder

WARNING
• When using the “Infinite Length Positioning System” be sure to take into account the changes made in the
continuous counting method when limits are exceeded, as compared in the following table.
The output range of multi-turn data for Sigma II series absolute detection system differs from that used in
conventional (Sigma) 12- and 15-bit encoder systems.

Output Range of
Absolute Encoder Type When the Output Range Exceeds the Limit:
Multi-turn Data
• When the upper limit (+99999) is exceeded in the positive
direction, the counter displays 00000 and begins counting up
(Sigma) conventional type again.
12- and 15-bit encoder -99999 to +99999
• When the lower limit (-99999) is exceeded in the negative
direction, the counter displays 00000 and begins counting
down again.
• When the upper limit (+32767) is exceeded in the positive
direction, the counter changes polarity (-32767) and begins
Sigma II Series counting up (toward zero and beyond).
16- and 17-bit encoder -32768 to +32767
• When the lower limit (-32767) is exceeded in the negative
direction, the counter changes polarity (+32767) and begins
counting down (toward zero and beyond).
Note: After the limit has been changed in multi-turn limit setting parameter (Pn205), the power must be
cycled. This generates a Multi-turn Limit Disagreement Alarm (A.CC). Make sure that the entered
value is appropriate before resetting this alarm. For more information see: 5.7.2 Configuring an
Absolute Encoder, and 9.2.1 Troubleshooting Problems with Alarm Displays.

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5.7.1 Interface Circuit

The following diagram shows the standard connections for an absolute encoder
mounted to a servomotor.
Host controller Servo amplifier
CN1 CN2
+5V SEN 4 1 PG5V H (1)
7406 OSEN P 2 2 PG0V P G (2)
0V BAT 21 3 BAT (+) T (3)
+ P
Battery BATO 22 4 BAT (-) P S (4)
Seria l interface Line receiver PAO 33
circu it R /PAO P 34
UP PA PBO 35 5 PS C (5)
U p/dow n Edg e PG
co unter de te cti on R /PBO P 38 6 /PS P D (6)
DOWN PB PCO 19
R /PCO P 20
C lea r PC PSO
Seria l interface 48
circu it R /PSO P 49
PS
SG 1
0V Con nector she ll
J
P: Indicates twisted pair wires Shielded wire (shell)

Applicable line receivers: SN75175 or MC3486 by TI.

Terminating resistance R: 220 to 470Ω
 SEN Signals
Host controller Servo amplifie

+5V SEN CN1-4 1000Ω

Approx. 1mA 4.7kΩ 1µF

7406 or at high level
equivalent
OSEN CN1-2 0V
0V

• Wait at least three seconds after turning on the power before raising the SEN
signal to high level.
• When the SEN signal is changed from low level to high level, the multi-turn data
and initial incremental pulses are transmitted.
• The motor cannot be operated until these operations are completed, regardless of
the status of the servo ON signal (/S-ON).
Note: If for some reason it is necessary to turn OFF a SEN signal that is already ON, and then to turn it back
ON again, maintain the high level for at least 1.3 seconds before turning it ON and OFF.

SEN signal OFF ON = high level OFF ON

1.3s minimum 15ms (minimum)

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5.7.2 Configuring an Absolute Encoder

Select the absolute encoder’s application with the following parameter.

Parameter Signal Setting Description

Setting Range: 0 or 1 Speed/Torque Control,
Pn002.2 Absolute Encoder Application Default Setting: 0 Position Control

Either “0” or “1” in the following table must be set in order to enable the absolute
encoder.

Pn002.2 Setting Result

0 Uses the absolute encoder as an absolute encoder.
1 Uses the absolute encoder as an incremental encoder.

The following parameter is used to periodically clear the encoder’s counter (return
the setting to 0) after a designated ratio of motor to load axis revolutions. This
function is called the multi-turn limit.
Note: The term Multi-turn Limit refers to the highest number of rotations the encoder’s counter will dis-
play before returning the counter to 0.

Parameter Signal Setting Description

Setting Range: 0 to 65535 Speed/Torque Control,
Pn205 Multi-turn Limit Setting Default Setting: 65535 Position Control

• When Pn205 is set to the default (65535), multi-turn data varies in the range of
−32768 to +32767.
• With any other Pn205 value entered, data varies from 0 to the set value.
Note: To activate reassignment of this value, the user must first enter the change to the parameter, and then
cycle (turn OFF and then turn ON) the power.
Since the encoder’s multi-turn limit value is set as default to 65535, the following
alarm occurs if the servo amplifier’s power supply is cycled (turned OFF and ON)
after changing parameter Pn205:

Alarm Code Output

Alarm Display Description
ALO1 ALO2 ALO3
Encoder multi-turn limit value does not
A.CC O X O match with that of the servo amplifier.

Note: O: ON (“L”) signal

X: OFF (“H”) signal
In order to set a multi-turn limit value to the encoder, perform the multi-term limit
setting operation (Fn-013).

This operation can be executed using the hand-held digital operator or the servo

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

amplifier panel operator.

Note: The multi-turn limit setting is enabled only during the multi-turn limit value mismatch alarm. Cycle
the power after performing this operation.

WARNING
• Connect the ground terminal to a class-3 ground (100 Ω or less).
Improper grounding may result in electric shock or fire.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

5.7.3 Handling Batteries

In order for the absolute encoder to retain position data when the power is turned
OFF, the data must be backed up by a battery.

Installing the Battery at the Host Device

Lithium battery, by Toshiba: ER6VC3, 3.6V, 2000mAh

Battery Provided for Servo Amplifier

Lithium battery: JZSP-BA01 (includes battery and connector)
Battery: Toshiba, ER3 V, 3.6V, 1000mAh

Battery carrying space

Batter connector (CN8) Batt ery connector (CN8)

Batt ery carrying space

CN8
CN3 CN5

F or amplifier of 6.0 to 15k W

For amplifier of 30W to 5kW

WARNING
• Install the battery at either the host controller or the servo amplifier, NEVER at both simultaneously.
Such a connection would create a circuit between the batteries, which could lead to electric shock, injury, or
equipment damage.

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5.7.4 Absolute Encoder Setup

Perform the setup operation for the absolute encoder in the following circumstances:
• When starting the machine for the first time.
• When an encoder backup alarm is generated.

• When the encoder loses power, often because of cable disconnection.

The setup operation can be performed by using the hand-held digital operator, the
servo amplifier’s panel operator, or with personal computer monitor software.
The setup operation procedure shown here uses the digital operator. For more
details, refer to Chapter 7: Using the Digital Operator.

Setup Using the Hand-held Digital Operator

1. Press the MODE/SET key to select the auxiliary function mode.

2. Select the user function Fn008. Press the Left Arrow or Right Arrow
key to select the digit to set, and then press the Up Arrow or Down Arrow
key to change the number.

3. Press the DATA/ENTER key. The following display will appear.

4. Pressing the Up Arrow key will change the display as shown below.
Continue pressing the Up Arrow key until “PGCL5” is displayed. If an
erroneous key entry is made, “nO_OP” will flash for one second and the display
will return to the auxiliary function mode. In that case, go back to step 3 above
and perform the operation again.
When an erroneous key entry is made
Up Cursor Key

Flashes for one second.

Up Cursor Key

Returns to auxiliary function mode.

5. When “PGCL5” is displayed, press the MODE/SET key. The display will

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

change as follows, and the absolute encoder’s multi-turn data will be cleared.
Flashes for
1 second.

6. Press the DATA/ENTER key to return to the auxiliary function mode.

This completes the absolute encoder’s setup operation. Cycle the power to the servo
amplifier.

Setup Using the Built-in Panel Operator

1. Press the MODE/SET key to select the auxiliary function mode.

2. Press the Up Arrow or Down Arrow key to select the parameter Fn008.

3. Press the DATA/SHIFT key, holding it down for at least one second. The
following display will appear.

4. Press the Up Arrow key, holding it down until “PGCL5” is displayed. If an

erroneous key entry is made, “nO_OP” will flash for one second and the display
will return to the auxiliary function mode. In that case, go back to step 3 above
and perform the operation again.
When an erroneous key entry is made
Up Cursor Key

Flashes for one second.

Up Cursor Key

Returns to auxiliary function mode.

5. When “PGCL5” is displayed, press the MODE/SET key. The display will
change as follows, and the absolute encoder’s multi-turn data will be cleared .
Flashes for
1 second.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

6. Press the DATA/SHIFT key to return to the auxiliary function mode.

This completes the absolute encoder’s setup operation. Cycle the power to the servo
amplifier.
Note: If the following absolute encoder alarms are displayed, the alarms must be cleared using the method
described above for the setup operation. They cannot be cleared by the servo amplifier’s alarm reset
(/ARM-RST) input signal.
• Encoder backup alarm (A.81)
• Encoder check sum alarm (A.82)
In addition, if a monitoring alarm is generated in the encoder, the alarm must be cleared by turning
OFF the power.

Multi-turn Setup Using the Hand-held Digital Operator

1. Press the MODE/SET key to select the auxiliary function mode.

2. Select the user function Fn013. Press the Left Arrow or Right Arrow
key to select the digit to set, and then press the Up Arrow or Down Arrow
key to change the number.

3. Press the DATA/ENTER key. The following display will appear.

Flashes for
1 second.

4. Press the MODE/SET key. The display will change as follows, and the absolute
encoder’s multi-turn data will be cleared.
Flashes for
1 second.

5. Press the DATA/ENTER key to return to the auxiliary function mode.

This completes the absolute encoder’s multi-turn limit setting operation. Cycle the
power.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Multi-turn Setup Using the Built-in Panel Operator

1. Press the MODE/SET key to select the auxiliary function mode.

2. Press the Up Arrow or Down Arrow key to select the parameter Fn013.

3. Press the DATA/SHIFT key. The following display will appear.

Flashes for
1 second.

4. Press the MODE/SET key. The display will change as follows, and the absolute
encoder’s multi-turn limit setting operation will be performed.
Flashes for
1 second.

5. Press the DATA/SHIFT key to return to the auxiliary function mode.

This completes the absolute encoder’s multi-turn limit setting operation. Cycle the
power to the servo amplifier.

WARNING
• The multi-turn limit value should be changed only for special applications.
Changing it inappropriately or unintentionally can be dangerous.
• If the Multi-turn Limit Value Disagreement Alarm occurs, check the setting of parameter Pn205 in
the servo amplifier to be sure that it is correct. If Fn013 is executed when an incorrect value is set in
Pn205, that same incorrect value will be set in the encoder. There will not be an additional alarm,
even if an incorrect value is set, but incorrect positions will be detected.
This results in a potentially dangerous situation where the machine will move to an unexpected position.

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5.7.5 Absolute Encoder Reception Sequence

The sequence in which the servo amplifier receives data from the absolute encoder
and transmits them to the host device is shown below.
Be sure you understand this section when designing the host device.

Outline of Absolute Signals

The absolute encoder’s outputs are PAO, PBO, PCO, and PSO signals as shown
below.
Servo amplifier

Dividing PAO
PS Serial data circuit
PG PBO
pulse conver sion (Pn201)

PCO

Data data PSO

conversion

Signal Status Contents

Initial State Serial data

PAO Initial incremental pulse
Normal State Incremental pulse
Initial State Initial incremental pulse
PBO
Incremental pulse
PCO Normal State Home position pulse
PSO Rotation count serial data

Contents of Absolute Data

• Serial data: Indicates how many turns the motor shaft has made from the
reference position (position specified at setup).
• Initial incremental pulse: Outputs pulses at the same pulse rate as when the
motor shaft rotates from the home position to the current position at
approximately 2500rpm (for 16 bits when the dividing pulse is at the default
setting).
Reference position (setup) Current position
-1 0 +1 +2 +3
Coordinate value
+0 +1 +2 +3
Value M
M× R PO

PE
PS PM

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

The final absolute data PM can be found by using the following formulas:
Forward rotation mode: PE = M × R + PO Reverse rotation mode: PE = − M × R + PO
(Pn0000.0 = 1)
( )
PM = PE − PS PM = PE − RS
Where: PE =
The current value read by the encoder.
M =
The multi-turn data (rotation count data).
PO =
The number of initial incremental pulses.
PS =
The number of initial incremental pulses read at setup.
(This is saved and controlled by the host controller).
PM = The current value required for the user’s system.
R = The number of pulses per encoder revolution.
(Pulse count after dividing by the value of Pn201)

Absolute Encoder Transmission Sequence

1. Set the SEN signal at high level.
2. After 100ms, set the system to serial data reception-waiting-state. Clear the
incremental pulse up/down counter to zero.
3. Receive eight bytes of serial data.
4. The system enters a normal incremental operation state approximately 50ms
after the last serial data is received.
Rotation count Initial incremental pulses
SEN signal serial data
Incremental pulses
PAO Undefined
(Phase A) (Phase A)
Initial Incremental pulses
PBO Undefined incremental pulses
(Phase B) (Phase B)
10ms Rotation count serial data
PSO Undefined max. 60ms minimum
90ms typical 1 to 3ms
260ms maximum
50 ms 25ms maximum

Approx. 15ms

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Detailed Signal Specifications

PAO Serial Data Specifications

The number of revolutions is output in five digits.

Start-stop Synchronization
Data Transfer Method
(ASYNC)
Baud rate 9600bps
Start bits 1 bit
Stop bits 1 bit
Parity Even
Character code ASCII 7-bit code
Data format 8 characters, as shown below.

“P” “+” or “-” “0” to “9” “CR”

0 0 0 00 10 10 1

Data Stop bit

Start bit Even parity

Note: 1. Data is “P+00000” (CR) or “P-00000” (CR) when the number of revolutions is zero.
2. The revolution range is “+32767” to “-32768.” When this range is exceeded, the data changes
from “+32767” to “-32768” or from “-32768” to “+32767”

PSO Serial Data Specifications

The number of revolutions and the absolute position within one revolution are
always output in five and seven digits, respectively. The data output cycle is
approximately 40ms.

Start-stop Synchronization
Data Transfer Method
(ASYNC)
Baud rate 9600bps
Start bits 1 bit
Stop bits 1 bit
Parity Even
Character code ASCII 7-bit code
Data format 13 characters, as shown below.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

“P” “+” or “-” “0” to “9” “CR”

0 0 0 00 1 0 10 1

Data Stop bit

Start bit Even parity

Note: 1. The absolute position data within one revolution is the value before dividing.
2. Absolute position data increases during forward rotation. (Not valid in reverse rotation mode).

Incremental Pulses and Origin Pulses

Just as with normal incremental pulses, initial incremental pulses which provide
absolute data are first divided by the frequency divider inside the servo amplifier and
then output.
Forward rotation Reverse rotation
Phase A Phase A

Phase B Phase B

Phase C Phase C
t t

Setting the Pulse Dividing Ratio

Use the following parameter to set the pulse dividing ratio.

Setting
Parameter Signal Description
(PPR)
Setting Range: 16 to 16384 Speed/Torque Control,
Pn201 PG Divider Default Setting: 16384 Position Control

This parameter sets the number of output pulses for PG output signals (PAO, /PAO,
PBO, /PBO).
Pulses from the motor encoder (PG) are divided by the number of pulses set here
before being output.
The set value is the number of output pulses per revolution. Set this value according
to the reference unit of the machine or controller to be used.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

The setting range varies according to the encoder used.

Servo amplifier
Servomotor
Encoder
PS
Output terminals:
PG PAO PAO (CN1-33)
Divider
PBO Output /PAO (CN1-34)
PBO (CN1-35)
Setting Example
/PBO (CN1-36)
Set value: 16

Motor one revolution

Transferring Alarm Contents

When an absolute encoder is used, SEN signals can be utilized to transfer the alarm
contents through PAO outputs to the host device as serial data.

Alarm Contents Output Example

SEN Signal High: Error detection Low

Absolute encoder
Digital Operator Display backup alarm
or

PAO Serial Data ALM81 CR

Incremental pulses

Note: Refer to 9.2.3 Alarm Display Table for a table of alarm contents.

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5.8 Special Wiring

This section describes special wiring methods including the one for noise control. In
addition to 5.8.1 Wiring Precautions and 5.8.2 Wiring for Noise Control, refer to other sec-
tions as necessary.

5.8.1 Wiring Precautions

To ensure safe and stable operation, always observe the following wiring
precautions:
1. Always use the following cables for reference input and encoder wiring.

Yaskawa
Cable Type Maximum Allowable Length
Drawing Number
Reference Twisted pair wires JZSP-CKI01 118in (3m)
Input
Multi-conductor JZSP-CMP00 SGMAH, SGMPH 787in (20m)
Encoder shielded twisted
pair wire JZSP-CMP02 SGMGH, SGMSH 1969in (50m)

• Trim off the excess portion of the cable to minimize the cable length.
2. For a ground wire, use as large a wire as possible: AWG14( 2.0mm2 ) or larger.

• At least class-3 ground (100 Ω maximum) is recommended.

• Ground to one point only.
• If the motor is insulated from the machine, ground the motor directly.
3. Do not bend or apply tension to cables.
The conductor of a signal cable is very thin (0.0079 to 0.012in. (0.2 to 0.3mm)),
handle the cables with care.
4. Use a noise filter to prevent noise interference.
(For details, refer to 5.8.2 Wiring for Noise Control).
• If the equipment is to be used near private houses or may receive noise
interference, install a noise filter on the input side of the power supply line.
• Since this servo amplifier is designed as an industrial device, it provides no
mechanism to prevent noise interference.

5. To prevent malfunction due to noise, take the following actions:

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

• Position the input reference device and noise filter as close to the servo amplifier
as possible.
• Always install a surge absorber circuit in the relay, solenoid, and electromagnetic
contactor coils.
• The distance between a power line (such as a power supply line or motor cable)
and a signal line must be at least 11.8in (30cm). Do not put the power and signal
lines in the same duct or bundle them together.
• Do not share the power supply with an electric welder or electrical discharge
machine. When the servo amplifier is placed near a high-frequency oscillator,
install a noise filter on the input side of the power supply line.
Notes: 1. Since the servo amplifier uses high-speed switching elements, signal lines may receive noise.
To prevent this, always take the above precautions.
2. For details on grounding and noise filters, refer to 5.8.2 Wiring for Noise Control.
6. Use a UL listed molded-case circuit breaker (MCCB) or fuse in accordance with
the National Electrical Code (NEC) to protect the power supply line from high
voltage.
• This servo amplifier connects directly to a commercial power supply without a
transformer, so always use an MCCB or fuse to protect the servo system from
accidental high voltage.
• Select an appropriate MCCB or fuse according to the servo amplifier capacity
and the number of servo amplifiers to be used as shown in the following table.

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MCCB or Fuse According to Power Capacity

The following table shows the MCCB or fuse capacity for each power supply
capacity.

Servo Amplifier
Main Circuit Model Power Capacity per Current Capacity per
Power Applicable Motor Servo Amplifier MCCB or Fuse
Supply Capacity (kVA)* (A rm s)* **
SGDH-
(kW)
0.03 A3BE SGMAH-A3B 0.15
0.05 A5BE SGMAH-A5B 0.25
4
Single-phase, SGMAH-01B
100V 0.10 01BE 0.40
SGMPH-01B
SGMAH-02B
0.20 02BE 0.60 6
SGMPH-02B
0.03 A3AE SGMAH-A3A 0.20
0.05 A5AE SGMAH-A5A 0.25
SGMAH-01A
0.10 01AE 0.40 4
SGMPH-01A
SGMAH-02A
Single-phase, 0.20 02AE 0.75
200V SGMPH-02A
SGMAH-04A
0.40 04AE 1.2 8
SGMPH-04A
SGMAH-08A
0.75 08AE-S 2.1 11
SGMPH-08A
1.50 15AE-S SGMPH-15A 4.0 19

* This is the net value at the rated load. When actually selecting fuses, determine the capacity using the
prescribed derating.
** Operating characteristics (at 25°C): 2 seconds or more for 200%, 0.01 second or more for 700%
Notes: 1. A fast-operating fuse cannot be used because the servo amplifier power supply is a capacitor
input type. A fast-operating fuse may blow when the power is turned ON.
2. SGDH servo amplifiers do not have built-in ground protection circuits. To configure a safer
system, install a ground fault interrupter with or without a circuit breaker for protection against
overload and short circuit conditions.

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Sigma II User’s Manual Chapter 5: Parameter Settings and Functions

Servo Amplifier
Main Circuit Model Power Capacity per Current Capacity per
Power Applicable Motor Servo Amplifier MCCB or Fuse
Supply Capacity (kVA)* (A rm s)* **
SGDH-
(kW)
SGMGH-05A
A
0.45 05AE 1.4 4
SGMGH-03A
B
SGMAH-08A
0.75 08AE SGMPH-08A 1.9
SGMGH-06A
B
7
SGMGH-09A
A
1.0 10AE SGMGH-09A
B 2.3
SGMSH-10A
SGMPH-15A
SGMGH-13A
A
1.5 15AE 3.2 10
SGMGH-12A
B
SGMSH-15A
Three-phase,
200V SGMGH-20A
A
2.0 20AE SGMGH-20A
B 4.3 13
SGMSH-20A
SGMGH-30A
A
3.0 30AE SGMGH-30A
B 5.9 17
SGMSH-30A
SGMSH-40A
5.0 50AE SGMGH-44A
A 7.5 28
SGMSH-50A
6.0 60AE SGMGH-55A
A 12.5 32
7.5 75AE SGMGH-75A
A 15.5 41
11 1AAE SGMGH-1AA 22.7 60
15 1EAE SGMGH-1EAE 30.9 81

* This is the net value at the rated load. When actually selecting fuses, determine the capacity using the
prescribed derating.
** Operating characteristics (at 25°C): 2 seconds or more for 200%, 0.01 second or more for 700%
Notes: 1. A fast-operating fuse cannot be used because the servo amplifier power supply is a capacitor
input type. A fast-operating fuse may blow when the power is turned ON.
2. SGDH servo amplifiers do not have built-in ground protection circuits. To configure a safer
system, install a ground fault interrupter with or without a circuit breaker for protection against
overload and short circuit conditions.

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Servo Amplifier
Main Circuit Model Power Capacity per Current Capacity per
Power Applicable Motor Servo Amplifier MCCB or Fuse
Supply Capacity (kVA)* (A rm s)* **
SGDH-
(kW)
0.45 05DE SGMGH-05D 1.1
SGMGH-09D
1.0 10DE SGMSH-10D 2.3 3.4
SGMUH-10D
SGMGH-13D
1.5 15DE SGMSH-15D 3.2 4.6
SGMUH-15D
SGMGH-09D
2.0 20DE 4.9 7.1
SGMSH-10D
Three-phase, SGMGH-30D
400V 3.0 30DE SGMSH-30D 6.7 9.7
SGMUH-30D
SGMGH-44D
A
SGMSH-40D
A
5.0 50DE 10.3 14.9
SGMSH-50D
A
SGMUH-40D
A
6.0 60DE SGMUH-55D
A 12.4 17.8
7.5 75DE SGMGH-75D
A 15.4 22.3
11.0 1ADE SGMGH-1AD
A 22.6 32.7
15.0 1EDE SGMGH-1ED
A 30.9 44.6

* This is the net value at the rated load. When actually selecting fuses, determine the capacity using the
prescribed derating.
** Operating characteristics (at 25°C): 2 seconds or more for 200%, 0.01 second or more for 700%
Notes: 1. A fast-operating fuse cannot be used because the servo amplifier power supply is a capacitor
input type. A fast-operating fuse may blow when the power is turned ON.
2. SGDH servo amplifiers do not have built-in ground protection circuits. To configure a safer
system, install a ground fault interrupter with or without a circuit breaker for protection against
overload and short circuit conditions.

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Connector Terminal Block Converter Unit JUSP-TA50P

Servo Amplifier

8 8 8 88

CN1
+10%
Length of cable supplied: 19.69 (500) -0%

50-pin connector plug

MR-50RMD2
50-pin terminal block
M3.5 screws

1.77 (45)
1 49
2 50

9.74 (247.5)

Connector Terminal Block Converter Unit

JUSP-TA50P* (cable included)

Mounting Hole Diagram

10.01 (254.2)
0.14 (3.5) 0.14 (3.5)
0.61 (15.5)

1.77 (45)
(29.5)
1.16

0.27 (7.0) 0.27 (7.0)

10.28 (261.2)

*Terminal specifications : see the following page

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JUSP-TA50P Terminal Block Pin Numbers and Signal Names.

SGDH Servo Amplifier JUSP-TA50P Terminal Block Unit

Signal Name* CN1 Pin Connector Terminal Block

Number Number Number
SG 1 A1 1
SG 2 B1 2
P
PL1 3 A2 3
SEN 4 B2 4
V-REF 5 A3 5
P
SG 6 B3 6
PULS 7 P
A4 7
/PULS 8 B4 8
T-REF 9 A5 9
P
SG 10 B5 10
SIGN 11 P
A6 11
/SIGN 12 B6 12
PL2 13 A7 13
/CLR 14 B7 14
P
CLR 15 A8 15
16 B8 16
17 A9 17
PL3 18 B9 18
PCO 19 A10 19
P
/PCO 20 B10 20
BAT (+) 21 A11 21
P
BAT (-) 22 B11 22
23 A12 23
24 B12 24
/V-CMP+ 25 A13 25
P
/V-CMP- 26 B13 26
/TGON+ 27 A14 27
P
/TGON- 28 B14 28
/S-RDY+ 29 A15 29
P
/S-RDY- 30 B15 30
ALM+ 31 A16 31
P
ALM- 32 B16 32
PAO 33 A17 33
P
/PAO 34 B17 34
BPO 35 A18 35
P
/PBO 36 B18 36
ALO1 37 A19 37
ALO2 38 B19 38
ALO3 39 A20 39
/S-ON 40 B20 40
/P-CON 41 A21 41
P-OT 42 B21 42
N-OT 43 A22 43
/ALM-RST 44 B22 44
/P-CL 45 A23 45
/N-CL 46 B23 46
+24V IN 47 A24 47
PSO 48 B24 48
P
/PSO 49 A25 49
50 B25 50
Connector Case
Cable: Supplied with the terminal block
P: Indicates twisted pair wires.

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5.8.2 Wiring for Noise Control

Wiring Example
This servo amplifier uses high-speed switching elements in the main circuit. It may
receive “switching noise” from these high-speed switching elements if wiring or
grounding around the servo amplifier is not appropriate. To prevent this, always
wire and ground the servo amplifier correctly.
This servo amplifier has a built-in microprocessor (CPU). To protect it from
external noise install a noise filter in the appropriate place.
The following is an example of wiring for noise control.

Noise filter*** Servo amplifier Servomotor

L1 U
M
AC200V 2LF L2 V
(FG)
L3 W

0.005in.2
(3.5mm2) (Casing) L1C CN2 PG
minimum L2C
CN1

0.003in.2
•Operation relay (2mm2)
sequence minimum
•Signal generation
circuit (provided
P by user)

0.005in2
AVR
P 1LF* P (Ground)
(3.5mm 2)
minimum
0.003in. 2 (2mm 2) minimum**
(Casing) (Casing) (Casing)
0.005in2(3.5mm2)minimum
2 2
Wires of 0.005in (3.5mm )minimum
(Casing)

P: Indicates twisted pair wires

Notes: * When using a noise filter, follow the precautions in Using Noise Filters on the following page.
** For ground wires connecting to the casing, use a wire with a thickness of at least 0.005in2
(3.5mm2 ), preferably a braided flat copper wire.

Correct Grounding

Grounding the Motor Frame

Always connect servomotor frame terminal FG to the servo amplifier ground
terminal . Also be sure to ground the ground terminal .
If the servomotor is grounded via the machine, switching noise current will flow
from the servo amplifier power unit through motor stray capacitance. The
grounding of the motor frame is required to prevent the adverse effects of switching
noise.

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Noise on the Reference Input Line

If the reference input line is affected by noise, ground the 0V line (SG) of the
reference input line. If the main circuit wiring for the motor is accommodated in a
metal conduit, ground the conduit and its junction box.
All grounds must be made to only one point in the system.

Using Noise Filters

Use a noise suppression filter to prevent noise generated by the power supply line.
Install a noise filter on the power supply line for peripheral equipment as necessary.

The following table recommends noise filters for each servo amplifier model.

Recommended Noise Filter

Voltage Servo Amplifier Model
Model Manufacturer
Single-phase, SGDH-A3AE to -01BE FN2070-6/07
100V SGDH-02BE FN2070-10/07
SGDH-A3AE to -01BE FN2070-6/07
Single-phase, SGDH-04AE FN2070-10/07
200V SGDH-08AE FN2070-16/07
SGDH-15AE FN350-30/33
SGDH-05AE to -20AE FN258L-7/07
SGDH-30AE FN258L-30/07 Schaffner
Three-phase,
200V SGDH-50AE to -60AE FN258L-42/07
SGDH-75AE FN258L-55/07
SGDH-1AAE, -1EAE FS5559-150-35
SGDH-05DE to -15DE FN258L-7/07
Three-phase, SGDH-20DE to -30DE FN258L-16/07
400V SGDH-20DE to -30DE FS5559-35-33
SGDH-20DE to -30DE FS5559-80-34

Note: Filters manufactured by Schaffner .

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Installation and Wiring a Noise Filter

Incorrect application of a noise filter significantly reduces its benefits. Follow these
instructions for the best results.
• Separate the input lines from the output lines.
Do not put the input and output lines in the same duct or bundle them together.

Filter Filter

Filter Filter

Separate these circuits.

• Isolate the noise filter ground wire from the output lines.
Do not put the noise filter ground wire, output lines and other signal lines in the
same duct or bundle them together.

Filter Filter

The ground wire

can be close to
input lines.

BOX BOX

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• Connect the noise filter ground wire directly to the ground plate.
Do not connect the noise filter ground wire to other ground wires.

Filter Filter

Shielded Thick and

ground wire short

BOX BOX

• When grounding a noise filter inside an enclosure:

If a noise filter is located inside an enclosure, connect the noise filter ground wire
and the ground wires from other devices inside to the ground plate for the enclosure
first, then ground these wires.

Enclosure

Filter

Ground
BOX

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5.8.3 Using More Than One Servodrive

The following diagram is an example of the wiring when more than one servodrive
is used.
Power supply
R S T

Power
Power Supply
MCCB Supply ON
OFF 1RY 1MC

Noise filter 1MC

SUP
Fuse

1MC Fuse
L1 SGDH
L2 Servo
L3 amplifier
L1C
M
L2C

+24V 1RY CN1

31 ALM+
32 ALM-

Fuse
L1 SGDH
L2 Servo
L3 amplifier
L1C
M
L2C

CN1
31 ALM+
32 ALM-

Fuse
L1 SGDH
L2 Servo
L3 amplifier
L1C
M
L2C

CN1
31 ALM+
32 ALM-
0V

Note: Wire the system to comply to National Electrical Code.

Connect the alarm output (ALM) terminals for the three servo amplifiers in series to
enable alarm detection relay 1RY to operate. The output transistor is turned OFF
when the ALM output signal enters an alarm state.
Multiple servos can share a single MCCB or noise filter. Always select an MCCB or
noise filter that has enough capacity for the total power capacity (load conditions) of
those servos. For details, refer to 5.8.1 Wiring Precautions.

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5.8.4 Extending Encoder Cables

Standard encoder cables have a maximum length of 20m. If a longer cable is

required, prepare an extension cable as described below. The maximum allowable
cable length is 50m.

Preparing 50m (164.0ft) Encoder Cables

• Cable Model Number: UL2076-SB
Cables are ordered in units of meters. Specify the length, when ordering.
• Connectors or Connector Kits

Connector Type Model

Servo amplifier end Encoder connector (CN2) socket JZSP-CMP9-1
Encoder connector socket for SGMAH JZSP-CMP9-2
and SGMPH servomotors
Servomotor end Plug
Encoder connector plug and cable plug L: MS3108B20-29S
for SGMGH and SGMSH servomotors Straight: MS3106B20-29S
Cable clamp: MS3057-12A

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• Preparing Encoder Cables

• Encoder Connector • Cable Line • Encoder Connector at Servomotor

at Servo Amplifier

For SGMAH and

SGMPH servomotors

For SGMGH, SGMSH,

and SGMUH servomo-
tors

Maximum length: 50 m (1968.50 in)

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5.8.5 400V Power Supply Voltage

CAUTION
• Do not connect the servo amplifier directly to any voltage level other than what is specified on the
servo motor.
Doing so will destroy the servo amplifier.

There are four types of SGDH servo amplifiers. The power supply voltages are:
single-phase 100Va c, three-phase 200Vac, single-phase 200Vac and three-phase
400Va c. For 100V and 200V servo amplifiers that use three-phase 400Vac power
supply, prepare the following voltage conversion transformers (single-phase or
three-phase).

Primary Voltage Secondary Voltage

400Vac or 440V 200Vac
400Vac or 440V 100Vac

Refer to the capacities shown in the following table when selecting a voltage
conversion transformer.

Servo Amplifier Voltage capacity per

Voltage
Model Servo Amplifier* kVA
SGDH-A3BE 0.15
Single-phase SGDH-A5BE 0.25
100V SGDH-01BE 0.40
SGDH-02BE 0.60
SGDH-A3AE 0.20
SGDH-A5AE 0.25
SGDH-01AE 0.40
Single-phase
200V SGDH-02AE 0.75
SGDH-04AE 1.2
SGDH-08AE-S 2.1
SGDH-15AE-S 4.0

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Servo Amplifier Voltage capacity per

Voltage
Model Servo Amplifier* kVA
SGDH-05AE 1.4
SGDH-08AE 1.9
SGDH-10AE 2.3
SGDH-15AE 3.2
SGDH-20AE 4.3
Three-phase
200V SGDH-30AE 5.9
SGDH-50AE 7.5
SGDH-60AE 12.5
SGDH-75AE 15.5
SGDH-1AAE 22.7
SGDH-1EAE 30.9

* This is the net value at the rated load.

When using a 400V class power supply, turn the power supply ON and OFF at the
primary side of the voltage conversion transformer.
Note: Transformer inductance will cause a surge voltage if the power is turned ON and OFF at the
secondary, damaging the servo amplifier.

Single-phase Power Supply Connection Example

Transformer for SGDH Servo amplifier

voltage conversion

1MC 200VAC or 100V

U
L1
1MC
L2
V
1MC
W
Electromagnetic contactor for
power supply ON/OFF

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5.8.6 Reactor for Harmonic Suppression

SGDH servo amplifiers have DC reactor connection terminals for power supply
harmonic suppression.

Connecting a DC Reactor
The DC reactor is connected in series to the rectifier circuit’s output side. Refer to
3.2 Servo Amplifier Internal Block Diagrams.

Servo amplifier

DC reactor

⊕1

⊕2

At the time of shipping, the servo amplifier’s (+)1 and (+)2 are short-circuited.
Remove the lead wire between the two terminals and connect the DC reactor.

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DC Reactor Specifications
The following table shows the specifications for the DC reactors provided by
Yaskawa.

Reactor Specifications
Applicable Servo Amplifiers Inductance Rated current Reactor Model
(mH) (A)
SGDH-A3BE — — —
Single-phase, SGDH-A5BE — — —
100V SGDH-01BE 10.0 1.8 X5063
SGDH-02BE 4.7 3.5 X5062
SGDH-A3AE — — —
SGDH-A5AE — — —
SGDH-01AE 22.0 1.0 X5071
Single-phase,
200V SGDH-02AE 10.0 1.8 X5070
SGDH-04AE 4.7 3.5 X5069
SGDH-08AE-S 4 4.8 X5079
SGDH-15AE-S 2.5 10.5 X5078
SGDH-05AE
SGDH-08AE 2.0 4.8 X5061
SGDH-10AE
Three-phase,
200V SGDH-15AE
1.5 8.8 X5060
SGDH-20AE
SGDH-30AE 1.0 14.0 X5059
SGDH-50AE 0.47 26.8 X5068
SGDH-05DE 4.7 1.5 X5074
SGDH-10DE
3.3 4.5 X5075
Three-phase, SGDH-15DE
400V SGDH-20DE
2.2 8.6 X5076
SGDH-30DE
SGDH-50DE 1.5 14.1 X5077

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5.9 Reserved Parameters

The following parameters are reserved.
Do not change any of them from the default setting.

Parameter Number Lower Limit Upper Limit Default Setting

Pn002.3 0 2 0
Pn004 — — 0000
Pn005 — — 0001
Pn110.3 0 3 0
Pn119 1 2000 60
Pn11A 1 2000 1000
Pn11B 1 150 50
Pn11C 1 150 70
Pn11D 0 150 100
Pn11E 0 150 100
Pn11F 0 2000 0
Pn120 0 51200 0
Pn206 513 32768 16384
Pn511 — — 8888

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Notes:

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Sigma II User’s Manual Chapter 6: Servo Adjustment

6 Servo Adjustment
This chapter describes the functions required for servo
adjustment. Find the required information by selecting the
section from the following table of contents.
6.1 Smooth Operation ................................................................................................ 6-2
6.1.1 Using the Soft Start Function...................................................................... 6-2
6.1.2 Smoothing ................................................................................................... 6-3
6.1.3 Adjusting Gain ............................................................................................ 6-5
6.1.4 Adjusting Offset .......................................................................................... 6-6
6.1.5 Setting the Torque Reference Filter Time Constant.................................... 6-7
6.1.6 Notch Filter ................................................................................................. 6-8
6.2 High-Speed Positioning ....................................................................................... 6-9
6.2.1 Setting Servo Gain ...................................................................................... 6-9
6.2.2 Using Feed-Forward Control .................................................................... 6-11
6.2.3 Using Proportional Control....................................................................... 6-12
6.2.4 Setting Speed Bias .................................................................................... 6-13
6.2.5 Using Mode Switch .................................................................................. 6-14
6.2.6 Speed Feedback Compensation ................................................................ 6-18
6.3 Auto-Tuning....................................................................................................... 6-20
6.3.1 Online Auto-Tuning.................................................................................. 6-21
6.3.2 Mechanical Rigidity Settings for Online Auto-Tuning............................. 6-23
6.3.3 Saving Results of Online Auto-Tuning..................................................... 6-25
6.3.4 Parameters Related to Online Auto-Tuning.............................................. 6-28
6.4 Servo Gain Adjustments .................................................................................... 6-30
6.4.1 Servo Gain Parameters.............................................................................. 6-30
6.4.2 Basic Rules of Gain Adjustment............................................................... 6-31
6.4.3 Making Manual Adjustments.................................................................... 6-33
6.4.4 Gain Setting Reference Values ................................................................. 6-38
6.5 Analog Monitor.................................................................................................. 6-40

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Sigma II User’s Manual Chapter 6: Servo Adjustment

6.1 Smooth Operation

This section provides technical information on the smooth operation of servomotors.

6.1.1 Using the Soft Start Function

The soft start function adjusts progressive speed reference input inside the servo
amplifier so that acceleration and deceleration can be as constant as possible. To use
this function, set the following parameters.

Setting
Parameter Signal Description
(ms)

Pn305 Soft Start Acceleration Time Setting Range: 0 to 10000 Speed Control
Default Setting: 0

Pn306 Soft Start Deceleration Time Setting Range: 0 to 10000 Speed Control
Default Setting: 0

In the servo amplifier, a speed reference is multiplied by the acceleration or deceler-

ation value set in Pn305 or Pn306 to provide speed control.
The soft start function enables smooth speed control when progressive speed refer-
ences are input or when contact input speed control is used. Set both Pn305 and
Pn306 to “0” for normal speed control.
Set these parameters as follows:
• Pn305: The time interval from the time the motor starts until the maximum
speed is reached.
• Pn306: The time interval from the time the motor is operating at the maximum
speed until it stops.

Speed reference
Soft start

Maximum speed

Servo amplifier internal

speed reference
Pn305: Set this time interval.

Maximum speed

Pn306: Set this time interva

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Sigma II User’s Manual Chapter 6: Servo Adjustment

6.1.2 Smoothing

The smoothing function applies a filter inside the servo amplifier to a constant-fre-
quency reference input so that acceleration and deceleration can be as constant as
possible. To use this function, set the following parameters.

Use the following parameter to set the type of filter to be applied.

Parameter Signal Setting Description

Pn207.0 Position Reference Filter Selection Default Setting: 0 Position Control

Either an acceleration/deceleration or average movement filter can be selected.

Pn207.0 Setting Result

0 Enables acceleration/deceleration filter.
1 Enables average movement filter.

The time constant and time for these filters are set in the following parameters.
Time constant for Acceleration/Deceleration Filter:

Setting
Parameter Signal Description
(x 0.01ms)

Pn204 Position Reference Accel/Decel Setting Range: 0 to 6400 Position Control

Time Constant Default Setting: 0

Averaging time for Average Movement Filter:

Setting
Parameter Signal Description
(x 0.01ms)

Pn208 Position Reference Movement Setting Range: 0 to 6400 Position Control

Averaging Time Default Setting: 0

This function provides smooth motor operating in the following cases:

• When the host device which outputs references cannot perform acceleration/
deceleration processing.
• When the reference pulse frequency is too low.
• When the reference electronic gear ratio is too high (i.e., 10 × or more).

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Sigma II User’s Manual Chapter 6: Servo Adjustment

This function does not affect the travel distance (i.e., the number of pulses).
Servo amplifier
Reference pulses Servomotor

Acceleration/Deceleration

Hz
Reference pulse
frequency
Filter applied
When using acceleration/
deceleration filter Pn204
Hz
Reference pulse
frequency

When using average

movement filter Pn208
Hz
Reference pulse
frequency

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Sigma II User’s Manual Chapter 6: Servo Adjustment

6.1.3 Adjusting Gain

If speed loop gain or position loop gain exceeds the allowable limit for the servo sys-
tem (including the machine to be controlled), the system will tend to vibrate or
become too sensitive. Smooth operation is not possible under such conditions.
Reduce each loop gain value to an appropriate value.

Refer to 6.2.1 Setting Servo Gain for details regarding servo gain adjustment.

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Sigma II User’s Manual Chapter 6: Servo Adjustment

6.1.4 Adjusting Offset

The servo system does not operate smoothly if reference voltage from the host con-
troller or external equipment has a reference offset value close to 0V. In that case,
adjust the reference offset value to 0V.

Reference Voltage Offset from Host Controller or External Circuitry

Reference Offset Reference

voltage voltage Make offset
adjustment with the
servo amplifier

Reference speed Reference speed

or reference or reference
torque Offset adjustment torque

Reference Offset Adjustment

The following two methods are provided to reset the reference offset value to 0V.
• Reference offset automatic adjustment
• Reference offset manual adjustment
If a position loop is formed in the host controller, be sure to make a manual offset
adjustment and do not make automatic reference offset adjustment.
Refer to the following sections in Chapter 7 Using the Digital Operator for a
detailed description of reference offset adjustment.

Adjustment Method Detailed Description

Automatic 7.2.3 Automatic Adjustment of the Speed and Torque Reference Offset
Manual 7.2.4 Manual Adjustment of the Speed and Torque Reference Offset

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6.1.5 Setting the Torque Reference Filter Time Constant

If there is machine vibration which may be caused by the servodrive, try adjusting
the filter time constant in Pn401. This may stop the vibration.

Setting
Parameter Signal Application
(x 0.01ms)

Pn401 Torque Reference Filter Time Setting Range: 0 to 65535 Speed/Torque Control,
Constant Default Setting: 100 Position Control

The above constant is the filter time constant of the torque reference to be set in the
servo amplifier. The smaller the value, the faster the speed control response will be.
There is, however, a limit, depending on machine conditions.

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6.1.6 Notch Filter

Vibration in the machine can sometimes be eliminated by using a notch filter for the
frequency at which the vibration is occurring.

Parameter Signal Setting Description

Pn408.0 Notch Filter Selection Default Setting: 0 Speed/Torque Control,

Position Control

This parameter can be set to enable the notch filter.

Pn408.0 Setting Result

0 None.
1 Enables notch filter for torque reference.

Use the following parameter to set the frequency at which the filter is effective.

Setting
Parameter Signal Description
(Hz)

Pn409 Notch Filter Frequency Setting Range: 50 to 2000 Speed/Torque Control,

Default Setting: 2000 Position Control

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6.2 High-Speed Positioning

This section provides technical information on high-speed positioning.

6.2.1 Setting Servo Gain

Use the servo gain setting function in the following cases.

• To check each servo gain value that is automatically set after auto-tuning.
• To directly set each of the above servo gain values in another servo amplifier.
• To further refine responsiveness after auto-tuning (either to increase responsive-
ness or to reduce it).

Setting Speed Loop Gain

Set the following speed loop related parameters as required.

Parameter Signal Setting Application

Pn100 Speed Loop Gain (Kv ) Setting Range: 1 to 2000Hz Speed/Torque Control,
Default Setting: 40Hz Position Control
Speed Loop Integral Setting Range: 15 to 51200 X 0.01ms Speed/Torque Control,
Pn101 Time Constant (Ti ) Default Setting: 2000 x 0.01ms Position Control

The higher the speed loop gain, or the smaller the speed loop integral time constant
value, the faster the speed control response will be. There is, however, a certain
limit depending on machine characteristics.

Speed reference +
loop gain (
KV 1+
1
TiS
)
-
Speed feedback
Speed loop gain K v is adjusted in 1Hz increments provided that the following
parameter is set correctly.

Setting
Parameter Signal Application
(%)

Pn103 Inertia Ratio Setting Range: 0 to 10000 Speed/Torque Control,

Default Setting: 0 Position Control

Motor load inertia (J L )

Inertia Ratio = × 100%
Servomotor rotor inertia (J M)
The load inertia of the servo amplifier reflected at the motor shaft is default set to the
rotor inertia of the servomotor. Therefore, obtain the inertia ratio from the above
formula and set parameter Pn103 properly.
The above parameters are automatically set by the auto-tuning operation.

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Sigma II User’s Manual Chapter 6: Servo Adjustment

Setting Position Loop Gain

Set the following position loop-related parameter as required.

Setting
Parameter Signal Application
(s-1 )
Position Loop Gain Setting Range: 0 to 2000 Speed/Torque Control,
Pn102 (KP) Default Setting: 0 Position Control

The above parameter is the position loop gain for the servo amplifier.
The higher the position loop gain, the smaller the position control error will be.
There is, however, a certain limit depending on machine characteristics.
Position reference Position loop gain

Position feedback

This gain setting is also valid for zero clamp operation.

The above parameter is automatically set by the auto-tuning operation.

Setting
Parameter Signal Application
(256 reference units)
Setting Range: 1 to 32767
Pn505 Overflow Level Default Setting: 1024 Position Control

Set in this parameter the error pulse level at which a position error pulse overflow
alarm (A.d0) is detected.
Alarm (A.d0) Pn505

Normal control
Error pulse

Alarm (A.d0)

If the machine permits only a small position loop gain value to be set in Pn102, an
overflow alarm may arise during high speed operation. In this case, increase the
value set in this parameter to avoid unnecessary alarms.

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6.2.2 Using Feed-Forward Control

The time required for positioning can be shortened with feed-forward control by set-
ting the following parameter.
Definition:Feed-forward control makes necessary corrections beforehand to prevent the control system
from receiving the effects of external disturbance. By increasing the effective servo gain, feed-for-
ward control improves the system’s response.

Setting
Parameter Signal Application
(%)

Pn109 Feed-forward Setting Range: 0 to 100 Speed Control,

Default Setting: 0 Position Control

Parameter Pn109 is set to apply feed-forward frequency compensation to position

control inside the servo amplifier. Use it to shorten positioning time. Too high a
value may cause machine vibration. For most applications, set Pn109 to 80% or
less.
Differential

Pn109
Reference pulse

Feedback pulse

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6.2.3 Using Proportional Control

If parameter Pn000.1 is set to 0 or 1 as shown below, input signal /P-CON serves as

a PI/P control changeover switch.
• PI control: Proportional/integral control.
• P control: Proportional control.

Setting
Parameter Signal Application
(%)

Pn000.1 Control Method Selection Default Setting: 0 Speed Control,

Position Control

Pn000.1
Control Mode
Setting

Usual speed control or position

Speed control is selected.
0 Control Input signal /P-CON (CN1-41) is used
Servo amplifier
to select PI control or P control.

CN1-41
is open. PI control P or PI
control /P-CON CN1-41
Position CN1-41 selection
1 Control P control
is 0V

Methods for Using Proportional Control

Proportional control can be used in the following two ways.
• When operation is performed by sending speed references from the host control-
ler to the servo amplifier, the host controller can selectively use P control mode
for particular conditions only. This method can suppress overshooting and
shorten setting time. Refer to 6.2.5 Using Mode Switch for particular conditions.
• If PI control mode is used when the speed reference has a reference offset, the
motor may rotate at a very slow speed and fail to stop even if 0 is specified as a
speed reference. In this case, use P control mode to stop the motor.

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6.2.4 Setting Speed Bias

The settling time for positioning can be reduced by assigning bias to the speed refer-
ence block in the servo amplifier. To assign bias, use the following constants.

Setting
Parameter Signal Application
(rpm)

Pn107 Bias Setting Range: 0 to 450 Position Control

Default Setting: 0

Pn108 Bias Addition Width Setting Range: 0 to 250 Position Control

Default Setting: 7

Set the parameters to shorten the time required for positioning according to the
application.
The bias increment width (Pn108) is expressed as an error pulse width that deter-
mines the time in which bias input (Pn107) takes effect. The bias input is ON if the
error pulse width exceeds the value set in Pn108.
Internal speed reference
Pn107

Error pulse

Bias increment width

Pn108

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6.2.5 Using Mode Switch

Use the mode switch function for the following purposes.
• To suppress overshoot during acceleration or deceleration (for speed control).
• To suppress undershoot during positioning and to shorten the setting time (for
position control).

No mode switch function With mode switch function

Overshoot

Motor Motor
speed speed
Undershoot

Time Time

The mode switch function makes it possible to automatically switch the servo ampli-
fier’s internal speed control mode from PI to P control mode and vice versa when
specified conditions are satisfied.
Definition:PI control means proportional/integral control, and P control means proportional control. In
effect, switching “from PI control to P control” reduces effective servo gain, thereby making the
servo system more stable.

IMPORTANT
1. The mode switch is used to fully utilize performance of a servodrive to achieve very high-speed position-
ing. The speed response waveform must be observed to adjust the mode switch.
2. For normal use, the speed loop gain and position loop gain set by auto-tuning provide sufficient speed/posi-
tion control. Even if overshoot or undershoot occurs, it can be suppressed by setting either:
• The acceleration/deceleration time constant for the host device.
• The soft start time constants (Pn305, Pn306)
• The position reference acceleration/deceleration constant (Pn204) for the servo amplifier.

Selecting Mode Switch Setting

The servo amplifier incorporates four mode switch settings (0 to 3). Select a mode
switch with the following parameter (Pn10B.0).

Parameter
Pn10B.0
Description Used to Set Setting Unit
Setting
Detection Point

0 Uses torque reference as the detection point. Pn10C Percentage of rated

(Standard setting). torque (%)
1 Uses speed reference input as the detection point. Pn10D Motor Speed (rpm)
2 Uses acceleration as the detection point. Pn10E × 10rpm/s
3 Uses error pulse input as the detection point. Pn10F Reference unit
4 Mode Switch function is not used. — —

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Sigma II User’s Manual Chapter 6: Servo Adjustment

Torque Reference Input Used as Detection Point (Standard Setting)

With this setting, if the value of torque reference input exceeds the torque set in
parameter Pn10C, the speed loop switches to P control.
The servo amplifier is default set to this standard mode (Pn10C = 200).

Reference speed
Speed Motor speed

+Pn10C Internal torque reference

Torque 0
-Pn10C
PI control PI control PI control
P control P control

Operating Example
If the system is always in PI control without using the mode switch function, the
speed of the motor may overshoot or undershoot due to torque saturation during
motor acceleration or deceleration. The mode switch function suppresses torque sat-
uration and eliminates motor speed overshoot or undershoot.
No mode switch function With mode switch function
Overshoot

Motor Motor
speed speed
Undershoot

Time Time

Speed Reference Used as Detection Point

With this setting, if a speed reference exceeds the value set in parameter Pn10D, the
speed loop switches to P control.
Speed reference Motor speed
Speed

Pn10D Time

PI P control PI control
control

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Sigma II User’s Manual Chapter 6: Servo Adjustment

Operating Example
In this example, the mode switch is used to reduce setting time. Generally, speed
loop gain must be increased to reduce setting time. Using the mode switch sup-
presses the occurrence of overshoot and undershoot as speed loop gain is increased.

Without mode switch Without mode switch

Speed reference Motor speed Overshoot

Increase speed loop gain. Motor
Motor
speed
speed
Undershoot

Long setting time Time

With mode switch

Suppress overshooting
Motor and undershooting.
speed

Setting time

Acceleration Used as Detection Point

If motor acceleration exceeds the value set in parameter Pn10E, the speed loop
switches to P control.
Reference speed
Speed Motor speed

+Pn10E Motor acceleration

Acceleration 0
-Pn10E
PI control PI control PI control
P control P control

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Sigma II User’s Manual Chapter 6: Servo Adjustment

Operating Example
If the system is always in PI control without using the mode switch function, the
speed of the motor may overshoot or undershoot due to torque saturation at the time
of the acceleration or deceleration of the motor. The mode switch function sup-
presses torque saturation and eliminates motor speed overshoot or undershoot.
Without mode switch With mode switch
Overshoot

Motor Motor
speed speed
Undershoot

Time Time

Error Pulse Used as a Detection Point

This setting is enabled for position control operation only.
If an error pulse exceeds the value set in parameter Pn10F, the speed loop switches to
P control.
Reference Motor speed
Speed

Time
Deviation
Pulse

Pn10F
PI control P control PI control

Operating Example
In this example, the mode switch is used to reduce setting time. Generally, speed
loop gain must be increased to reduce setting time. Using the mode switch sup-
presses the occurrence of overshoot and undershoot when speed loop gain is
increased.
Without mode switch Without mode switch
Speed reference Motor speed Overshoot

Motor Increase speed loop gain. Motor

speed speed Under
shooting

Long setting time Time

With mode switch function

Suppress overshoot
Motor and undershoot
speed

Setting time

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6.2.6 Speed Feedback Compensation

Use this function to shorten the system’s setting time in positioning operation.

Integral control
(Pn101)

Error counter +
output Position loop gain + Speed loop gain + Torque reference Torque reference
(Pn102) (Pn100) filter (Pn401)
-

Speed feedback Speed feedback com Speed feedback

filter (Pn308) pensation (Pn111)

Speed feedback com

pensation function
selection (Pn110.1)

Note: This function is available provided that the inertia ratio set in Pn103 is correct. Therefore, perform
online auto-tuning to obtain and save the results as the parameters. Refer to 6.3 Auto-Tuning for
details. Otherwise, directly set the inertia ratio.

Adjustment Procedure
When adding the value of speed feedback compensation, be sure to follow the proce-
dure described below and make servo gain adjustments while watching the analog
monitor to observe the position error and torque reference. Refer to 6.5 Analog
Monitor for details.
1. Set parameter Pn110 to “0002” so that the online auto-tuning function will be
disabled. Refer to 6.3.4 Parameters Related to Online Auto-Tuning and Appen-
dix B List of Parameters for details regarding Pn110.
2. First, make normal servo gain adjustments with no feedback compensation. In
this case, gradually increase the speed loop gain in Pn100 while reducing the
speed loop integral time constant Pn101, and finally set the speed loop gain in
Pn100 to the same value as that of the position loop gain in Pn102.
The relationship between the speed loop gain and integral time constant is as fol-
lows:
Take the value obtained from the following formula as a reference value for setting
the speed loop integral time constant in Pn101.
4
Speed loop integral time constant = (s)
2π x Speed loop gain

Unit of speed loop gain: [Hz]

Check the unit when setting the speed loop integral time constant in Pn101. Pn101
is set in 0.01ms increments.
The units for speed loop gain (Hz) and position loop gain (s -1 ) differ, nevertheless,

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Sigma II User’s Manual Chapter 6: Servo Adjustment

set these gains to the same numerical value.

3. Repeat step 2 to increase the speed loop gain while watching the position error of
the analog monitor to observe the setting time and the torque reference of the
analog monitor to observe any occurrence of vibration. If there is any oscillating
noise or noticeable vibration, gradually increase the time constant of the torque
reference filter in Pn401.
4. Gradually increase only the position loop gain. When it has been increased
about as far as possible, then decrease the speed feedback compensation in
Pn111 from 100% to 90%. Then repeat steps 2 and 3.
5. Decrease the speed feedback compensation to a value lower than 90%. Then
repeat steps 2 through 4 to shorten the setting time. If the speed feedback com-
pensation is too low, however, the response waveform will vibrate.
6. Find the condition in which the shortest setting time is obtainable within the
range where the position error or torque reference waveform observed through
the analog monitor is not vibrating or unstable.
7. The servo gain adjustment is completed when no further shortening of the posi-
tioning time is possible.

IMPORTANT
• Speed feedback compensation usually makes it possible to increase the speed loop gain and position loop
gain. The machinery may vibrate excessively if the compensation value greatly changes or Pn110.1 is set to
“1” (i.e., speed feedback compensation disabled) after increasing the speed loop gain or position loop gain.

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6.3 Auto-Tuning
If positioning is taking a long time, the speed loop gain or position loop gain of the servo
system may not be set properly. If the gain settings are wrong, set them properly in accor-
dance with the configuration and rigidity of the machinery.

Autotuning
The characteristics of the machinery
are checked automatically for optimum
tuning.

Load inertia

Servomotor Friction

Servo amplifie

The servo amplifier incorporates an online auto-tuning function, which checks the charac-
teristics of the machinery automatically and makes the necessary servo gain adjustments.
The function is easy to use and makes it possible for even beginners to perform servo gain
tuning and set all servo gains as parameters.
The following parameters can be set automatically by using the online auto-tuning func-
tion.

Parameter Description
Pn100 Speed loop gain
Pn101 Speed loop integral time constant
Pn102 Position loop gain
Pn401 Torque reference filter time constant

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6.3.1 Online Auto-Tuning

Online auto-tuning is a control function which enables the servo amplifier to check
changes in the load inertia during operation in order to maintain the target value for
speed loop gain or position loop gain.
Online auto-tuning may not work well in the following cases.
• When the cycle for load inertia change is 200ms or shorter (when the load
changes rapidly).
• When the application has slow acceleration or deceleration using the soft start
function, and the speed error of the servomotor being driven is small.
• When adjusting the servomotor manually and operating at low gain (a machine
rigidity of 1 or less).
Disable the online auto-tuning function if tuning is not possible. (See 6.4.3 Making
Manual Adjustments).

IMPORTANT
• Do not use online auto-tuning in the following cases:
• When using Torque Control Mode.
• When using IP control (only when using parameter Pn10B.1 = 1) for the speed loop.
• When using the torque feed–forward function.
• When switching gain using /G–SEL.

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Setting Parameters for Online Auto-Tuning

The following flowchart shows the procedure for setting the parameters for online
auto-tuning.
Start

Operate with factory

settings of parameters

Yes
Operation
OK?

No

No Load
inertia changes?

Yes

Set to always perform tuning.

(Set Pn110.0 to 1)

Operation
Yes
OK?

No

Adjust the rigidity setting

(Set in Fn001)

Yes
Operation
OK?

No

Adjust the friction

compensation.
Set in Pn110.2.

Yes
Operation
OK?

No

Set so that online autotuning

is not performed. Save the results of autotuning
(Set Pn110.0 to 2) to parameters. From the next
time, execute autotuning using
the calculated value as the
initial value.
Make servo gain Set in Fn007
adjustments manually *

*Before making manual servo gain adjustments, refer to

6.4 Servo Gain Adjustments or 6.2 High-Speed Positioning.
End

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6.3.2 Mechanical Rigidity Settings for Online Auto-Tuning

For the mechanical rigidity settings at the time of online auto-tuning, select the target
values for speed loop gain and position loop gain of the servo system. Any of the
following ten levels of rigidity can be selected.

Position Loop Speed Loop Torque

Speed Loop
Fn001 Gain Integral Time Reference Filter
Gain
Rigidity Constant Time Constant
[s-1 ] [Hz]
Setting [0.01ms] [0.01ms]
Pn102 Pn100 Pn101 Pn401
1 15 15 6000 250
2 20 20 4500 200
3 30 30 3000 130
4 40 40 2000 100
5 60 60 1500 70
6 85 85 1000 50
7 120 120 800 30
8 160 160 600 20
9 200 200 500 15
10 250 250 400 10

Note: The Rigidity value is default set to 4.

As the rigidity value is increased, the servo system loop gain increases and the time
required for positioning is shortened. If the rigidity is excessively high, however, it
may cause the machinery to vibrate. In that case, decrease the set value.
The rigidity value setting automatically changes the parameters in the above table.
Note: If parameters Pn102, Pn100, Pn101, and Pn401 are set manually with the online auto-tuning function
enabled, tuning is performed with the manually set values as target values.

Changing the Rigidity Setting

Use parameter Fn001 in the auxiliary function mode to change the rigidity setting.
The procedure for changing the setting is as follows:

Using the Hand-held Digital Operator

1. Press the MODE/SET key and select Fn001 in the auxiliary function mode.

2. Press the DATA/ENTER key. The following data will be displayed.

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3. Press the Up Arrow or Down Arrow key to select the rigidity setting.

Up Cursor Key Down Cursor Key

4. Press the MODE/SET key. The following display will flash for 1 second and
then the rigidity setting will be changed.
Flashes for
1s

5. Press the DATA/ENTER key to return to the auxiliary function mode.

This completes the procedure for changing the rigidity setting.

Using the Built-in Panel Operator

1. Press the MODE/SET key to select Fn007 in the auxiliary function mode.

2. Press the DATA/SHIFT key for a minimum of 1 second. The following data
will be displayed.

3. Press Up Arrow or Down Arrow key to select the rigidity setting.

Up Cursor Key Down Cursor Key

4. Press the MODE/SET key. The following display will flash for 1 second and
then the rigidity setting will be changed.
Flashes for
1s

5. Press the DATA/SHIFT key for a minimum of one second to return to the auxil-
iary function mode.

This completes the procedure for changing the rigidity setting.

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6.3.3 Saving Results of Online Auto-Tuning

Online auto-tuning always processes the latest load inertia to renew data so that the
speed loop gain will reach the target value that has been set. When the servo ampli-
fier is turned OFF, all the processed data is lost. Therefore, when the servo amplifier
is turned ON again, online auto-tuning is performed by processing the factory-set
values in the servo amplifier.
To save the results of online auto-tuning and use them as the initial values set in the
servo amplifier when the servo amplifier is turned ON again, it is necessary to use
constant Fn007 in the auxiliary function mode. In this case, the inertia value set in
parameter Pn103 will be changed.
On the basis of the rotor inertia of the servomotor, the inertia ratio is expressed in
percentage terms by the load inertia. The value set in Pn103 is used to calculate the
load inertia at the time of online auto-tuning.

Setting
Parameter Signal Description
(%)

Pn103 Inertia Ratio Setting Range: 0 to 10000 Speed/Torque Control,

Default Setting: 0 Position Control

Motor Load Inertia (JL )

Inertia Ratio = × 100%
Rotor Inertia (J M)
The inertia ratio is default set to 0%.

IMPORTANT
• Before making servo gain adjustments manually, be sure to set the inertia ratio in Pn103.
If the inertia ratio is incorrect, the speed loop gain (in 1Hz increments) set in Pn100 will be wrong.

For details on setting Pn103, refer to 7.1.6 Operation in Parameter Setting Mode.

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Procedure for Saving Results of Online Auto-Tuning

The procedure for saving the results of online auto-tuning is as follows:

Using the Hand-held Digital Operator

1. Press the MODE/SET key to select Fn007 in the auxiliary function mode.

2. Press the DATA/ENTER key. If the inertia ratio is 200%, for example, the fol-
lowing data will be displayed.

3. Press the MODE/SET key. The following display will flash for 1 second and
then the inertia ratio will be saved.
Flashes for
1 s.

4. Press the DATA/ENTER key to return to the auxiliary function mode.

This completes the procedure for saving the results of online auto-tuning. When the
servo amplifier is turned ON again, the inertia ratio set in Pn103 will be used as the
default value.

Using the Built-in Panel Operator

1. Press the MODE/SET key and select Fn007 in the auxiliary function mode.

2. Press the DATA/SHIFT key for a minimum of 1 second. If the inertia ratio is
200%, for example, the following data will be displayed.

3. Press the MODE/SET key. The following display will flash for 1 second and
then the inertia ratio will be saved.
Flashes for
1 s.

4. Press the DATA/SHIFT key for a minimum of 1 second to return to the auxiliary
function mode.

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Sigma II User’s Manual Chapter 6: Servo Adjustment

This completes the procedure for saving the results of online auto-tuning. When the
servo amplifier is turned ON again, the inertia ratio set in Pn103 will be used as the
default value.

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6.3.4 Parameters Related to Online Auto-Tuning

This section provides information on a variety of parameters related to online auto-

tuning.

Online Auto-Tuning Method

The following parameter is used to set the auto-tuning conditions.

Setting
Parameter Signal Description
(%)

Pn110.0 Online Auto-Tuning Default Setting: 0 Speed control,

Method Position Control

Pn110.0 Setting Result

0 Auto-Tuning is performed only when the system runs for the first time after the power
is turned ON. After the load inertia is calculated, the calculated data is not refreshed.
1 Auto-Tuning is continuously performed (inertia value calculation).
2 The online auto-tuning function is not used.

This parameter is default set to “0”. If the load inertia change is minimal or if the
application makes few changes, there is no need to continue calculating the inertia
while the system is in operation. Instead, continue to use the value that was calcu-
lated when the system was first started up.
Set this parameter to “1” if the load inertia always fluctuates due to the load condi-
tions. Then the response characteristics can be kept stable by continuously refresh-
ing the inertia calculation data is refreshed continuously and reflecting them in the
servo gain.
If the load inertia fluctuation results within 200 ms, the inertia calculation data may
not be refreshed properly. If that happens, set Pn110.0 to “0” or “2.”
Set Pn110.0 to “2” if auto-tuning is not available or if the online auto-tuning function
is not used because the load inertia is already known and the servo amplifier is man-
ually adjusted by setting the inertia ratio data in Pn103.

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Speed Feedback Compensation Selection

Use the following parameter to enable or disable speed feedback compensation.
Refer to 6.2.6 Speed Feedback Compensation.
This parameter can be left as it is if online auto-tuning is performed. If this parame-
ter is set manually, however, the setting is reflected to the operational setting made
during online auto-tuning.

Setting
Parameter Signal Description
(%)

Pn110.1 Speed Feedback Compen- Default Setting: 1 Speed control,

sation Selection Position Control

Pn110.0 Setting Result

0 Speed Feedback Compensation enabled.
1 Speed Feedback Compensation disabled.

Friction Compensation Selection

Use the following parameter to enable or disable friction compensation to determine
whether or not the friction of the servo system is to be taken into consideration for
the calculation of load inertia.
If this compensation function is enabled, select small or large friction compensation
according to the extent of friction in order to ensure highly precise load inertia calcu-
lation.

Setting
Parameter Signal Description
(%)

Pn110.2 Friction Compensation Default Setting: 1 Speed control,

Selection Position Control

Pn110.0 Setting Result

0 Friction Compensation enabled
1 Friction Compensation: Small
2 Friction Compensation: Large

Note: 1. Do not set friction compensation for loads with low friction (10% rated torque/speed or less).
2. Auto-Tuning will be performed as if the load inertia is 30 times the motor inertia.

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6.4 Servo Gain Adjustments

This section describes information on the basic rules of gain adjustments in the servo
amplifier, adjustment methods in a variety of cases, and reference set values.

6.4.1 Servo Gain Parameters

The following parameters must be set properly for servo gain adjustments.
• Pn100: Speed loop gain
• Pn101: Speed loop integral time constant
• Pn102: Position loop gain
• Pn401: Torque reference filter time constant
If the servo amplifier is used in the speed control mode with the analog voltage refer-
ence, the position loop is controlled by the host device. Therefore, position loop
gain is adjusted through the host device.
If the host is not available for adjustments of position loop gain, set the speed refer-
ence input gain in parameter Pn300. If the set value is improper, the servomotor
may not run at top speed.

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6.4.2 Basic Rules of Gain Adjustment

The servo system consists of three feedback loops (i.e., position loop, speed loop,
and current loop). The innermost loop must have the highest response speed and the
middle loop must have higher response speed than the outermost. If this principle is
not followed, it will result in vibration or poor responsiveness.
The servo amplifier is designed to ensure that the current loop has good response
performance. The user needs only to adjust the position loop and speed loop gain.
The servo system block diagram consists of the position, speed, and current loops, as
shown below.
In case of position control In case of speed control
Pul se
S peed train An alo g
Motor
Speed patt ern
vo ltage
Kp Speed KV Current Power SM
Error c ontrol
(D to A lim it conversi on
c ounter block T i bloc k block
c onvert er)
Time

Speed loop PG
Position loop

Host controller (prepared by the user) Servo amplifier

Speed control moce

Position control moce Servo amplifier

Host controller
(prepared by the user) KP = Position loop gain
KV = Speed loop gain
Ti = Integral time constant

• Generally speaking, the responsiveness of the position loop cannot be higher than
that of the speed loop. Therefore, to increase the position loop gain, you must
first increase the speed loop gain. If only the position loop gain is increased,
oscillation will result in the speed reference and positioning time will increase,
not decrease.
Position loop gain can be increased only to the point where oscillation begins in
the mechanical system.
• If the position loop response is faster than the speed loop response, speed refer-
ence output from the position loop cannot follow the position loop response due
to the slower speed loop response. Therefore, the position loop will keep accu-
mulating errors, thus increasing the amount of speed reference output.
As a result, the motor speed will be excessive and the position loop will try to
decrease the amount of speed reference output. The speed loop responsiveness
degrades, and the motor will not be able to follow. The speed reference will
oscillate as shown in the following graph. If this happens, reduce the position
loop gain or increase the speed loop gain.
Speed
reference
Actual speed reference output from controller.
Speed reference as a result of calculation in controller.

Time

• The position loop gain must not exceed the natural frequency of the mechanical

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Sigma II User’s Manual Chapter 6: Servo Adjustment

system. For example, if the mechanical system is an articulated robot, the rigid-
ity of the machinery mechanism is very low because the mechanism incorporates
a harmonic gear reducer and the natural frequency of the mechanical system is 10
to 20Hz. In this case, the position loop gain can be set to 10 to 20(s -1).
If the mechanical system is a chip mounting machine, IC bonding machine, or
high-precision machining tool, the natural frequency of the system is 70Hz or
more. Therefore, the position loop gain can be set to 70(s-1 ) or higher.
When high responsiveness is required, it is not only important to ensure the
responsiveness of the servo system (the controller, servo amplifier, motor, and
encoder), but it is also necessary to ensure that the mechanical system have high
rigidity.

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6.4.3 Making Manual Adjustments

The auto-tuning function uses a gain adjustment algorithm with a comparatively

large safety margin by considering a variety of mechanical systems to which the
servo amplifier is applied. Therefore, the servo amplifier may not satisfy the
response characteristics of some applications. The auto-tuning function is not avail-
able to machines with low rigidity or high fluctuation.
In such cases, observe the mechanical systems and make manual adjustments of
parameters.

Speed Control

Required Parameters
The following parameters are used.
• Speed Loop Gain (Pn100)
This parameter is used for determining the responsiveness of the speed loop. For
the best response, set this parameter as high as possible, without exceeding the
point where the mechanical system vibrates. The value of speed loop gain is the
same as the set value of Pn100 if the inertia ratio set in Pn103 is correct.
Speed loop gain Kv = Set value of Pn100 (Hz)
Set Pn103 to the following value.
Motor load inertia (J L )
Pn103 Setting Value = × 100%
Servomotor rotor inertia (J M)

Note: In the case of manual adjustments of parameters, the user must set the value of parameter Pn103. The
inertia ratio can be obtained if the servo gain constant is written with parameter Fn007 after auto-tun-
ing has been performed. For details regarding Fn007, refer to 6.3 Auto-Tuning.
• Speed Loop Integral Time Constant (Pn101)
The speed loop has an integral element so that the speed loop can respond to
minute inputs. This integral element delays the operation of the servo system,
resulting in a longer positioning settling time. As the value of the time constant
increases, the response becomes slower. If the load inertia is large or the
mechanical system is likely to vibrate, make sure that the speed loop integral
time constant is large enough. Use the following formula to calculate the opti-
mum integral time constant.
1
Ti ≥ 2.3 ×
2π × Kv
Where: Ti = Integral time constant [s]
Kv = Speed loop gain (calculated from the above) [Hz]

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• Torque Reference Filter Time Constant (Pn401)

If the mechanical system uses ball screws, torsional resonance may result. In
this case, the oscillation noise will be a high-pitched tone. The oscillation may
be minimized by increasing the time constant of the torque reference filter. Like
the integral time constant, this filter causes a delay in the operation of the servo
system. Therefore, this constant must not be set to an excessively large value.
• Speed Reference Input Gain (Pn300)
Changing the speed reference input gain set in Pn300 is equivalent to changing
the position loop gain. In other words, an increase in the speed reference input
gain set in Pn300 is equivalent to a decrease in the position loop gain and vice
versa. Use this parameter in the following cases.
• When the host controller does not have a function for adjusting the position
loop gain. (The host incorporates a D/A converter to change the number of
bits but cannot make fine adjustments of position loop gain.)
• When it is necessary to clamp the full range of the speed reference output of
the host device to a specified rotation speed.
In normal operation, the default setting can be used as is.
Note: If the servo amplifier is used for speed control, the position loop gain set in Pn102 is enabled in zero–
clamp mode only. In normal control operation, change the position loop gain through the host or
change the speed reference input gain in Pn300 in the servo amplifier. The position loop gain remains
the same if the setting in Pn102 is changed.

Adjustment Method
1. Set the position loop gain to a low value in the host controller. Then increase the
speed loop gain set in Pn100 to within a range where there is no noise or oscilla-
tion. If the position loop gain cannot be changed through the host controller,
increase the speed reference input gain set in Pn300 to a larger value.
2. Decrease the speed loop gain a little from the value set in step 1. Then increase
the position loop gain through the host controller to a range where there is no
noise or oscillation. Decrease the set value of Pn300 even if the position loop
gain cannot be changed through the host controller.
3. Set the speed loop integral time constant in Pn101 while observing the position-
ing settling time and the vibration of the mechanical system. If the constant is
too large, positioning settling time will be long.
4. Set the torque reference filter to a small value in Pn401 if the mechanical system
has no apparent shaft torsional resonance. If the mechanical system generates
oscillation noise in a high-pitched tone, shaft torsional resonance may be occur-
ring. In that case, set Pn401 to a larger value.
5. Finally, progressively make fine adjustments to parameters such as the position
loop gain, speed loop gain, and integral time constant to find the optimal point.

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Sigma II User’s Manual Chapter 6: Servo Adjustment

Position Control

Parameters
The following parameters are used.
• Speed Loop Gain (Pn100)
This parameter is used for determining the response speed of the speed loop. For
the best response, set this parameter as high as possible, without exceeding the
point where the mechanical system vibrates. The value of speed loop gain is the
same as the set value of Pn100 if the inertia ratio set in Pn103 is correct.
Speed loop gain Kv = Set value of Pn100 (Hz)
Set Pn103 to the following value:
Motor shaft reflected load inertia (J L)
Pn103 Setting Value = × 100%
Servomotor rotor inertia (J M )

Note: In the case of manual adjustments of parameters, the user must set the value of parameter Pn103. The
inertia ratio can be obtained if the servo gain constant is written with parameter Fn007 after auto-tun-
ing has been performed. For details regarding Fn007, refer to 6.3 Auto-Tuning.
• Speed Loop Integral Time Constant (Pn101)
The speed loop has an integral element so that the speed loop can respond to
minute inputs. This integral element delays the operation of the servo system,
resulting in longer positioning settling time. As the value of the time constant
increases, the response becomes slower.
If the load inertia is large or the mechanical system is likely to vibrate, make sure
that the speed loop integral time constant is large enough. Use the following for-
mula to calculate the optimum time constant.
1
Ti ≥ 2.3 × 2π × K
v

Where: Ti = Integral time constant [s]

Kv = Speed loop gain (calculated from the above) [Hz]
• Torque Reference Filter Time Constant (Pn401)
If the mechanical system uses ball screws, torsional resonance may result. In
this case, the oscillation noise will be a high-pitched tone. The oscillation may
be minimized by increasing the time constant of the torque reference filter. Like
the integral time constant, this filter causes a delay in the operation of the servo
system. Therefore, this constant must not be set to an excessively large value.
• Position Loop Gain (Pn102)
The responsiveness of the servo system is determined by the position loop gain.
The response increases if the position loop gain is set to a high value, and the
time required for positioning will be shortened. In order to set the position loop

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Sigma II User’s Manual Chapter 6: Servo Adjustment

gain to a high value, the rigidity and natural frequency of the mechanical system
must be high.
The responsiveness of the whole servo system may become unstable if only the
position loop gain is increased. Because the speed reference, as output from the
position loop, is likely to become unstable. Increase the speed loop gain while
observing the response.

Adjustment Method
1. Set the position loop gain to a comparatively low value. Then increase the speed
loop gain set in Pn100 to within a range where there is no noise or oscillation.
2. Decrease the speed loop gain a little from the value set in step 1. Then increase
the position loop gain to within a range where there is no overshooting or oscilla-
tion.
3. Set the speed loop integral time constant in Pn101 while observing the position-
ing settling time and the vibration of the mechanical system. If the constant is
too large, the positioning settling time will be too long.
4. Set the torque reference filter to a small value in Pn401 if the mechanical system
has shaft torsional resonance. If the mechanical system generates oscillation
noise in a high-pitched tone, shaft torsional resonance may occur. In that case,
set Pn401 to a larger value.
5. Finally, progressively make fine adjustments to parameters such as the position
loop gain, speed loop gain, and integral time constant to find the optimal points.

Function to Improve Response Characteristics

The mode switch, feed-forward, and bias functions can improve the response of the
servo system only if they are used properly. If they are used improperly, they will
worsen the response. Refer to the following instructions and make adjustments to
these functions while observing the change in the actual response.

Mode Switch
Use the mode switch function to improve the transient characteristics of the servo
system if there is torque reference saturation at the time of acceleration or decelera-
tion. The speed loop in PI (proportional and integral) control is switched over to P
(proportional) control when the operation speed exceeds the set value in this func-
tion.

Feed-forward Function
The responsiveness is increased by using the feed-forward function. This function is
not effective if the position loop gain is set to a high value. Adjust the feed-forward
set value of Pn109 as described below.

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Sigma II User’s Manual Chapter 6: Servo Adjustment

1. Adjust speed and position loops according to the method described on this page.
2. Gradually increase the set value of Pn109 so that the positioning completion sig-
nal (/COIN) will be output too quickly.
Make sure that the positioning completion signal (/COIN) does not bounce (i.e.,
turned ON and OFF repeatedly within a short period) and that speed overshoot
does not occur. These will likely occur if the feed-forward value is too high.
It is possible to add a primary delay filter (to be set in Pn10A) to the feed-for-
ward function. The primary delay filter may prevent the positioning completion
signal from bouncing and the system speed from overshooting.

Bias Function
This function adds the bias set in Pn107 to the output (i.e., speed reference) of the
error counter if the number of accumulated pulses of the error counter exceeds the
bias increment width set in Pn108. The bias will not be added if the output is within
the bias increment width. As a result, the number of accumulated pulses of the error
counter decreases and the time required for positioning can be shortened.
If the bias set value of Pn107 is too large, the motor speed will be unstable. The
optimum bias value varies with the load, gain, and bias increment width. Make bias
adjustments while observing the response. When not using this function, set Pn107
to 0.
Speed
Motor speed without bias function
Speed Motor speed with bias function
reference

Time
Bias increment width
Bias
OFF ON OFF (Accumulated pulse setting)
Pn107
Pn108

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Sigma II User’s Manual Chapter 6: Servo Adjustment

6.4.4 Gain Setting Reference Values

This section describes servo gain reference values.

Refer to the following for optimal gain adjustments according to the rigidity of the
mechanical system. Refer to these values and use the previously mentioned methods
to make gain adjustments. These values are for reference only and do not mean that
the mechanical system has good response characteristics or is free from oscillation in
the specified ranges.
Observe the response by monitoring the response waveform and make the optimum
gain adjustments. If the rigidity of the machinery is high, gain increments exceeding
the described ranges are possible.

Machines with High Rigidity
These machines are directly connected to ball screws.
Examples: Chip mounting machine, bonding machine, and high-precision machine
tool

Speed Loop Integral Time Constant

Position Loop Gain (Pn102) Speed Loop Gain (Pn100)
(Pn101)
50 to 70s -1 50 to 70Hz 5 to 20ms

Machines with Medium Rigidity

These machines are driven by ball screws through speed reducers or long-length
machines directly driven by screws.
Examples: General machine tool, transverse robot, and conveyor

Speed Loop Gain Speed Loop Integral Time Constant

Position Loop Gain (Pn102)
(Pn100) (Pn101)
30 to 50s-1 30 to 50Hz 10 to 40ms

Machines with Low Rigidity

These machines are driven by timing belts, chains, or machines with harmonic gear
reducers.
Examples: Conveyor, and articulated robot

Speed Loop Integral Time Constant

Position Loop Gain (Pn102) Speed Loop Gain (Pn100)
(Pn101)
10 to 20s-1 10 to 20Hz 50 to 120ms

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Sigma II User’s Manual Chapter 6: Servo Adjustment

IMPORTANT
• When the inertia ratio is larger than 10, start gain adjustments with the position and speed
loop gains slightly below the ranges given above and the speed loop integral constant
slightly over the range.
• When the inertia ratio is much larger, start the gain adjustments with the position and
speed loop gains set to the smallest values and the speed loop integral constant to the
large value in the ranges given above.

In speed control operation, the position loop gain is set through the host controller.
If that is not possible, adjust the position loop gain with the speed reference input
gain in Pn300 in the servo amplifier. In speed control operation, the position loop
gain set in Pn102 is enabled in zero-clamp mode only. Position loop gain K p is
obtainable from the following formula.
V
Kp ≥ s
ε

Where: K p (s-1 ) = Position Loop Gain

Vs (pps) = Constant Speed Reference
ε (Pulse) = Constant Error: The number of accumulated pulses
of the error counter at the above constant speed.

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Sigma II User’s Manual Chapter 6: Servo Adjustment

6.5 Analog Monitor

The analog monitor can be used to observe a variety of analog voltage signals.
Analog monitor signals must be observed through the CN5 connector using the
DE9404559 cable.
Black Black

CN5

MODE/SET DATA/
CHARGE POWER Red White

Cable Color Signal Name Description

White Analog monitor 1 Torque reference: 1V/100% rated torque
Red Analog monitor 2 motor speed:1 V/1000rpm
Black (two wires) GND (0V) —

Analog monitor signals can be selected with parameters Pn003.0 and Pn003.1.

Parameter Signal Setting Description

Pn003.0 Analog Monitor 1 Default Setting: 2 Speed/Torque Control,

Position Control

Pn003.1 Analog Monitor 2 Default Setting: 0 Speed/Torque Control,

Position Control

The following monitor signals can be observed.

Settings in Pn003.0 Description

and Pn003.1 Monitor signal Observation gain
0 Motor speed 1V/1000rpm
1 Speed reference 1V/1000rpm
2 Torque reference 1V/100% rated torque
3 Position error 0.05 V/1 reference unit
4 Position error 0.05 V/100 reference unit
5 Reference pulse frequency (converted to rpm) 1V/1000rpm
6 Motor speed 1V/250rpm
7 Motor speed 1V/125rpm
8- E Reserved monitor signal —

Note: 1. In the case of torque or speed control mode, the position error monitor signal has no meaning.
2. The output voltage range of the analog monitor is ±8V maximum. The polarity of the output voltage
will be changed if ±8V is exceeded.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

7 Using the Digital Operator

This chapter describes the basic operation of the digital operator
and the features it offers. All parameter settings and motor
operations can be executed by simple, convenient operations.
Operate the digital operator as you read through this chapter.
7.1 Basic Operation............................................................................................................. 7-2
7.1.1 Connecting the Digital Operator.......................................................................... 7-2
7.1.2 Functions .............................................................................................................. 7-3
7.1.3 Resetting Servo Alarms ....................................................................................... 7-5
7.1.4 Basic Mode Selection .......................................................................................... 7-6
7.1.5 Status Display Mode ............................................................................................ 7-7
7.1.6 Operation in Parameter Setting Mode ............................................................... 7-10
7.1.7 Operation in Monitor Mode ............................................................................... 7-18
7.2 Applied Operation....................................................................................................... 7-24
7.2.1 Operation in Alarm Traceback Mode ................................................................ 7-25
7.2.2 JOG Operation Using the Digital Operator ....................................................... 7-27
7.2.3 Automatic Adjustment of the Speed and Torque Reference Offset ................... 7-30
7.2.4 Manual Adjustment of the Speed and Torque Reference Offset ....................... 7-33
7.2.5 Clearing Alarm Traceback Data ........................................................................ 7-38
7.2.6 Checking the Motor Model ................................................................................ 7-40
7.2.7 Checking the Software Version.......................................................................... 7-43
7.2.8 Origin Search Model.......................................................................................... 7-44
7.2.9 Initializing Parameter Settings ........................................................................... 7-47
7.2.10 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output .... 7-49
7.2.11 Adjusting the Motor Current Detection Offset .................................................. 7-54
7.2.12 Write Protected Setting ...................................................................................... 7-58
7.2.13 Clearing the Option Unit Detection Alarm ........................................................ 7-60

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7.1 Basic Operation

This section provides information on the basic operation of the digital operator for setting
operating conditions.

7.1.1 Connecting the Digital Operator

There are two types of digital operators. One is a built-in operator incorporating a
panel indicator and switches located on the front panel of the servo amplifier. This
type of digital operator is also called a panel operator. The other one is a hand-held
operator (i.e., the JUSP-OP02A-1 digital operator), which can be connected to the
servo amplifier through connector CN3 of the servo amplifier.
There is no need to turn OFF the servo amplifier to connect this hand-held operator
to the servo amplifier. Refer to the following illustrations to connect the hand-held
digital operator to the servo amplifier.
Hand-held Digital Operator
JUSP-0102A-1 Built-in Panel Operator
YASKAWA 2 00V
SERVO PACK
SGDH-

D IGIT A L
SERVOPACK OP E R A T OR MO DE/ SET D ATA/
J U S P -OP 0 2 A -1

AL ARM DSPL
RESET SET

J OG DAT A
S V ON ENT ER

YASKAWA

CN3

A single-purpose cable
(JZSP-CMS00-1) is
used to connect the
digital operator to the
servo amplifier.
Servo Amplifier

Note: If the hand-held digital operator is connected to the servo amplifier, the built-in panel operator does
not display anything.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

7.1.2 Functions

The digital operator can be used for parameter settings, operating references, and
status displays.
This section provides information on the keys and their functions available from the
initial displays.

Key Name Function

AL ARM
RESET Key Press this key to reset the servo
RESET
alarm
DIGI TAL
SERVOPACK OPERATOR
JUSP-O P02 A- 1
ALARM DSPL
RESET SET • Press this key to select the status
J OG DATA
display mode, auxiliary function
SVON ENTER DSPL mode, parameter setting mode, or
DSPL/SET Key
SET
monitor mode.
• This key is used for data selection
in parameter setting mode
YASKAWA
Press this key to set each parameter
DATA
ENTER DATA/ENTER Key or display the set value of each
parameter.

Value Press this key to increase the set

Change/ Up Arrow Key value. This key is used as a forward
JOG Key start key in JOG operation.

Press this key to decrease the set

Down Arrow Key value. This key is used as a reverse
start key in JOG operation.

• Press this key to select the digit to

Digit
Select Right Arrow Key be changed. The selected digit
Key flashes.
• Press the Right Arrow key to shift
to the next digit on the right.
Left Arrow Key • Press the Left Arrow key to shift
to the next digit on the left.

JOG
SVON Key Press this key to perform the JOG
SVON
operation with the digital operator.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Built-in Panel Operator

YASKAWA 200V
SERVOPACK
SGDM-

Key Name Function

• Press this key to set parame-
ters or display the set values of
MODE/SET DATA/ Up Arrow Key
parameters.
• Press the Up Arrow key to
increase the set value.
• Press the Down Arrow key to
decrease the set value.
Down Arrow Key • Press the Up and Down Arrow
keys together to reset a servo
alarm.
Press this key to select the status
MODE/SET Key indicator mode, auxiliary function
mode, parameter setting mode, or
MODE/SET
monitor mode.
• Press this key to set each
parameter or display the set
value of each parameter.
DATA/SHIFT Key
DATA/
• This key is used for selecting
the editing (flashing) digit or
data setting.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

7.1.3 Resetting Servo Alarms

Servo alarms can be reset using the digital operator.

Using the Hand-held Digital Operator

Press the RESET key in status display mode.

Using the Built-in Panel Operator

Press the Up Arrow AND Down Arrow keys together in status display mode.
The alarm can be reset with CN1-44, or /ALM-RST signal input. Refer to 5.5.1
Using Servo Alarm and Alarm Code Outputs.
The servo alarm will be reset if the control power supply is turned OFF.

IMPORTANT
• If an alarm is ON, reset the alarm after eliminating the cause of the alarm first. Refer to 9.2 Troubleshoot-
ing.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

7.1.4 Basic Mode Selection

The basic mode selection of the digital operator is used for indicating the status of
the servo amplifier in operation and setting a variety of parameters and operation ref-
erences.
The status display, auxiliary function, parameter setting, and monitor modes are the
basic modes. As shown below, the mode is selected in the following order by
pressing the key.
Hand-held Digital Operator Panel Operator

Press the DSPL/SET Key. Press the MODE/SET Key.

The basic mode changes. The basic mode changes.

Power ON

Status display mode (Refer to

7.1.5 Status Display Mode)

Auxiliary function mode (Refer

to 7.2 Applied Operation)

Parameter Setting Mode (Refer to 7.1.6

Operation in Parameter Setting Mode)

Monitor Mode (Refer to 7.1.7

Operation in Monitor Mode)

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

7.1.5 Status Display Mode

In status display mode, bit data and codes are displayed to indicate the status of the
servo amplifier.

Selecting Status Display Mode

The digital operator goes into status display mode when the digital operation is
turned ON.

Data in Status Display Mode

The screen contents in status display are different for speed, torque, and position
control modes.

Speed and Torque Control Mode

Bit Data Code
Speed Coincidence*

BaseBlock

Control Power ON
TGON
Speed Reference input Power Ready
Torque Reference Input

* This indicator is always lit when the Servopack is in torque control mode.

The following tables list and explain the meanings of bit data and code displays in
Speed, and Torque Control Modes.

Bit Data and Meanings in Speed and Torque Control Mode

Bit Datum Meaning
Control Power ON Lit when servo amplifier control power is ON.
Baseblock Lit for baseblock.
Not lit when servo is ON.
Lit when the difference between the motor speed and reference
Speed Coincidence speed is the same as or less than the value set in Pn503.
(The default value set in Pn503 is 10rpm).
/TGON Lit if motor speed exceeds preset value
Preset value: Set in Pn502. (Default setting is 20rpm).
Speed Reference Input Lit if input speed reference exceeds preset value.
Specified value: Set in Pn502. (Default setting is 20rpm)
Torque Reference Input Lit if input torque reference exceeds preset value.
Preset value: 10% rated torque is default setting
Power Ready Lit when main power supply circuit is operating at normal level.
Not lit when power is OFF.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Codes and Meanings in Speed and Torque Control Mode

Code Meaning
Baseblock
Servo OFF (motor power OFF)
Run
Servo ON (motor power ON)
Forward Run Prohibited
CN1-42 (P-OT) is OFF. Refer to 5.1.2 Setting the Overtravel Limit
Function.
Reverse Run Prohibited
CN1-43 (N-OT) is OFF. Refer to 5.1.2 Setting the Overtravel Limit
Function.

Alarm Status
Displays the alarm number. Refer to 9.2 Troubleshooting.

Position Control Mode

Bit Data Code

Positioning Completed
Baseblock

Control Power ON
TGON
Reference Pulse Input Power Ready
Error Counter Clear Input

The following tables list and explain the meanings of bit data and code displays in
Position Control Mode.

Bit Data and Meanings in Position Control Mode

Bit Datum Meaning
Control Power ON Lit when servo amplifier control power is ON.
Lit for baseblock.
Baseblock Not lit when servo is ON.
Lit if error between position reference and actual motor position
Positioning Completed is below preset value.
Preset value: Set in PN500. (Default setting is 7 pulses).
Lit if motor speed exceeds preset value.
/TGON Preset value: Set in Pn502. (Default setting is 20rpm).
Reference Pulse Input Lit if reference pulse is input.
Error Counter Clear Input Lit when error counter clear signal is input.
Lit when main power supply circuit is operating at normal level.
Power Ready Not lit when power is OFF.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Codes and Meanings in Position Control Mode

Code Meaning
Baseblock
Servo OFF (motor power OFF)
Run
Servo ON (motor power ON)
Forward Run Prohibited
CN1-42 (P-OT) is OFF. Refer to 5.1.2 Setting the Overtravel Limit
Function.
Reverse Run Prohibited
CN1-43 (N-OT) is OFF. Refer to 5.1.2 Setting the Overtravel Limit
Function.

Alarm Status
Displays the alarm number. Refer to 9.2 Troubleshooting.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

7.1.6 Operation in Parameter Setting Mode

Functions can be selected or adjusted by setting parameters. There are two types of
parameters that can be set. One type requires value setting and the other requires
function selection. These two types use different setting methods.
• With value setting, a parameter is set to a value within the specified range of the
parameter.
• With function selection, the functions allocated to each digit of the
seven-segment LED panel indicator (five digits) can be selected.
Refer to Appendix B List of Parameters.

Changing Parameter Settings

The parameter settings can be used to change parameter data. Check the permitted
range of the parameters in Appendix B List of Parameters, before changing the data.
The example below shows how to change parameter Pn507 from 100 to 85.

Using the Hand-held Digital Operator

1. Press the DSPL/SET key to select the parameter setting mode.

2. Select the parameter number to set. (Pn507 is selected in this example.)

Press the Left Arrow or Right Arrow key to select the digit. The
selected digit will flash.
Press tthe Up Arrow or Down Arrow key to change the value.
3. Press the DATA/ENTER key to display the current data for the parameter
selected at step 2.

4. Change the data as needed (to 85, in this example).

Press the Left Arrow or Right Arrow key to select the digit. The selected
digit will flash.
Press the Up Arrow or Down Arrow key to change the value.
Continue pressing the key until “00085” is displayed.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

5. Press the DATA/ENTER key to store the data. The display will flash.

6. Press the DATA/ENTER key again to return to the parameter number display.

This procedure has changed the setting of the parameter Pn507 from 100 to 85.
Repeat steps 2 to 6 to change the setting again.

Example Using the Built-in Panel Operator

YASKAWA 200V
SERVOPACK
SGDM-

1. Press the MODE/SET key to select the parameter setting mode.

MODE/SET DATA/

CHARGE POWER

2. Press the Up Arrow or Down Arrow key to select the parameter number to
set. (Pn507 is selected in this example.)
3. Press the DATA/SHIFT key for a minimum of one second to display the current
data for the parameter selected in step 2.

4. Press the Up Arrow or Down Arrow key to change to the desired value of
“00085”.
As you keep pressing the Up Arrow AND Down Arrow keys, and the
display changes faster.
5. Press the DATA/SHIFT key for a minimum of one second to save the data. The
display will flash.

6. Press the DATA/SHIFT key once more for a minimum of one second to display
the parameter number again.

This has changed the setting of the parameter Pn507 from 100 to 85.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Repeat steps 2 to 6 to change the setting again.

Note: Parameter numbers that are not defined are skipped during Operator operations.

IMPORTANT
• Press the DATA/SHIFT Key for a maximum of one second to shift to a higher (left) digit.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Function Selection Parameters

Types of Function Selection Parameters

The following table shows the parameters for selecting servo amplifier functions.

Parameter Default Important

Category Name
Number Setting Note
Pn000 Function Selection Basic 0000 (See 1)
Switches
Pn001 Function Selection Application 0000 (See 1)
Function Selection Switches 1
Parameters Function Selection Application
Pn002 0000 (See 1)
Switches 2
Pn003 Function Selection Application 0002 —
Switches 3
Pn10B Gain-related Application 0000 (See 2)
Gain-related Param- Switches
eters
Pn110 Online Autotuning Switches 0010 (See 2)
Position Control- Pn200 Position Control Reference 0000 (See 1)
related Parameter Selection Switches
Pn50A Input Signal Selections 1 2100 (See 1)
Pn50B Input Signal Selections 2 6543 (See 1)
Pn50C Input Signal Selections 3 8888 (See 1)
Sequence-related
Parameters Pn50D Input Signal Selections 4 8888 (See 1)
Pn50E Output Signal Selections 1 3211 (See 1)
Pn50F Output Signal Selections 2 0000 (See 1)
Pn510 Output Signal Selections 3 0000 (See 1)

IMPORTANT
1. After changing these parameters, turn OFF the main circuit and control power supplies and then turn them
ON again to enable the new settings.
2. Changing bits Pn10B.1 and Pn110.0 require the same sequence described in note 1 (above).

Parameter settings are displayed in two patterns as shown below.

Display Application Display Format

Function selection Hexadecimal display for each digit

Parameters setting Decimal display in five digits

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Since each digit in the function selection parameters has its own meaning, the value
can only be changed for each individual digit. Each digit can only display a value
within its own permitted range.

Definition of Display for Function Selection Parameters

Each digit of the function selection parameters has a unique meaning.
For example, the rightmost digit of parameter Pn000 is expressed as “Pn000.0”.
• Each digit of the function selection parameters is defined as shown below. The
parameter displayed below shows how the digits in the display are assigned.

0 digit
1 digit
2 digit
3 digit

Distribution of parameter digits

Designation Meaning
Pn000.0 Indicates the value entered at the 0 digit of parameter Pn000.
Pn000.1 Indicates the value entered at the 1 digit of parameter Pn000.
Pn000.2 Indicates the value entered at the 2 digit of parameter Pn000.
Pn000.3 Indicates the value entered at the 3 digit of parameter Pn000.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Changing Function Selection Parameter Settings

Using the Hand-held Digital Operator

1. Press the DSPL/SET key to select the parameter setting mode.

2. Select the parameter number to be set.

Press the Left Arrow or Right Arrow key to select the digit. The selected
digit will flash.
Press the Up Arrow or Down Arrow key to change the value. (Pn000 is
selected in this example.)
3. Press the DATA/ENTER key to display the current data of the parameter
selected in the above step 2.
Digit to be se

4. Press the Left Arrow or Right Arrow key to select the digit.
Digit to be set

5. Press the Up Arrow or Down Arrow key to select the value defined as a
function setting for the selected digit.
Digit to be set

Repeat the above steps 4 and 5 for changing the data as required.
6. Press the DATA/ENTER key to save the data. The display will flash.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

7. Press the DATA/ENTER key once more to return to the parameter number
display.

This has changed the 1 digit of parameter Pn000 to “1”.

Using the Built-in Panel Operator

YASKAWA 200V
SERVOPACK
SGDM-

1. Press the MODE/SET key to select the parameter setting mode.

MODE/SET DATA/

CHARGE POWER

2. Press the Up Arrow or Down Arrow key to select the parameter number to
be set. (Pn000 is selected in this example.)
3. Press the DATA/SHIFT key for a minimum of one second to display the current
data for the selected parameter.
Digit to be set

4. Press the DATA/SHIFT key to select the digit to be set.

Digit to be set

5. Press the Up Arrow or Down Arrow key to select the value defined as a
function setting for the selected digit.
Digit to be set

Repeat the above steps 4 and 5 for changing the data as required.
6. Press the DATA/SHIFT key for a minimum of one second to save the data. The
display will flash.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

7. Press the DATA/SHIFT key once more for a minimum of one second to return
to the parameter number display.

This has changed the 1 digit of parameter Pn000 to “1”.

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7.1.7 Operation in Monitor Mode

The Monitor Mode can be used for monitoring the reference values, I/O signal
status, and servo amplifier internal status.
The monitor mode can be set during motor operation.

Using the Monitor Mode

The example below shows how to display 1500, the contents of monitor number
Un000 when the Servomotor rotates at 1500rpm.

Example With the Hand-held Digital Operator

1. Press the DSPL/SET key to select the monitor mode.

2. Press the Up Arrow or Down Arrow key to select the monitor number to
be displayed.
3. Press the DATA/ENTER key to display the monitor number selected in the
above step 2.
Data

4. Press the DATA/ENTER key once more to return to the monitor number
display.

With the Built-in Panel Operator

YASKAWA 200V
SERVOPACK
SGDM-

MODE/SET DATA/
1. Press the MODE/SET key to select the monitor mode.
CHARGE POWER

2. Press the Up Arrow or Down Arrow key to select the monitor number to
be displayed.
3. Press the DATA/SHIFT key for a minimum of one second to display the
monitor number selected in the above step 2.
Data

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

4. Press the DATA/SHIFT key once more for a minimum of one second to return
to the monitor number display.

This completes the example procedure for displaying 1500, the contents of
monitor number Un000.

Contents of Monitor Mode Display

The following table shows contents of the monitor mode display.

Monitor
Monitor Display Unit Comments
Number
Un000 Actual motor speed rpm —
Un001 Input speed reference rpm (See note 3 below)
Un002 Internal torque reference % Value for rated torque
Un003 Rotation angle 1 pulses Number of pulses from the origin
Un004 Rotation angle 2 degree Angle (electrical angle) from the origin
Un005 Input signal monitor — (See note 1 below)
Un006 Output signal monitor — (See note 1 below)
Un007 Input reference pulse rpm (See note 4 below)
speed
Un008 Error counter value reference
unit Positional error (See note 4 below)

Un009 Accumulated load rate % Value for the rated torque as 100%
Displays effective torque in 10s cycle.
Un00A Regenerative load rate % Value for the processable regenerative power as 100%
Displays regenerative power consumption in 10s cycle.
Power consumed by DB Value for the processable power when dynamic brake
Un00B % is applied as 100%
resistance Displays DB power consumption in 10s cycle.
Input reference pulse
Un00C — In hexadecimal (See notes 2 and 4)below
counter
Un00D Feedback pulse counter — In hexadecimal

Note: 1. Refer to Sequence I/O Signal Monitor Display on the next page.
2. Refer to Reference Pulse/Feedback Pulse Counter Monitor Display on page 7 - 22.
3. Displayed only in speed control mode.
4. Displayed only in position control mode.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Sequence I/O Signal Monitor Display

The following section describes the monitor display for sequence I/O signals.

Input Signal Monitor Display

Top: ON = High level
Bottom: ON = Low level

8 7 6 5 4 3 2 1 Number

LED Number Input Terminal Name Default Setting

1 SI0 (CN1-40) /S-ON
2 SI1 (CN1-41) /P-CON
3 SI2 (CN1-42) P-OT
4 SI3 (CN1-43) N-OT
5 SI4 (CN1-44) /ALM-RST
6 SI5 (CN1-45) /P-CL
7 SI6 (CN1-46) /N-CL
8 (CN1-4) SEN

Note Refer to 5.3.3 Input Circuit Signal Allocation for details on input terminals.
Input signals are allocated as shown above and displayed on the panel of the servo
amplifier or the digital operator. They are indicated by the ON/OFF status of the
vertical parts of seven-segment displays located in top and bottom rows. (The
horizontal segments are not used here). These turn ON or OFF relative to the state
of the corresponding input signals (ON for “L” level and OFF for “H” level).

Examples
• When /S-ON signal is ON (Servo ON at “L” signal)

The bottom segment

of number 1 is lit.
87 6 5 4 3 2 1

• When /S-ON signal is OFF

The top segment of
number 1 is lit.
87 6 5 4 3 2 1

• When P-OT signal operates (Operates at “H” signal)

The top segment of
number 3 is lit.

87 6 5 4 3 2 1

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Output Signal Monitor Display

Top: ON = High level
Bottom: ON = Low level

7 6 5 4 3 2 1 Number

LED Number Output Terminal Name Default Setting

1 (CN1-31, -32) ALM
2 SO1 (CN1-25, -26) /COIN or /V-CMP
3 SO2 (CN1-27, -28) /TGON
4 SO3 (CN1-29, -30) /S-RDY
5 (CN1-37) AL01
6 (CN1-38) AL02
7 (CN1-39) AL03

Note: Refer to 5.3.4 Output Circuit Signal Allocation for details on output terminals.
Output signals are allocated as shown above and displayed on the panel of the servo
amplifier or the digital operator. They are indicated by the ON/OFF status of the
vertical parts of seven-segment displays located in top and bottom rows. (The
horizontal segments are not used here). These turn ON or OFF relative to the state
of the corresponding output signals (ON for “L” level and OFF for “H” level).

Example
• When ALM signal operates (alarm at “H”)
Only the top segment
of number 1 is lit.

7 6 5 4 3 2 1 Number

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Reference Pulse/Feedback Pulse Counter Monitor Display

The monitor display of reference pulse counter and feedback pulse counter is
expressed in 32-bit hexadecimal.

The display procedure is as follows:

Using the Hand-held Digital Operator

1. Press the DSPL/SET key to select the monitor mode.

2. Press the Up Arrow or Down Arrow key to select “Un00C” or “Un00D”.
3. Press the DATA/ENTER key to display the data for the monitor number
selected in the above step.

4. Press the Up Arrow or Down Arrow key to alternately display the

leftmost and the rightmost 16-bit data.

Leftmost 16-bit Data Rightmost 16-bit Data

5. Press both the Up Arrow AND Down Arrow keys simultaneously to clear
the 32-bit counter data.
6. Press the DATA/ENTER key once more to return to the monitor number
display.

Using the Built-in Panel Operator

YASKAWA 200V
SERVOPACK
SGDM-

1. Press the MODE/SET key to select the monitor mode.

MODE/SET DATA/

CHARGE POWER

2. Press the Up Arrow AND Down Arrow keys to select “Un00C” or

“Un00D”.
3. Press the DATA/SHIFT key for a minimum of one second to display the data for
the monitor number selected in the above step.

4. Press the Up Arrow or Down Arrow key to alternately display the

leftmost 16-bit data and rightmost 16-bit data.

Leftmost 16-bit Data Rightmost 16-bit Data

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

5. Press both the Up Arrow AND Down Arrow keys simultaneously to clear
the 32-bit counter data.
6. Press the DATA/SHIFT key once more for a minimum of one second to return
to the monitor number display.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

7.2 Applied Operation

This section describes how to apply the basic operations using the digital operator to run
and adjust the motor. Read the basic operations described in 7.1 Using the Digital
Operator before proceeding to this section.
Parameters for applied operation can be set in the auxiliary function mode. The following
table shows the parameters in the auxiliary function mode.

Parameter
Function Comments
Number
Fn000 Alarm traceback data display —
Fn001 Rigidity setting during online auto-tuning (See note).
Fn002 JOG mode operation
Fn003 Zero-point search mode —
Fn004 (Reserved parameter)
Fn005 Parameter settings initialization
Fn006 Alarm traceback data clear
Fn007 Writing to EEPROM the inertia ratio data obtained from online auto-tuning
Fn008 Absolute encoder multi-turn reset and encoder alarm reset.
Fn009 Automatic tuning of analog (speed, torque) reference offset
Fn00A Manual adjustment of speed reference offset (See note).
Fn00B Manual adjustment of torque reference offset
Fn00C Manual zero-adjustment of analog monitor output
Fn00D Manual gain-adjustment of analog monitor output
Fn00E Automatic offset-adjustment of motor current detection signal
Fn00F Manual offset-adjustment of motor current detection signal
Fn010 Password setting (protects from parameter changes)
Fn011 Motor models display —
Fn012 Software version display
Fn013 Change Multi-Turn Limit Setting Value when a Multi-Turn Limit Disagreement (See note).
Alarm occurs
Fn014 Clear of option unit detection results (See note).

Note: These parameters and those indicated as Pn


are displayed as shown below if their write protect
is set (Fn010). These parameters cannot be changed.

Flashing for one second

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

7.2.1 Operation in Alarm Traceback Mode

The Alarm Traceback Mode can display up to ten alarms that have occurred, thus
making it possible to check what kind of alarms have been generated.
The alarm traceback data is not cleared on alarm reset or when the servo amplifier
power is turned OFF.
The data can be cleared using the special “clear alarm traceback mode.” Refer to
7.2.5 Clearing Alarm Traceback Data for details.

Alarm Code
See the table of
Alarm Sequence Number alarms.
The higher the number,
the older the alarm data.

Checking Alarms
Follow the procedure below to determine which alarms have been generated.

Using the Hand-held Digital Operator

1. Press the DSPL/SET key to select the “Displaying alarm traceback data
(Fn000)” in the auxiliary function mode.
Alarm Traceback
Display

2. Press the DATA/ENTER key, and the alarm traceback data will be displayed.
3. Press the Up Arrow or Down Arrow key to scroll the alarm sequence
numbers up or down and display information on previous alarms.
The higher the leftmost digit (alarm sequence number), the older the alarm data.

Using the Built-in Panel Operator

YASKAWA 200V
SERVOPACK
SGDM-

1. Press the MODE/SET key to select the “Displaying alarm traceback data
MODE/SET

CHARGE
DATA/

POWER
(Fn000)” in the auxiliary function mode.
Alarm Traceback
Display

2. Press the DATA/SHIFT key for a minimum of one second to display the alarm
traceback data.
3. Press the Up Arrow or Down Arrow key to scroll the alarm sequence
numbers up or down and display information on previous alarms.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

The higher the leftmost digit (alarm sequence number), the older the alarm data.
For descriptions of each alarm code, refer to 9.2 Troubleshooting.
The following are operator-related alarms which are not recorded in the traceback
data.

Display Description

Digital operator transmission error 1

Digital operator transmission error 2

No error detected.

Note: Alarm traceback data is not updated when the same alarm occurs repeatedly.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

7.2.2 JOG Operation Using the Digital Operator

CAUTION
• Forward run prohibited (/P-OT) and reverse run prohibited (/N-OT) signals are not effective during JOG
operations using parameter Fn002.

Operation from the digital operator allows the servo amplifier to run the motor. This
allows rapid checking of motor’s rotation direction and speed setting during machine
setup and testing, saving the time and trouble of connecting to a host controller.
For motor speed setting procedure, refer to 7.1.6 Operation in Parameter Setting
Mode and 5.3.2 JOG Speed.

Panel YASKAWA 200V

200V Servo amplifier
SERVOPaCK

Operator SGDH-

MODE/SET DATA/

CHARGE POWER

L1 C
N
L2 3

Power 1
2

C
L1C N
L2C 1
B1
B2
Servomotor
U

V
W C
N
2

Operation procedure using the digital operator is described on the following pages.

Using the Hand-held Digital Operator

1. Press the DSPL/SET key to select Fn002 in the auxiliary function mode.

2. Press the DATA/ENTER key to select the digital operator operation mode.
Operation is now possible using the digital operator.

3. Press the SVON key to set to the servo ON state (with motor power turned ON).

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

4. Press the Up Arrow or Down Arrow key to operate the motor. The motor
keeps operating while the key is pressed.

Motor Forward Motor Reverse

Rotation Rotation

5. Press the MODE/SET key, and the display will revert to Fn002. This sets to the
servo OFF state (with motor power turned OFF). Alternatively, press the SVON
Key to set to the servo OFF state.

This ends JOG operation under digital operator control.

Using the Built-in Panel Operator

YASKAWA 200V
SERVOPACK
SGDM-

1. Press the MODE/SET key to select Fn002 in the auxiliary function mode.
MODE/SET DATA/

CHARGE POWER

2. Press the DATA/SHIFT key for a minimum of one second to select the Panel
Operator Operation Mode. Operation is now possible using the panel operator.

3. Press the MODE/SET key to set to the servo ON (with motor power turned
ON).

4. Press the Up Arrow or Down Arrow key to operate the motor. The motor
keeps operating while the key is pressed.

Motor Forward Motor Reverse

Rotation Rotation

5. Press the MODE/SET key to set to the servo OFF state (with motor power
turned OFF). Alternatively, press the DATA/SHIFT key for a minimum of one
second to set to the servo OFF state.
6. Press the DATA/SHIFT key for a minimum of one second, and the display will
revert to Fn002 in the auxiliary function mode.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

This ends JOG operation under panel operator control.

The motor speed for operation under digital operator control can be changed with a
parameter:

Setting
Parameter Signal Application
(rpm)
Pn304 Jog Speed Default Setting: 500 Speed Control

Note: The rotation direction of the servomotor depends on the setting of parameter Pn000.0 “Rotation
Direction.” The above example shows a case where Pn000.0 is set to “0” as a default setting.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

7.2.3 Automatic Adjustment of the Speed and Torque Reference Offset

When speed and torque control are used, the motor may rotate slowly even when 0V
is specified as the analog reference voltage. This occurs when the host controller or
external circuit has a small offset (measured in mV) in the reference voltage.
The Automatic Reference Offset Adjustment Mode automatically measures the
offset and adjusts the reference voltage. It adjusts both the speed and torque
references.
The following diagram illustrates automatic adjustment of an offset in the reference
voltage by the servo amplifier.

Reference Offset Reference

voltage voltage Offset
automatically
adjusted in
Servo amplifier

Speed or Speed or
torque Automatic offset
torque
reference adjustment
reference

After completion of automatic offset adjustment, the amount of offset is stored in the
servo amplifier.
The amount of offset can be checked in the Speed Reference Offset Manual
Adjustment Mode. Refer to 7.2.4 Manual Adjustment of the Speed and Torque
Reference Offset for details.
The automatic reference offset adjustment mode cannot be used for setting the error
pulses to zero for a stopped servo amplifier when a position loop is formed with a
host controller. In such cases, use the manual reference offset adjustment mode.
Refer to 7.2.4 Manual Adjustment of the Speed and Torque Reference Offset for
details.
The zero-clamp speed control function is available to force the motor to stop while
the zero speed reference is given. Refer to 5.4.3 Using the Zero Clamp Function.

IMPORTANT
• Automatic adjustment of the speed/torque reference offset must be performed under the servo OFF state.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Follow this procedure to automatically adjust the speed/torque reference offset.

Using the Hand-held Digital Operator

1. Input the (intended) 0V reference voltage from the host controller or external
circuit.
Servomotor
0V Speed or
Torque
Reference
Host
Controller
Servo OFF Slow Rotation
(Servo ON)

Servo amplifier

2. Press the DSPL/SET key to select the auxiliary function mode.

3. Select the parameter Fn009.

Press the Left Arrow or Right Arrow key to select the digit.
Press the Up Arrow or Down Arrow key to change the value.
4. Press the DATA/ENTER key, and the display will be as shown below.

5. Press the MODE/SET key, and the following display will flash for one second.

The reference offset will be automatically adjusted.

Flashing for
one second

6. Press the DATA/ENTER key to return to the auxiliary function mode display.

This completes the speed/torque reference offset automatic adjustment.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Using the Built-in Panel Operator

YASKAWA 200V
SERVOPACK
SGDM-

1. Input the (intended) 0V reference voltage from the host controller or external
MODE/SET

CHARGE
DATA/

POWER
circuit.
Servomotor

0V Speed
or Torque
Host Reference
Controller
Servo OFF Slow Rotation
(Servo ON)

Servo amplifier

2. Press the MODE/SET key to select the auxiliary function mode.

3. Press the Up Arrow or Down Arrow key to select the parameter Fn009.

4. Press the DATA/SHIFT key for a minimum of one second, and the display will
be as shown below.

5. Press the MODE/SET key, and the following display will flash for one second.
The reference offset will be automatically adjusted.
Flashing for
one second

6. Press the DATA/SHIFT key for a minimum of one second to return to the
auxiliary function mode display.

This completes the speed/torque reference offset automatic adjustment.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

7.2.4 Manual Adjustment of the Speed and Torque Reference Offset

Manual speed/torque reference offset adjustment is useful in the following

situations:
• If a position loop is formed with a host controller and the error zeroed-out when
the motor was stopped in servo lock (zero reference).
• To deliberately set the offset to some value.
This mode can also be used to check the data set in the Automatic Reference Offset
Adjustment Mode.
In principle, this mode operates in the same way as the Automatic Reference Offset
Adjustment Mode, except that the amount of offset is directly input during the
adjustment. The offset amount can be set in the speed reference or torque reference.
The offset setting range and setting units are as follows:

Reference Speed or Reference Torque

Offset Setting
Range

Analog Input Voltage

Offset Units

Offset Setting Range Offset Setting Range

Speed Reference: -9999 to +9999 Speed Reference: 0.58mV/LSB
Torque Reference: -128 to +127 Torque Reference: 1.47mV/LSB

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Manual Adjustment of Speed Reference Offset

Follow the procedure below to manually adjust the speed reference offset.

Using the Hand-held Digital Operator

1. Press the DSPL/SET key to select the auxiliary function mode.

2. Select the parameter Fn00A.

Press the Up Arrow or Down Arrow key to select the digit.
Press the Up Arrow or Down Arrow key to change the value.

3. Press the DATA/ENTER key, and the display will be as shown below. The
manual adjustment mode for the speed reference offset will be entered.

4. Turn ON the Servo ON (/S-ON) signal. The display will be as shown below.

5. Press the Left Arrow or Right Arrow key, to display the speed reference
offset amount.

6. Press the Up Arrow or Down Arrow key to adjust the amount of offset
(adjustment of the speed reference offset).
7. Press the Right Cursor Key to return to the display shown in the above step 4.
8. Press the DATA/ENTER key to return to the auxiliary function mode display.

This completes the speed reference offset manual adjustment.

Using the Built-in Panel Operator

YASKAWA 200V
SERVOPACK
SGDM-

1. Press the MODE/SET key to select the auxiliary function mode.

MODE/SET DATA/

CHARGE POWER

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

2. Press the Up Arrow or Down Arrow key to select the parameter Fn00A.

3. Press the DATA/SHIFT key for a minimum of one second, and the display will
be as shown below. The manual adjustment mode for the speed reference offset
will be entered.

4. Turn ON the Servo ON (/S-ON) signal. The display will be as shown below.

5. Press the DATA/SHIFT key for less than one second to display the speed
reference offset amount.

6. Press the Up Arrow or Down Arrow key to adjust the amount of offset
(adjustment of the speed reference offset).
7. Press the DATA/SHIFT key for less than one second to return to the display
shown in the above step 4.
8. Press the DATA/SHIFT key to return to the auxiliary function mode display.

This completes the speed reference offset manual adjustment.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Manual Adjustment of Torque Reference Offset

Follow the procedure below to manually adjust the torque reference offset.

Using the Hand-held Digital Operator

1. Press the DSPL/SET key to select the auxiliary function mode.

2. Select the parameter Fn00B.

Press the Left Arrow or Right Arrow key to select the digit.
Press the Up Arrow or Down Arrow key to change the value.

3. Press the DATA/ENTER key, and the display will be as shown below. The
manual adjustment mode for the torque reference offset will be entered.

4. Turn ON the Servo ON (/S-ON) signal. The display will be as shown below.

5. Press the Left Arrow or Right Arrow key to display the torque reference
offset amount.

6. Press the Up Arrow or Down Arrow key to adjust the offset amount
(adjustment of torque reference offset).
7. Press the Left Arrow or Right Arrow key, and the display will be as
shown above in step 4.
8. Press the DATA/ENTER key to return to the auxiliary function mode display.

This completes the torque reference offset manual adjustment.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Using the Built-in Panel Operator

YASKAWA 200V
SERVOPACK
SGDM-

1. Press the MODE/SET key to select the auxiliary function mode.

MODE/SET DATA/

CHARGE POWER

2. Press the Up Arrow or Down Arrow key to select the parameter Fn00B.

3. Press the MODE/SET key for a minimum of one second, and the display will be
as shown below. The manual adjustment mode for the torque reference offset
will be entered.

4. Turn ON the Servo ON (/S-ON) signal. The display will be as shown below.

5. Press the DATA/SHIFT key for less than one second, to display the torque
reference offset amount.

6. Press the Up Arrow or Down Arrow key to adjust the offset amount,
(Adjustment of torque reference offset).
7. Press the DATA/SHIFT key for less than one second, and the display will be as
shown in the above step 4.
8. Press the DATA/SHIFT key to return to the auxiliary function mode.

This completes the torque reference offset manual adjustment.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

7.2.5 Clearing Alarm Traceback Data

This procedure clears the alarm history, which stores the alarms generated in the
servo amplifier. After clearing, each alarm in the alarm history is set to A.- -, which
is not an alarm code. Refer to 7.2.1 Operation in Alarm Traceback Mode for details.
Follow the procedure below to clear the alarm traceback data.

Using the Hand-held Digital Operator

1. Press the DSPL/SET key to select the auxiliary function mode.

2. Select the parameter Fn006.

Press the Left Arrow or Right Arrow key to select the digit.
Press the Up Arrow or Down Arrow key to change the value.

3. Press the DATA/ENTER key, and the display will be as shown below.

4. Press the MODE/SET key to clear the alarm traceback data. The following
display will flash for one second, and, after the alarm traceback data is cleared,
the display will return to the one in the above step 3.
Flashing for
one second

5. Press the DATA/ENTER key to return to the parameter code display.

This completes the alarm traceback data clearing procedure.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Using the Built-in Panel Operator

YASKAWA 200V
SERVOPACK
SGDM-

1. Press the MODE/SET key to select the auxiliary function mode.

MODE/SET DATA/

CHARGE POWER

2. Press the Up Arrow or Down Arrow key to select the parameter Fn006.

3. Press the DATA/SHIFT key for a minimum of one second, and the display will
be as shown below.

4. Press the MODE/SET key to clear the alarm traceback data. The following
display will flash for one second, and, after the alarm traceback data is cleared,
the display will return to the one shown above in step 3.
Flashing for
one second

5. Press the DATA/SHIFT key for a minimum of one second to return to the
parameter code display.

This completes the alarm traceback data clearing procedure.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

7.2.6 Checking the Motor Model

Set the parameter Fn011 to select the Motor Model Check Mode. This mode is used
for motor maintenance, and can also be used to check the special (Y-specification)
codes of the servo amplifiers.

Follow the procedure below to check the motor model.

Using the Hand-held Digital Operator

1. Press the DSPL/SET key to select the auxiliary function mode.

2. Select the parameter Fn011.

Press the Left Arrow or Right Arrow key to select the digit.
Press the Up Arrow or Down Arrow key to change the value.

3. Press the DATA/ENTER key to display the servomotor model and voltage
code.

Voltage Servomotor Mode

Voltage Servomotor Model

Code Voltage Code Servomotor Model
00 100VAC or 140VDC 00 SGMAH
01 200VAC or 280VDC 01 SGMPH
02 400VAC or 560VDC 02 SGMSH
03 SGMGH-
A (1500rpm)
04 SGMGH-
B (1000rpm)
05 SGMDH
06 SGMUH

4. Press the MODE/SET key to display the Servomotor capacity.

Capacity: Displayed value × 10W.
In this example, the capacity is 100W.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

5. Press the DSPL/SET key to display the encoder type and resolution code.

Encoder Type Encoder Resolution

Encoder Type Encoder Resolution

Code Voltage Code Resolution
00 Incremental Encoder 13 13 bits
01 Absolute Encoder 16 16 bits
17 17 bits
20 Reserved

6. Press the DSPL/SET key to display the servo amplifier’s special

(Y-specification) code.
This example shows specification
code “Y10” (indicated in decimal).

7. Press the DATA/ENTER key to return to the auxiliary function mode display.
Pressing the DATA/ENTER key after the above displays in steps 3 to 5 will also
return to the auxiliary function mode display.

This completes checking motor type procedure.

Using the Built-in Panel Operator

YASKAWA 200V
SERVOPACK
SGDM-

1. Press the MODE/SET key to select the auxiliary function mode.

MODE/SET DATA/

CHARGE POWER

2. Press the Up Arrow or Down Arrow key to select the parameter Fn011.

3. Press the DATA/SHIFT key for a minimum of one second to display the
servomotor model and voltage code.

Voltage Servomotor Mode

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Voltage Servomotor Model

Code Voltage Code Servomotor Model
00 100VAC or 140VDC 00 SGMAH
01 200VAC or 280VDC 01 SGMPH
02 400VAC or 560VDC 02 SGMSH
03 SGMGH-
A (1500rpm)
04 SGMGH-
B (1000rpm)
05 SAGMDH
06 SGMUH

4. Press the MODE/SET key to display the Servomotor capacity.

Capacity: Displayed value × 10W.
In this example, the capacity is 100W.

5. Press the MODE/SET key, and the encoder type and resolution code will be
displayed.

Encoder Type Encoder Resolution

Encoder Type Encoder Resolution

Code Voltage Code Resolution
00 Incremental Encoder 13 13 bits
01 Absolute Encoder 16 16 bits
17 17 bits
20 Reserved

6. Press the MODE/SET key to display the servo amplifier’s special

(Y-specification) code.
This example shows specification
code “Y10” (indicated in decimal).

7. Press the DATA/SHIFT key to return to the auxiliary function mode display.
Pressing the DATA/SHIFT key after the above displays in steps 3 to 5 will also
return to the auxiliary function mode display.

This completes the motor type checking procedure.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

7.2.7 Checking the Software Version

Set Fn012 to select the Software Version Check Mode.

This mode is used for motor maintenance.
Follow the procedure below to check the software version.

Using the Hand-held Operator

1. Select the parameter Fn012.

2. Press the DATA/ENTER key, and the servo amplifier software version will be
displayed.
Software Version Display

Software
Version

3. Press the DSPL/SET key, and the software version of the encoder mounted on
the motor will be displayed.
Software Version Display

Software Version

4. Press the DATA/ENTER key to return to the parameter code display.

This completes the checking software version procedure.

Using the Built-in Panel Operator

YASKAWA 200V
SERVOPACK
SGDM-

1. Select the parameter Fn012.

MODE/SET

CHARGE
DATA/

POWER
2. Press the DATA/SHIFT key for a minimum of one second to display the servo
amplifier software version.
3. Press the MODE/SET key to display the encoder software version.
4. Press the DATA/SHIFT key for a minimum of one second to return to the
parameter code display.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

7.2.8 Origin Search Model

CAUTION
• Forward run prohibited (/P-OT) and reverse run prohibited (/N-OT) signals are not effective during jog oper-
ations using parameter Fn003.
The Origin Search Mode is designed to position the origin pulse position of the
encoder and to clamp at the position. This mode is used when the motor shaft needs
to be aligned to the machine. Execute the origin search without connecting the
couplings.
The speed for executing the origin search is 60rpm.

For aligning the motor

shaft with the machine
Mechanical origin

The following conditions must be met to perform the origin search operation.
• If the Servo-ON input signal (/S-ON) is ON, turn it OFF.
• Release the Servo-ON signal mask if the parameter Pn50A.1 is set to 7, and the
servo has been set to be always ON.
Follow the procedure on the next page to execute the origin search.

7 - 44
Sigma II User’s Manual Chapter 7: Using the Digital Operator

Using the Hand-held Digital Operator

1. Press the DSPL/SET key to select the auxiliary function mode.

2. Select the parameter Fn003.

Press the Left Arrow or Right Arrow key to select the digit.
Press the Up Arrow or Down Arrow key to change the value.

3. Press the DATA/ENTER key, and the display will be as shown below.

4. Press the SVON key, and the display will be as shown below. Now it is ready
for executing the origin search.

5. Hold down the Up Arrow or Down Arrow key to execute the origin
search.
When the parameter is set to Pn000.0 = 0 (default), pressing the Up Arrow
key will rotate the motor in the forward direction. Pressing the Down Arrow
key will rotate the motor in the reverse direction. When the parameter is set to
Pn000.0 = 1, the rotation of the motor is reversed.
Up: Forward Keeps flashing until
Down: Reverse search is completed

6. Press the DATA/ENTER key to return to the auxiliary function mode display.

This completes the origin search operation.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Using the Built-in Panel Operator

YASKAWA 200V
SERVOPACK
SGDM-

1. Press the MODE/SET key to select the auxiliary function mode.

MODE/SET DATA/

CHARGE POWER

2. Press the Up Arrow or Down Arrow key to select the parameter Fn003.

3. Press the DATA/SHIFT key for a minimum of one second, and the display will
be as shown below.

4. Press the DSPL/SET key, and the display will change as shown below. Now it
is ready for executing the origin search mode.

5. Hold down the Up Arrow or Down Arrow key to execute the origin
search.
When the parameter is set to Pn000.0 = 0 (default), pressing the Up Arrow
key will rotate the motor in the forward direction. Pressing the Down Arrow
key will rotate the motor in the reverse direction. When the parameter is set to
Pn000.0 = 1, the rotation of the motor is reversed.
Keeps flashing until
Up: Forward origin search is
Down: Reverse completed.

6. Press the DATA/SHIFT key for a minimum of one second to return to the
auxiliary function mode display.

This completes the origin search operation.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

7.2.9 Initializing Parameter Settings

This function is used to restore all the parameters to the default settings (standard
factory settings).

IMPORTANT
• Initialize the parameter settings with the servo OFF.
• After performing the procedure, cycle the power to restore all the parameters to the default settings.

Follow the procedure below to initialize parameter settings.

Using the Hand-held Digital Operator

1. Press the DSPL/SET key to select the auxiliary function mode.

2. Select the parameter Fn005.

Press the Left Arrow or Right Arrow key to select the digit.
Press the Up Arrow or Down Arrow key to change the value.

3. Press the DATA/ENTER key, and the display will be as shown below.

4. Press the DSPL/SET key, and the display will be as shown below. The
parameters will be initialized.
Flashing during End
initialization

Flashing for
one second

5. Press the DATA/ENTER key to return to the auxiliary function mode display.

This completes the initialization of parameter settings.

7 - 47
Sigma II User’s Manual Chapter 7: Using the Digital Operator

Using the Built-in Panel Operator

YASKAWA 200V
SERVOPACK
SGDM-

1. Press the MODE/SET key to select the auxiliary function mode.

MODE/SET DATA/

CHARGE POWER

2. Press the Up Arrow or Down Arrow key to select the parameter Fn005.

3. Press the DATA/SHIFT key for a minimum of one second, and the display will
be as shown below.

4. Press the MODE/SET key, and the display will be as shown below. The
parameters will be initialized.
Flashing during
initialization End

Flashing for
one second

5. Press the DATA/SHIFT key for a minimum of one second to return to the
auxiliary function mode display.

This completes the initialization of parameter settings.

Note: Parameters will not be initialized by pressing the DSPL/SET or MODE/SET key with the
servo ON. Turn the power OFF and then back ON after initialization.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

7.2.10 Manual Zero Adjustment and Gain Adjustment of

Analog Monitor Output
Motor speed, torque reference, and position error can be monitored through the
analog monitor output. Refer to 6.5 Analog Monitor.
Use the manual zero adjustment function to compensate for the output voltage drift
or the zero point drift caused by noise entering the monitor system. The gain
adjustment function can be changed to match the sensitivity of the measuring
system.
Monitor Output Voltage

Gain Adjustment

Zero Adjustment

Setting Unit
Zero Setting Range: ±2V
17mV/LSB
Gain Setting Range: 50 to 150%
0.4%/LSB

Note: The output voltage of the analog monitor is ±8V. The output voltage polarity will be reversed if ±8V
is exceeded.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Manual Zero Adjustment of Analog Monitor Output

Follow the procedure below to execute the manual zero adjustment of analog
monitor output.

Using the Hand-held Digital Operator

1. Press the DSPL/SET key to select the auxiliary function mode.

2. Select the parameter Fn00C.

Press the Left Arrow or Right Arrow key to select the digit.
Press the Up Arrow or Down Arrow key to change the value.

3. Press the DATA/ENTER key, and the display will be as shown below.

4. Press the DSPL/SET key. Each time the MODE/SET key is pressed, the
monitor output will toggle between the displays for the two channels shown
below.
DSPL/SET Key Data Display

Displayed
alternately

5. Press the Left Arrow or Right Arrow key to display the analog monitor
output data. Pressing the Left Arrow or Right Arrow key again will
return to the display shown in the above step 3 or 4.
LEFT Cursor Key
(RIGHT Cursor Key) Data Display

Displayed
alternately

6. Press the Up Arrow or Down Arrow key to perform zero adjustment of the
analog monitor output.
Data Setting Change

7. When zero adjustment has been completed for the two channels, press the
DATA/ENTER key to return to the auxiliary function mode display.

This completes the manual zero adjustment of the analog monitor output.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Using the Built-in Panel Operator

YASKAWA 200V
SERVOPACK
SGDM-

1. Press the MODE/SET key to select the auxiliary function mode.

MODE/SET DATA/

CHARGE POWER

2. Press the Up Arrow or Down Arrow key to select the parameter Fn00C.

3. Press the DATA/SHIFT key for a minimum of one second, and the display will
be as shown below.

4. Press the MODE/SET key. Each time the MODE/SET key is pressed, the
monitor output will toggle between the displays for the two channels shown
below.
MODE/SET Key

Displayed
Alternately

5. Press the DATA/SHIFT key for less than one second, and the analog monitor
gain parameter will be displayed. Pressing the DATA/SHIFT key again for less
than one second will return to the display shown in the above steps 3 or 4.
Data Display
DATA/SHIFT Key

Displayed
Alternately

6. Press the Up Arrow or Down Arrow key to perform zero adjustment of the
analog monitor output.
Data Setting Change

7. When zero adjustment has been completed for the two channels, press the
DATA/SHIFT key for a minimum of one second to return to the auxiliary
function mode display.

This completes the manual zero adjustment of the analog monitor output.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Manual Gain Adjustment of Analog Monitor Output

Follow the procedure below to execute the manual gain adjustment of analog
monitor output.

Using the Hand-held Digital Operator

1. Press the DSPL/SET key to select the auxiliary function mode.

2. Select the parameter Fn00D.

Press the Left Arrow or Right Arrow key to select the digit.
Press the Up Arrow or Down Arrow key to change the value.

3. Press the DATA/SHIFT key, and the display will be as shown below.

4. Press the DSPL/SET key. Each time the DSPL/SET key is pressed, the monitor
output will toggle between the displays for the two channels shown below.
DSPL/SET Key

Displayed
Alternately

5. Press the Left Arrow or Right Arrow key to display the analog monitor
gain parameter. Pressing the Left Arrow or Right Arrow key again will
return to the display shown above in step 3 or 4.
Left Cursor Key
(Right Cursor Key) Data Display

Displayed
Alternately

6. Press the Up Arrow or Down Arrow key to adjust the gain for the analog
monitor output.
Data Setting Change

7. When the gain adjustment has been completed for the two channels, press the
DATA/ENTER key to return to the auxiliary function mode display.

This completes the manual gain adjustment of the analog monitor output.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Using the Built-in Panel Operator

YASKAWA 200V
SERVOPACK
SGDM-

1. Press the MODE/SET key to select the auxiliary function mode.

MODE/SET DATA/

CHARGE POWER

2. Press the Left Arrow or Right Arrow key to select the parameter Fn00D.

3. Press the DATA/SHIFT key for a minimum of one second, and the display will
be as shown below.

4. Press the MODE/SET key. Each time the MODE/SET key is pressed, the
monitor output will toggle between the displays for the two channels shown
below.
MODE/SET Key

Displayed
Alternately

5. Press the DATA/SHIFT key for less than one second. The gain parameter for
the analog monitor will be displayed. Pressing the DATA/SHIFT key again for
less than one second will return to the display shown above in step 3 or 4.
Data Display
DATA/SHIFT Key

Displayed
Alternately

6. Press the Up Arrow or Down Arrow key to adjust the gain for the analog
monitor output.
Data Setting Change

7. When the gain adjustment has been completed for the two channels, press the
DATA/SHIFT key for a minimum of one second to return to the auxiliary
function mode display.

This completes the manual gain adjustment of the analog monitor output.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

7.2.11 Adjusting the Motor Current Detection Offset

Motor current detection offset adjustment is performed at Yaskawa before shipping.

Normally, the user does not need to perform this adjustment. Make this adjustment
only if highly accurate adjustment is required to reduce torque ripple caused by
current offset.

CAUTION
• If this function, particularly manual adjustment, is executed carelessly, it may degrade the
performance of the servo drive.

The following sections describe automatic and manual adjustment of the current
detection offset.

Automatic Adjustment of the Motor Current Detection Offset

IMPORTANT
• Automatic adjustment is possible only with power supplied to the main circuits ON and with the servo
OFF.

Use the following procedure to perform automatic adjustment of the current

detection offset.

Using the Hand-held Digital Operator

1. Press the DSPL/SET key to select the auxiliary function mode.

2. Select the parameter Fn00E.

Press the Left Arrow or Right Arrow key to select the digit.
Press the Left Arrow or Right Arrow key to change the value.

3. Press the DATA/ENTER key, and the display will be as shown below.

4. Press the DSPL/SET key. The display will change as shown below and offset

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

will be automatically adjusted.

Flashing
for one
second

5. Press the DATA/ENTER key to return to the auxiliary function mode display.

This completes the automatic adjustment of the motor current detection offset.

Using the Built-in Panel Operator

YASKAWA 200V
SERVOPACK
SGDM-

1. Press the MODE/SET key to select the auxiliary function mode.

MODE/SET DATA/

CHARGE POWER

2. Press the Up Arrow or Down Arrow key to select the parameter Fn00E.

3. Press the DATA/SHIFT key for a minimum of one second, and the display will
be as shown below.

4. Press the MODE/SET key. The display will change as shown below and the
offset will be automatically adjusted.
Flashing
for one
second

5. Press the DATA/SHIFT key for a minimum of one second to return to the
auxiliary function mode display.

This completes the automatic adjustment of the motor current detection offset.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Manually Adjusting the Motor Current Detection Offset

Follow the procedure below to manually adjust the current detection offset.

IMPORTANT
• When making manual adjustments, run the motor at a speed of approximately 100rpm, and adjust
the Motor Current Detection Offset until the torque ripple, observed with the analog monitor, is
minimized. (Refer to Section 6.5 Analog Monitor.)
Adjust the U-phase and V-phase offsets alternately several times until these offsets are well balanced.

Using the Hand-held Digital Operator

1. Press the DSPL/SET key to select the auxiliary function mode.

2. Select the parameter Fn00F.

Press the Left Arrow or Right Arrow key to select the digit.
Press the Up Arrow or Down Arrow key to change the value.

3. Press the DATA/ENTER key, and the display will be as shown below.

4. Press the DSPL/SET key to switch between the U-phase (Cu1_0) and V-phase
(Cu2_0) current detection offset adjustment mode
DSPL/SET Key

Displayed
Alternately

5. Press the Left Arrow or Right Arrow key to display the current detection
data. Pressing the Left Arrow or Right Arrow key again will return to the
display shown above in step 3 or 4.
Left Cursor Key
(Right Cursor Key)
Data Display

Displayed
Alternately

6. Press the Up Arrow or Down Arrow key to adjust the offset. Carefully
adjust the offset while monitoring the torque reference monitor signal.
Data Setting Change

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

7. When the current offset adjustment has been completed for the U-phase (Cu1_0)
and V-phase (Cu2_0), press the DATA/SHIFT key to return to the auxiliary
function mode display.

This completes the manual adjustment of the motor current detection offset.

Using the Built-in Panel Operator

YASKAWA 200V
SERVOPACK
SGDM-

1. Press the MODE/SET key to select the auxiliary function mode.

MODE/SET DATA/

CHARGE POWER

2. Press the Up Arrow or Down Arrow key to select the parameter Fn00F.

3. Press the DATA/SHIFT key for a minimum of one second, and the display will
be as shown below.

4. Press the MODE/SET key to switch between U-phase (Cu1_0) and V-phase
(Cu2_0) current detection offset adjustment mode.
MODE/SET Key

Displayed
Alternately

5. Press the DATA/SHIFT key for less than one second to display the current
detection data. Press the DATA/SHIFT key again for less than one second, and
the display will return to one shown above in step 3 or 4.
Data Display
DATA/SHIFT Key

Displayed
Alternately

6. Press the Up Arrow or Down Arrow key to adjust the offset. Carefully
adjust the offset while monitoring the torque reference monitor signal.
Data Setting Change

7. When the current offset adjustment has been completed for the U-phase (Cu1_0)
and V-phase (Cu2_0), press the DATA/SHIFT key to return to the auxiliary
function mode display

This completes the manual adjustment of the motor current detection offset.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

7.2.12 Write Protected Setting

The write protect setting is used for preventing careless changes of the parameters.
Parameters Pn


and some of Fn


become write protected by setting the
parameter Fn010.
Password setting values are as follows:
• “0000”: Write enabled (Releases write prohibited mode.)
• “0001”: Write prohibited (parameters become write protected at the next power
ON.)
Follow the procedure below to set the write protection feature.

Using the Hand-held Digital Operator

1. Press the DSPL/SET key to select the auxiliary function mode.

2. Select the parameter Fn010.

Press the Left Arrow or Right Arrow key to select the digit.
Press the Up Arrow or Down Arrow key to change the value.

3. Press the DATA/ENTER key, and the display will be as shown below.

4. Input the value (0001) and press the DSPL/SET key. The display will change as
shown below and the write protect will be established.
Flashing
for one
second

5. Press the DATA/ENTER key to return to the auxiliary function mode display.

This completes the write protect setting procedure. The new setting will be valid
after the next power OFF/ON cycle.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Using the Built-in Panel Operator

YASKAWA 200V
SERVOPACK
SGDM-

1. Press the MODE/SET key to select the auxiliary function mode.

MODE/SET DATA/

CHARGE POWER

2. Press the Up Arrow or Down Arrow key to select the parameter Fn010.

3. Press the DATA/SHIFT key for a minimum of one second, and the display will
be as shown below.

4. Input the value (0001) and press the MODE/SET key. The display will change
to one shown below and the write protect will be established.
Flashing
for one
second
5. Press the DATA/SHIFT key for a minimum of one second to return to the
auxiliary function mode display.

This completes the procedure for setting the write protect. The new setting
password will be valid after the next power OFF/ON cycle.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

7.2.13 Clearing the Option Unit Detection Alarm

The alarm A.E7 (option unit detection failure) occurs the first time that the SGDH
servo amplifier is turned ON after disconnecting an option board.

IMPORTANT
• Initialize the parameter settings with the servo OFF.
• After performing the procedure, cycle the power to restore all the parameters to the default settings.
• Because the parameter has been set for the SGDH connected to an option board,
Be sure to adjust the setting or initialize the parameter value (Fn005 of the auxiliary function mode) to meet
the current system needs.

Use the following procedure to initialize parameter settings.

Using the Hand-held Digital Operator

1. Press the DSPL/SET key to select the auxiliary function mode.

2. Select the parameter Fn014.

Press the Left Arrow or Right Arrow key to select the digit.
Press the Up Arrow or Down Arrow key to change the value.

3. Press the DATA/SHIFT key for a minimum of one second, and the display will
be as shown below.

4. Press the DSPL/SET key, and the display will be as shown below. The
parameters will be initialized.
Flashing during
initialization End

Flashing for
one second

5. Press the DATA/SHIFT key for a minimum of one second to return to the
auxiliary function mode display.

This completes the initialization of parameter settings.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Using the Built-in Panel Operator

YASKAWA 200V
SERVOPACK
SGDM-

1. Press the MODE/SET key to select the auxiliary function mode.

MODE/SET DATA/

CHARGE POWER

2. Select the parameter Fn014.

Press the Left Arrow or Right Arrow key to select the digit.
Press the Up Arrow or Down Arrow key to change the value.

3. Press the DATA/SHIFT key for a minimum of one second, and the display will
be as shown below.

4. Press the MODE/SET key, and the display will be as shown below. The
parameters will be initialized.
Flashing during
initialization End

Flashing for
one second

5. Press the DATA/SHIFT key for a minimum of one second to return to the
auxiliary function mode display.

This completes the initialization of parameter settings.

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Sigma II User’s Manual Chapter 7: Using the Digital Operator

Notes

7 - 62
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

8 Ratings and Characteristics

This chapter provides the ratings, torque-speed characteristics
diagrams, and dimensional drawings of the Sigma II series
servo drives.

8.1 Servomotors: Ratings, Specifications, and Dimensional Drawings .................... 8-2

8.1.1 SGMAH Servomotors................................................................................. 8-2
8.1.2 SGMPH Servomotors ................................................................................. 8-7
8.1.3 SGMGH Servomotors for 1500rpm ......................................................... 8-11
8.1.4 SGMSH Servomotors ............................................................................... 8-15
8.1.5 SGMUH Servomotors............................................................................... 8-19
8.2 Servo Amplifiers ................................................................................................ 8-22
8.2.1 Combined Specifications .......................................................................... 8-22
8.2.2 Ratings and Specifications ........................................................................ 8-28
8.2.3 Base-Mounted Servo Amplifier Dimensions in inches (mm) .................. 8-35

8- 1
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

8.1 Servomotors: Ratings, Specifications, and Dimensional Drawings

This section describes ratings, specifications, and dimensional drawings of the
servomotors. Refer to this section for selecting an appropriate servo drive.

8.1.1 SGMAH Servomotors

The following sections provide the ratings specifications, and dimensional drawings
of the servomotors by model.

Ratings and Specifications for Standard Servomotors

• Time Rating: Continuous • Insulation Class: Class B
• Vibration Class: 15µm or below • Withstand Voltage: 1500Va c for one minute
• Insulation Resistance: 500VD C , • Enclosure: Totally enclosed, self-cooled,
10MΩ minimum IP55 (except for through-sections of the shaft)
• Ambient Temperature: 0 to 40°C • Ambient Humidity: 20% to 80% (with no
condensation)
• Excitation: Permanent magnet • Drive Method: Direct drive
• Mounting: Flange method

SGMAH Standard Servomotor Ratings and Specifications

Voltage 200V 100V

Servomotor Model
A3A A5A 01A 02A 04A 08A A3B A5B 01B 02B
SGMAH
Rated Output * kW 0. 03 0.05 0.1 0.2 0.4 0. 75 0.03 0.05 0.1 0.2
Rated oz · in 13.52 22.5 45.1 90.2 180 338 13.52 22.5 45.1 90.2
Torque*,** N ·m 0.0955 0.159 0.318 0.637 1.27 2. 39 0.0955 0.159 0.318 0.637
I nstantaneous oz · in 40.6 67.6 135.2 270 541 1010 40. 6 67.6 135.2 270
Peak Torque* N ·m 0.286 0.477 0.955 1.91 3.82 7. 16 0.286 0.477 0.955 1.91
Rated Current* Arms 0. 44 0.64 0.91 2.1 2.8 4.4 0.66 0.95 2.4 3.0
I nstantaneous
Maximum Arms 1.3 2.0 2.8 6.5 8.5 13.4 2.0 2.9 7.2 9.0
Current*
Rated Speed* rpm 3000
Maximum
rpm 5000
Speed*
(oz · in)/Arms 33.7 38.0 53.6 46.2 70.6 83.6 22. 2 25.8 20.7 33.2
Torque Constant
(N · m)/Arms 0.238 0.268 0.378 0.327 0.498 0.590 0.157 0.182 0.146 0.234

* These specifications and torque-motor speed characteristics are quoted in combination with an
SGDH servo amplifier operating at at an armature winding temperature of 100°C. Other values
are quoted at 20°C. All values are typical.
** Rated torques are continuous allowable torque values at 40°C with a 10 × 10 × 0.25in (250 × 250
× 6mm) heat sink attached.

8- 2
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

Voltage 200V 100V

Servomotor Model
A3A A5A 01A 02A 04A 08A A3B A5B 01B 02B
SGMAH

Moment of oz · in · s 2 x 10 -3 0.235 0.312 0.515 1.501 2.45 9. 52 0.235 0.312 0.515 1.501
I nertia 2 -4 0.0166 0. 0220 0.0364 0.106 0.173 0.672 0.0166 0.0220 0.0364 0.106
kg · m x 10
Rated Power
kW/s 5. 49 11.5 27.8 38.2 93.7 84.8 5.49 11.5 27.8 38.2
Rating*
Rated Angular
Acceleration* rad/s 2 57500 72300 87400 60100 73600 35500 57500 72300 87400 60100

I nertia
Time Constant ms 1.4 0.88 0.53 0.39 0.25 0. 26 1.4 0.85 0.61 0.41

I nduct ive
Time Constant ms 1.0 1.1 1.2 4.6 5.4 8.7 1.0 1.1 1.1 4.4

* These specifications and torque-motor speed characteristics are quoted in combination with an
SGDH servo amplifier operating at at an armature winding temperature of 100°C. Other values
are quoted at 20°C. All values are typical.

8- 3
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

SGMAH Servomotor Motor Speed/Torque Characteristics

The torque-motor speed characteristics are shown below for SGMAH servomotors.

• 200V

SGMAH - A3
SGMAH - A5

5000 5000
4000 4000
SPEED (rpm)

SPEED (rpm)
3000 3000
A B A B
2000 2000
1000 1000
0 0
0 0.1 0.2 0.3 0.4 0 0.15 0.3 0.45 0.6
TORQUE (N · m)
TORQUE (N · m)
0 20 40 60
0 20 40 60 80 100
TORQUE (oz · in) TORQUE (oz · in)

SGMAH - O1
SGMAH - O2

5000 5000

4000 4000
SPEED (rpm)
SPEED (rpm)

3000 3000
A B A B
2000 2000

1000 1000

0 0
0 0.25 0.5 0.75 1 0 0.5 1 1.5 2
TORQUE (N · m) TORQUE (N · m)
0 50 100 150 0 100 200 300
TORQUE (oz · in) TORQUE (oz · in)

SGMAH - O4
SGMAH - O8

5000
5000
4000
SPEED (rpm)

4000
SPEED (rpm)

3000
3000
A B A B
2000
2000
1000
1000
0
0
0 1 2 3 4 0 2 4 6 8
TORQUE (N · m) TORQUE (N · m)
0 200 400 600 0 400 800 1200
TORQUE (oz · in) TORQUE (oz · in)

A : CONTINUOUS B : INTERMITTENT
DUTY ZONE DUTY ZONE

8- 4
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

• 100V

SGMAH - A3
SGMAH - A5

5000
5000
4000

SPEED (rpm)
4000

SPEED (rpm)
3000
3000
A B A B
2000
2000
1000
1000
0
00 0.1 0.2 0.3 0.4 0 0.15 0.3 0.45 0.6
TORQUE (N · m) TORQUE (N · m)
0 20 40 60 0 20 40 60 80 100
TORQUE (lb · in) TORQUE (lb · in)

SGMAH - 01
SGMAH - 02

5000 5000

4000 SPEED (rpm) 4000

SPEED (rpm)

3000 3000
A B A B
2000 2000

1000 1000

0 0
0 0.25 0.5 0.75 1 0 0.5 1 1.5 2
TORQUE (N· m) TORQUE (N
· m)
0 50 100 150 0 100 200 300
TORQUE (oz· in) TORQUE (oz· in)

A : CONTINUOUS B : INTERMITTENT
DUTY ZONE DUTY ZONE

8- 5
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

SGMAH Dimensions in inches (mm)

Drawings that provide SGMAH servomotor (without brake) dimensions are shown
below.

LL LR LC

LG LE

ΦLA
QK
Y
U

ΦLB

LC

W
T
Y C ross-section Y-Y

ΦS
ΦLZ

Model Mass
LL LR LG LC LE ΦLA ΦLZ ΦS ΦLB QK U W T
SGMAH- lb ( kg)
2.74 0.3
A3A (B) (69.5) 0.24 0.047 0.79 0.79 (0.661)
3.03 0.98 0.20 1.57 0.098 1.81 0.17 (6) 1.19 0.55 ( 0.12) (2) (2) 0.4
A5A (B) (77.0) (25) ( 5) (40) (2.5) (46) (4.3) (30) (14) (0.882)
3.72 0.32 0.7 0.7 0.12 0.5
01A (B) (94.5) (8) (1.8) (1.8) (3) (1.10)
3.80 1.1
02A (B) (96.5) 1.18 0.24 2.36 2.76 0.22 0.56 1.98 0.79 (2.43)
4.90 (30) ( 6) (60) 0.12 (70) (5.5) (14) (50) (20) 0.12 0.2 0.2 1.7
04A ( 124.5) (3) (3) (5) (5) (3.75)
5.71 1.57 0.31 3.15 3.54 0.28 0.64 2.78 1.18 3.4
08A (145) (40) ( 8) (80) (90) (7) (16) (70) (30) (7.50)

Specified Toler ances

Dimension ΦS ΦLB
Unit Diameter Tolerance Diameter Tolerance
0.24 1.19 +0.0000 -0.0008
0.31 1.98 +0.0000 -0.0010
in +0.0000-0.0004
0.56 2.78 +0.0000 -0.0012
0.64
6 30 +0.000 -0.021
+0.000 -0.009
8 50 +0.000 -0.025
mm
14 70 +0.000 -0.030
+0.000 -0.011
16

8- 6
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

8.1.2 SGMPH Servomotors

Ratings and Specifications for Standard Servomotors

• Time Rating: Continuous • Insulation Class: Class B
• Vibration Class: 15µm or below • Withstand Voltage: 1500Va c for one minute
• Insulation Resistance: 500VD C , • Enclosure: Totally enclosed, self-cooled,
10MΩ minimum IP67 (except for through-sections of the shaft)
• Ambient Temperature: 0 to 40°C • Ambient Humidity: 20% to 80% (with no
condensation)
• Excitation: Permanent magnet • Drive Method: Direct drive
• Mounting: Flange method

SGMPH Standard Servomotor Ratings and Specifications

Voltage 200V 100V

Servomotor Model
01A 02A 04A 08A 15A 01B 02B
SGMPH-
Rated Output * kW 0.1 0.2 0.4 0.75 1.5 0.1 0.2
oz · in 45.1 90.2 180 338 676 45.1 90.2
Rated Torque*,**
N· m 0.318 0. 637 1.27 2.39 4.77 0.318 0.637
oz · in 135 270 541 1010 2030 135.2 270
Instantaneous Peak Torque*
N ·m 0.955 1.91 3.82 7.16 14.3 0.955 1.91
Rated Current* Arms 0.89 2.0 2.6 4.1 7.5 2.2 2.7

Instantaneous Max. Current* Arms 2.8 6.0 8.0 13.9 23.0 7.1 8.4

Rated Speed* rpm 3000

Max. Speed* rpm 5000

(oz · in)/ Arms 55.6 49.4 75.8 91.0 97.4 22.8 36.5
Torque Constant
(N · m)/A rms 0.392 0. 349 0.535 0. 641 0.687 0.160 0.258
oz · in · s2 x 10-3 0.695 2.73 4.69 29.7 56.9 0.695 2.73
Moment of Inertia
2 -4
kg · m x 10 0.0491 0. 193 0.331 2.10 4.02 0.0491 0.193

Rated Power Rating* kW/s 20.6 21.0 49.0 27.1 56.7 20.6 21.0

Rated Angular Acceleration* rad/s 2 64800 33000 38500 11400 11900 64800 33000
Inertia Time Const ant ms 0.53 0.54 0.36 0.66 0.46 0. 56 0.64
Inductive Time Const ant ms 3.7 7.4 8.6 18 22 3.6 6.3

* These specifications and torque-motor speed characteristics are quoted in combination with an
SGDH servo amplifier operating at an armature winding temperature of 100°C. Other values are
quoted at 20°C. All values are typical.
** Rated torques are continuous allowable torque values at 40°C with a 10 × 10 × 0.25in (250 × 250
× 6mm) heat sink attached.
Heat sink dimensions:
10 × 10 × 0.25in (250 × 250 × 6mm): 0.1to 0.4kW
12 × 12 × 0.5in (300 × 300 × 12mm): 0.75 to 1.5 kW

8- 7
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

SGMPH Servomotor Motor Speed/Torque Characteristics

The torque-motor speed characteristics are shown below for SGMPH servomotors.
• 200V


SGMPH - 01


SGMPH - 02

5000 5000
4000 4000
SPEED (rpm)

SPEED (rpm)
3000 3000
A B A B
2000 2000

1000 1000

0 0
0 0.25 0.5 0.75 1.0 0 0.5 1 1.5 2
TORQUE (N · m)
TORQUE (N · m)
0 50 100 150 0 100 200 300
TORQUE (oz · in) TORQUE (oz · in)

SGMPH - 04


SGMPH - 08

5000 5000

4000 4000
SPEED (rpm)
SPEED (rpm)

3000 3000
A B A B
2000 2000

1000 1000

0 0
0 1 2 3 4 0 2 4 6 8
TORQUE (N · m) TORQUE (N · m)

0 200 400 600 0 400 800 1200

TORQUE (oz · in) TORQUE (oz · in)

SGMPH - 15

5000

4000
SPEED (rpm)

3000
A B
2000

1000

0
0 4 8 12 16
TORQUE (N · m) A : CONTINUOUS B : INTERMITTENT
DUTY ZONE DUTY ZONE
0 800 1600 2400
TORQUE (oz · in)

8- 8
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

• 100V

SGMPH - 01


SGMPH - 02

5000 5000
4000
4000
SPEED (rpm)

SPEED (rpm)
3000 3000
A B A B
2000
2000
1000 1000
0
0
0 0.25 0.5 0.75 1.0 0 0.5 1 1.5 2
TORQUE (N · m) TORQUE (N · m)
0 50 100 150 0 100 200 300
TORQUE (oz · in) TORQUE (oz · in)

A : CONTINUOUS B : INTERMITTENT
DUTY ZONE DUTY ZONE

8- 9
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

SGMPH Dimensions in inches (mm)

Drawings that provide SGMPH servomotor (without brake) dimensions are shown
below.

LC
LL LR

LG LE
ΦLA

QK
Y U

ΦLB**

LC

W
ΦLZ T
ΦS*

Y
Cross-section Y-Y

Model Mass
LL LR LG LC LE ΦLA ΦLZ ΦS ΦLB QK U W T
SG MPH- kg (lb)
2.44 0.24 2.36 2.76 0.22 0.32 1.98 0.55 0.071 0.12 0.12 1.54
01A (B) (62) (6) (60) (70) (5.5) (8) (50) ( 14) (1.8) ( 3) (3) (0.7)
2.64 0.98 0.12 3.09
02A (B) (67.0) (25) 0.31 3.15 (3) 3.54 0.28 0.56 2.76 0.64 (1.4)
3.43 (8) (80) (90) (7) (14) (70) ( 16) 0.12 0.2 0.2 4.63
04A (B) (87) (3) ( 5) (5) (2.1)
3.410 0.64 9.26
08A (B) (86.5) 1.18 0.39 4.72 0.14 5.71 0.39 (16) 4.37 0.87 (4.2)
4.51 (30) (10) (120) (3.5) (145) (10) 0.75 (110) ( 22) 0.14 0.24 0.24 14.6
15A ( 114.5) (19) (3.5) ( 6) (6) (6.6)

Specified Toler ances

Dimension ΦS ΦFLB
Unit Diameter Tolerance Diameter Tolerance
0.32 1.98 +0.0000 -0.0010
0.56 +0.0000-0.0004 2.78 +0.0000 -0.0012
in
0.64 4.37 +0.0000 -0.0014
0.75 +0.0000-0.0005
8 +0.000 -0.009 50 +0.000 -0.025
14 70 +0.000 -0.030
mm +0.000 -0.011
16 110 +0.000 -0.035
19 +0.000 -0.013

8 - 10
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

8.1.3 SGMGH Servomotors for 1500rpm

Rating and Specifications for Standard Servomotors

• Time Rating: Continuous • Insulation Class: Class F
• Vibration Class: 15µm or below • Withstand Voltage:
• Insulation Resistance: 50VDC , 1500Vac for one minute (200V specification)
10MΩ minimum 1800Vac for one minute (400V specification)
• Ambient Temperature: 0 to 40°C • Enclosure: Totally enclosed, self-cooled, IP67 (except
for through-sections of the shaft)
• Excitation: Permanent magnet • Ambient Humidity: 20% to 80% (with no condensation)
• Mounting: Flange method • Drive Method: Direct drive

SGMGH Standard Servomotor Ratings and Specifications

Volta ge 200V

Se rvomo to r Mode l
05 A
A 0 9A
A 13 A
A 2 0A
A 3 0A
A 44 A
A 55 A
A 7 5A
A 1AA
A 1EA
A
SGM GH -

R ated Ou tp ut* kW 0.45 0.85 1.3 1.8 2.9 4.4 5.5 7.5 11 15
lb · in 25 48 74 102 165 252 310 425 620 845
R ated To rque*
N· m 2.84 5.39 8.34 11.5 18.6 28.4 35.0 48.0 70.0 95.4
Ins ta ntan eou s lb · in 79 122 207 254 404 630 775 1050 1550 1984
Pe ak Torq ue* N· m 8.92 13.8 23.3 28.7 45.1 71.1 87.6 119 175 224
R ated C urre nt* Arm s 3.8 7.1 10.7 16.7 23.8 32.8 42.1 54.7 58.6 78.0
Ins ta ntan eou s
Arm s 11 17 28 42 56 84 110 130 140 170
Ma x. C urre nt*

R ated S pee d* r pm 1500

Ma ximu m 2000
Sp ee d*
r pm 3000

( lb · in)/Arm s 7.26 7.35 7.43 6.46 7.35 8.05 7.79 8.23 11.1 11.7
Tor que
C on sta nt ( N · m)/A rm s 0.82 0.83 0.84 0.73 0.83 0.91 0.88 0.93 1.25 1.32

Mo men t o f lb · in · s2 x 10-3 6.41 12.3 18.2 28.1 40.7 59.8 78.8 111 250 355
Ine rtia 2 -4
kg · m x 10 7.24 13.9 20.5 31.7 46.0 67.5 89.0 125 281 315
R ated P owe r
kW/s 11.2 20.9 33.8 41.5 75.3 120 137 184 174 289
R atin g*
R ated
An gu lar rad/s2 3930 3880 4060 3620 4050 4210 3930 3850 2490 3030
Acc ele ratio n*
Ine rtia Time
C on sta nt ms 5.0 3.1 2.8 2.1 1.9 1.3 1.3 1.1 1.2 0.98

Ind uctiv e Ti me
C on sta nt ms 5.1 5.3 6.3 12.5 12.5 15.7 16.4 18.4 22.6 27.2

* These specifications and torque-motor speed characteristics are quoted in combination with an
SGDH servo amplifier operating at an armature winding temperature of 20°C.
Note: These characteristics have been calculated with the following heat sinks attached for cooling:
Heat sink dimensions
15.75 × 15.75 × 0.79in (400 × 400 × 20mm): 05A
A to 13A
A servomotors
05D
A to 13D
A servomotors
21.65 × 21.65 × 1.18in (550 × 550 × 30mm): 20A
A to 75A
A servomotors
20D
A to 30D
A servomotors

8 - 11
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

SGMGH Standard Servomotor Ratings and Specifications

Voltage 400V

Servomotor Model
05D
A 09 D
A 13 D
A 20D
A 30 D
A 44 D
A 55 D
A 7 5D
A 1 AD
A 1 ED
A
SGMGH-
Rated Output
kW 0.45 0.85 1.3 1.8 2.9 4.4 5.5 7.5 44.0 15.0
*
Rated lb · in 25 48 74 102 165 252 310 425 620 845
T orque* N·m 2.84 5.39 8.34 11.5 18.6 28.4 35.0 48.0 70.0 95.4
Instantaneous lb · in 79 122 207 254 404 630 804 1091 1550 1960
Peak T or que * N·m 8.92 13.8 23.3 28.7 45.1 71.1 90.7 123 175 221
Rated Curren* A r ms 1.9 3.5 5.4 8.4 11.9 16.5 20.8 25.4 28.1 37.2
Instantaneous A r ms 5.5 8.5 14 20 28 40.5 55 65 70 85
Max. C ur rent*

Rated Speed* rpm 1500

Maximum
rpm 3000 2000
Speed*
(lb · in)/A rm s 14.5 14.6 14.9 12.6 14.7 16.1 15.4 17.7 22.7 23.4
T orque
Constant (N · m)/Arm s 1.64 1.65 1.68 1.46 1.66 1.82 1.74 2.0 2.56 2.64

lb · in · s2
6.42 12.3 18.2 28.0 40.7 59.8 78.8 111 250 355
Moment of x 10 -3
Inertia
kg · m2 7.24 13.9 20.5 31.7 46.0 67.54 89.0 125 281 315
x 10 -4
Rated Power
kW/s 11.2 20.9 33.8 41.5 75.3 120 137 184 174 289
Rating*
Rated Angular
rad/s 2 3930 3880 4060 3620 4050 4210 3930 3850 2490 3030
Acceler ation*
Inertia Time ms 5.6 3.1 2.9 2.4 2.0 1.4 1.4 1.1 1.1 1.0
Constant
Inductive T ime ms 4.5 5.3 6.1 11.1 12.3 15.2 14.4 17.6 22.9 26.2
Constant

* These specifications and torque-motor speed characteristics are quoted in combination with an
SGDH servo amplifier operating at an armature winding temperature of 20°C.
Note: These characteristics have been calculated with the following heat sinks attached for cooling:
Heat sink dimensions
15.75 × 15.75 × 0.79in (400 × 400 × 20mm): 05A
A to 13A
A servomotors
05D
A to 13D
A servomotors
21.65 × 21.65 × 1.18in (550 × 550 × 30mm): 20A
A to 75A
A servomotors
20D
A to 30D
A servomotors

8 - 12
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

SGMGH Servomotor Motor Speed/Torque Characteristics

The following sections provide the torque-motor speed characteristics of the SGMGH
servomotors at 1500rpm
200/400V
SGMGH-05A
A, -05D
A SGMGH-09A
A, -09D
A SGMGH-13A
A, -13D
A
3000 3000 3000

SPEED (rpm)
SPEED (rpm)

SPEED (rpm)
2000 2000 2000

A B A B A B
1000 1000 1000

0 0 0
0 2 4 6 8 10 0 5 10 15 20 0 10 20 30
TORQUE (N · m) TORQUE (N · m) TORQUE (N · m)
0 20 40 60 80 0 50 100 150 0 50 100 150 200 250
TORQUE (lb · in) TORQUE (lb · in) TORQUE (lb · in)

SGMGH-20A
A, -20D
A SGMGH-30A
A, -30D
A SGMGH-44A
A, -44D
A

3000 3000 3000
SPEED (rpm)

SPEED (rpm)
SPEED (rpm)

2000 2000 2000

A B A B A B
1000 1000 1000

0 0 0
0 10 20 30 40 0 10 20 30 40 50 0 20 40 60 80
TORQUE (N · m) TORQUE (N · m) TORQUE (N · m)
0 100 200 300 0 100 200 300 400 0 200 400 600 800
TORQUE (lb · in) TORQUE (lb · in)
TORQUE (lb · in)

SGMGH-55A
A, -55D
A SGMGH-75A
A, -75D
A SGMGH-1AA
A, -1AD
A

3000 3000 3000
SPEED (rpm)
SPEED (rpm)

SPEED (rpm)

2000 2000 2000

A B A B
1000 1000 1000 A B

0 0 0
0 20 40 60 80 100 0 50 100 150 0 50 100 150 200
TORQUE (N · m) TORQUE (N · m)
TORQUE (N · m)
0 200 400 600 800 0 500 1000 1500
0 50 100 150
TORQUE (lb · in) TORQUE (lb · in) TORQUE (lb · in)

SGMGH-1EA
A, 1ED
A
3000 A : CONTINUOUS B : INTERMITTENT
DUTY ZONE DUTY ZONE
SPEED (rpm)

2000
A : CONTINUOUS B : INTERMITTENT
DUTY ZONE DUTY ZONE
1000 A B

0
0 50 100 150 200 250
TORQUE (N · m)

0 500 1000 1500 2000

8 - 13
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

SGMGH Dimensions in inches (mm)

Drawings that provide (1500rpm) SGMGH servomotor (without brake) dimensions
are shown below.

LL LR
LC LE LC
Q ΦLZ

QK W
Y

U
Φ LB

LC

T
Y Cross-section Y-Y
ΦS

Mass
Model
LL LR LG LC LE ΦLA ΦLZ ΦS ΦLB Q QK U W T lb
SGMGH-
(kg)
05A
A 5.43 12.1
05D
A (138) 0.75 0.12 (5.5)
09A
A 6.34 2.28 0.47 5.12 0.24 5.71 0.35 (19) 4.33 1.57 0.98 (3) 0.20 0.20 16.8
09D
A (161) ( 58) ( 12) (130) (6) ( 145) (9) ( 110) (40) (25) (5) (5) (7.6)
13A
A 7.28 0.87 0.14 21.2
13D
A (185) (22) (3.5) (9.6)
20A
A 6.54 30.9
20D
A (166) (14)
30A
A 7.56 3.11 1.38 2.99 2.36 0.39 39.7
30D
A (192) ( 79) (35) (76) (60) (10) (18)
4.50
44A
A 8.9 7.09 0.13 7.87 50.7
(114.
44D
A (226) (180) ( 3.2) ( 200) (23)
0.71 3) 0.20 0.31
55A
A 10.2 ( 18) 0.53 (5) (8) 66.1
55D
A (260) 4.45 (13.5 (30)
(113) )
75A
A 13.1 88.2
1.65 0.47
75D
A (334) (40)
(42) 4.33 3.54 (12)
(110) (90) 2.26
1AA
A 13.3 (57.5
1AD
A (338) 4.57 8.66 0.16 9.25 7.87 )
(116) (220) (4) ( 235) ( 200)
1EA
A 18.0 0.79 2.16 0.24 0.63 0.39 3.39
1ED
A (457) ( 20) (55) (6) (16) (10) (86)

Specified Toler ances

Dimension ΦLB ΦS
Unit Diameter Tolerance Diameter Tolerance
0.75
4.33 +0.0000-0.0014 +0.0000-0.0005
0.87
in
1.38 +0.0004-0.0000
4.50 +0.0000-0.0010
1.65 +0.0000-0.0006
19
110 +0.000 - 0.035 +0.000 -0.013
22
mm
35 +0.01 -0.00
114.3 +0.000 - 0.025
42 +0.000 -0.016

8 - 14
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

8.1.4 SGMSH Servomotors

Rating and Specifications for Standard Servomotors

• Time Rating: Continuous • Insulation Class: Class F
• Vibration Class: 15µm or below • Withstand Voltage:
• Insulation Resistance: 50VD C , 1500Va c for one minute (200V specification)
10MΩ minimum 1800Va c for one minute (400V specification)
• Ambient Temperature: 0 to 40°C • Enclosure: Totally enclosed, self-cooled,
IP67 (except for through-sections of the shaft)
• Excitation: Permanent magnet • Ambient Humidity: 20% to 80% (with no
condensation)
• Mounting: Flange method • Drive Method: Direct drive

SGMSH Standard Servomotor Ratings and Specifications

Voltage 200V

Servomotor Model
10A
A 15A
A 20A
A 30A
A 40A
A 50A
A
SGMSH-
Rated Output * kW 1.0 1.5 2.0 3.0 4.0 5.0
lb · in 28.2 43 56.4 87 112 140
Rated Torque*
N ·m 3.18 4.9 6.36 9.8 12.6 15.8
lb · in 84.4 130 169 260 336 422
Instantaneous Peak Torque*
N ·m 9.54 14.7 19.1 29.4 37.8 47.6
Rated Current * Arms 5.7 9.7 12.7 18.8 25.4 28.6
Instantaneous Maximum Current* Arms 17 28 42 56 77 84
Rated Speed* rpm 3000
Maximum Speed * rpm 5000
(lb · in)/Arms 5.63 4.97 4.81 5.07 4.69 5.31
Torque Constant
(N · m)/Arms 0.636 0.561 0.544 0.573 0.53 0.60
2
lb · in · s 1.54 2.19 2.82 6.20 8.50 10.90
Moment of Inertia x 10 -3
kg · m2 x 10-4 1.74 2.47 3.19 7.00 9.60 12.3
Rated Power Rating* kW/s 57.9 97.2 127 137 166 202

Rated Angular Acceleration* rad/s 2 18250 19840 19970 14000 13160 12780
Inertia Time Constant ms 0.87 0.74 0.62 0.74 0.65 0.59
Inductive Time Constant ms 7.1 7.7 8.3 13.0 14.1 14.7

* These specifications and torque-motor speed characteristics are quoted in combination with an
SGDH servo amplifier operating at an armature winding temperature of 20°C.
Note: These characteristics have been calculated with the following aluminum heat sinks attached for
cooling:
Heat sink dimensions
12 × 12 × 0.5in. (300 × 300 × 12mm): 10A
A to 20A
A servomotors
18 × 18 × 0.8in. (400 × 400 × 20mm): 30A
A to50A
A servomotors

8 - 15
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

Voltage 400V

Servomotor Model 10D
15D
20D
30D
40D
50D

SGMSH- A A A A A A
Rated Output * kW 1.0 1.5 2.0 3.0 4.0 5.0
lb · in 28.2 43 56.4 87 112 140
Rated Torque*
N·m 3.18 4.9 6.36 9.8 12.6 15.8
lb · in 84.4 130 169 260 336 422
Instantaneous Peak Torque*
N·m 9.54 14.7 19.1 29.4 37.8 47.6
Rated Current * Arms 2.8 4.7 6.2 8.9 12.5 13.8
Instantaneous Maximum Current* Arms 8.5 14 19.5 28 38 42
Rated Speed* rpm 3000
Maximum Speed * rpm 5000
(lb · in)/Arms 11.2 10.2 9.9 10.5 9.49 11.0
Torque Constant
(N · m)/Arms 1.74 2.47 1.12 1.19 1.07 1.24
lb · in · s2
1.54 2.19 2.82 6.20 8.50 10.90
Moment of Inertia x 10-3
kg · m2 x 10-4 1.74 2.47 3.19 7.0 9.60 12.3
Rated Power Rating* kW/s 57.9 97.2 127 137 166 202
Rated Angular Acceleration* rad/s2 18250 19840 19970 14000 13160 12780
Inertia Time Constant ms 0.97 0.8 0.66 0.76 0.62 0.55
Inductive Time Constant ms 6.3 6.8 7.3 16.3 14.4 15.2

* These specifications and torque-motor speed characteristics are quoted in combination with an
SGDH servo amplifier operating at an armature winding temperature of 20°C.
Note: These characteristics have been calculated with the following aluminum heat sinks attached for
cooling:
Heat sink dimensions
12 × 12 × 0.5in (300 × 300 × 12mm): 10D
A to 20D
A servomotors
18 × 18 × 0.8in (400 × 400 × 20mm): 30D
A servomotors

8 - 16
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

SGMSH Servomotor Motor Speed/Torque Characteristics

The following sections provide the torque-motor speed characteristics of the
SGMSH servomotors.

200/400V

SGMSH - 10A
A, - 10D
A SGMSH - 15A
A, - 15D
A

5000 5000
4000 4000
SPEED (rpm)

SPEED (rpm)
3000 3000
A B A B
2000 2000
1000 1000
0 0
0 2 4 6 8 10 0 5 10 15
TORQUE (N · m)
TORQUE (N · m)
0 20 40 60 80 0 50 100 150
TORQUE (lb · in) TORQUE (lb · in)

SGMSH - 20A
A, - 20D
A SGMSH - 30A
A, - 30D
A

5000 5000

4000 4000
SPEED (rpm)
SPEED (rpm)

3000 3000
A B A B
2000 2000

1000 1000

0 0
0 5 10 15 20 0 10 20 30
TORQUE (N · m) TORQUE (N · m)

0 50 100 150 0 100 200

TORQUE (lb · in) TORQUE (lb · in)

SGMSH - 40A
A - 40D
A SGMSH - 50A
A - 50D
A

5000 5000
4000 4000
SPEED (rpm)

SPEED (rpm)

3000 3000
A B A B
2000 2000
1000 1000

0 0
0 10 20 30 40 0 10 20 30 40 50
TORQUE (N · m) TORQUE (N · m)
0 100 200 300 0 100 200 300 400
TORQUE (lb · in)
TORQUE (lb · in)

A : CONTINUOUS B : INTERMITTENT
DUTY ZONE DUTY ZONE

8 - 17
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

SGMSH Dimensions in inches (mm)

Drawings that provide SGMSH servomotor dimensions (without brake) are shown
below.

LL LR
LC LE LC
Q ΦLZ

QK W
Y

U
ΦLB

LC

T
Y Cross-section Y-Y
ΦS

Model Mass
LL LR LG LC LE ΦLA ΦLZ ΦS ΦLB Q QK U W T
SGMSH- lb (kg)
10A

A 5.87 10.14
10D
(149) (4.6)
A
15A

A 6.89 1.77 0.39 3.94 0.12 4.53 0.28 0.94 3.74 1.57 1.26 12.79
15D
(175) (45) (10) (100) (3) (115) (7) (24) (95) ( 40) (32) (5.8)
A
20A

A 7.80 15.43
20D
(198) (7.0)
A 0.16 0.31 0.28
30A
(4) ( 8) (7)
A 7.83 24.25
30D
(199) (11)
A
40A

A 9.29 2.48 0.47 5.12 0.24 5.71 0.35 1.10 4.33 2.17 1.96 30.86
40D
(236) (63) (12) (130) (6) (145) (9) (28) (110) ( 55) (50) (14)
A
50A

A 10.9 37.48
50D
(276) (17)
A

Specified Toler ances

Dimension ΦLB ΦS
Unit Diameter Tolerance Diameter Tolerance
3.74 0.94
in +0.0000-0.0014 +0.0000-0.0005
4.33 1.10
95 24
mm +0.000 - 0.035 +0.000 -0.013
110 28

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Sigma II User’s Manual Chapter 8: Ratings and Characteristics

8.1.5 SGMUH Servomotors

Rating and Specifications for Standard Servomotors

• Time Rating: Continuous • Insulation Class: Class F
• Vibration Class: 15µm or below • Withstand Voltage: 11,800V ac for one
minute
• Insulation Resistance: 500VD C , • Enclosure: Totally enclosed, self-cooled,
10MΩ minimum IP67 (except for through-sections of the shaft)
• Ambient Temperature: 0 to 40°C • Ambient Humidity: 20% to 80% (with no
• Excitation: Permanent magnet condensation)
• Mounting: Flange method • Drive Method: Direct drive

SGMUH Standard Servomotor Ratings and Specifications

Servomotor Model
10D
A 15D
A 30D
A
SGMUH-
Rated Output * kW 1.0 1.5 3.0
lb · in 14.1 21.7 43.5
Rated Torque*
N·m 1.59 2.45 4.9
lb · in 57.6 97.5 190
Instantaneous Peak Torque *
N·m 6.5 11 21.5
Rated Current * Arms 2.7 4.1 8.1
Instantaneous Maximum Current* Arms 8.5 47 28
Rated Speed * rpm 6000
Maximum Speed * rpm 6000
(lb · in)/Arms 7.2 7.4 7.2
Torque Constant
(N · m)/Arms 0.81 0.83 0.81
lb · in · s 2 x 10-3 1.54 2.19 6.2
Moment of Inertia
kg · m 2 x 10-4 1.74 2.47 7.00

Rated Power Rating * kW/s 14.5 24.3 34.3

Rated Angular Acceleration* rad/s2 9130 9910 7000
Inertia Time Constant ms 0.87 0.70 0.72
Inductive Time Constant ms 7.1 7.7 17.3

* These specifications and torque-motor speed characteristics are quoted in combination with an
SGDH servo amplifier operating at an armature winding temperature of 20°C.
Note: These characteristics have been calculated with the following aluminum heat sinks attached for cooling :
Heat sink dimensions
12 × 12 × 0.5in (300 × 300 × 12mm): 10D
A to 20D
A
18 × 18 × 0.8in (400 × 400 × 20mm): 30D
A

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Sigma II User’s Manual Chapter 8: Ratings and Characteristics

SGMUH Servomotor Motor Speed/Torque Characteristics

The following sections provide the torque-motor speed characteristics of the
SGMUH servomotors.
400V

A
SGMUH - 10D

A
SGMUH - 15D

6000 6000
SPEED (rpm)

SPEED (rpm)
4000 4000

A B
2000 2000

0 0
0 4 8 12 0 5 10 15
TORQUE (N · m) TORQUE (N · m)
0 20 40 60 80 0 50 100
TORQUE (lb · in) TORQUE (lb · in)

A
SGMUH - 30D

6000
SPEED (rpm)

4000

A B
2000

0
0 10 20 30
TORQUE (N · m)
0 100 200
TORQUE (lb · in)

A : CONTINUOUS B : INTERMITTENT
DUTY ZONE DUTY ZONE

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Sigma II User’s Manual Chapter 8: Ratings and Characteristics

SGMUH Dimensions in inches (mm)

Drawings that provide SGMUH servomotor dimensions are shown below.

LL LR
LC LE LC
Q ΦLZ

QK 0.31 (8)

0.16 (4)
0.28 (7)
Y

ΦLB

LC
Y Cross-section Y-Y

ΦS

Model Mass lb
LL LR LG LC LE ΦLA ΦLZ ΦS ΦLB Q QK
SGMUH- (kg)
5.87 10.14
10D
A (149) 1.77 0.39 4.57 5.12 0.35 0.94 4.33 1.57 1.26 (4.6)
6.89 ( 45) (10) ( 116) 0.14 ( 130) (9) (24) (110) (40) (32) 12.78
15D
A (175) (3.5) (5.8)
7.83 2.36 0.47 6.10 6.50 0.43 1.10 5.12 2.17 1.96 24.25
30D
A (199) ( 60) (12) ( 155) ( 165) (11) (28) (130) (55) (50) (11)

Specified Tolerances
Dimension ΦLB ΦS
Unit Diameter Tolerance Diameter Tolerance
4.33 0.94
in +0.0005-0.0004 +0.0000-0.0005
5.12 1.10
110 +0.013 -0.009 24
mm +0.000 -0.013
130 +0.014 -0.011 28

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Sigma II User’s Manual Chapter 8: Ratings and Characteristics

8.2 Servo Amplifiers

This section presents tables of SGDH servo amplifier ratings and specifications.

8.2.1 Combined Specifications

The following table provides specifications of the SGDH servo amplifiers and
SGMAH, SGMPH, SGMGH, and SGMSH combinations.

Specifications for Servo Amplifier and Single/Three-phase, 200V

Servomotor Combinations

Volt age Single-phase 200V Three-phase 200V

Servo Amplifier Model 08AE 15AE
A3AE A5AE 01AE 02AE 04AE 05AE 08AE 10AE 15AE
SGDH- -S -S
Model A3A A5A 01A 02A 04A 08A — — 08A — —
SGMAH-
Servomotor
Applicable

Capacity 0.03 0.05 0.1 0.2 0.4 0.75 — — 0.75 — —

(kW)
Motor
Speed Rated 3000/maximum 5000
(rpm)
Applicable Encoder Standard: 13-bit incremental encoder
Continuous Output
SGMAH Series

Current 0.44 0.64 0.91 2.1 2.8 4.4 — — 4.4 — —

A rms
Maximum Output
Current 1.3 2.0 2.8 6.5 8.5 13.4 — — 13.4 — —
A rms
Allowable
Regenerative
18.5 37.1 — — —
Energy *
(Joules)
Allowable
Regenerative
— — — — 89 —
Frequency **
(times/min)

* Allowable regenerative energy is the value with an AC input power supply voltage of 200V rms. This may
vary with power supply fluctuation.

** Allowable regenerative frequency is the number of times the servomotor is allowed to accelerate and
decelerate through a 0rpm → maximum motor speed → 0rpm cycle in a minute.

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Sigma II User’s Manual Chapter 8: Ratings and Characteristics

Voltage Single-phase 200V Three-phase 200V

Servo Amplifier Model

A3AE A5AE 01AE 02AE 04AE 08AE-S 15AE-S — 08AE — 15AE
SGDH-
Model — — 01A 02A 04A 08A 15A — 08A — 15A
SGMPH-
Servomotor
Applicable

Capacity — — 0.1 0.2 0.4 0.75 1.5 — 0.75 — 1.5

(kW)
Motor Speed Rated 3000/maximum 5000
(rpm)
Applicable Encoder Standard: 13-bit incremental encoder
SGMPH Series

Continuous Output
Current — — 0.89 2.0 2.6 4.1 7.5 — 4.1 — 7.5
Arms
Maximum Output Current
Arms — — 2.8 6.0 8.0 13.9 23.0 — 13.9 — 23.0

Allowable Regenerative
Energy * — 37.1 — —
(Joules)
Allowable Regenerative
Frequency ** — — 29 — 17
(times/min)

Voltage Three-phase 200V

Servo Amplifier Model

05AE 08AE 10AE 15AE 20AE 30AE. 50AE 60AE 75AE 1AAE 1EAE
SGD H-
Model 05 A
09A
1 3A
20 A
30 A
4 4A
5 5A
75 A
1 AA
1 EA

A — A A A A A A A A A
SGMGH-
Ser vomotor
Applicable

Capacity
0.45 — 0.85 1.3 1.8 2.9 4.4 5.5 7.5 11 15
(kW )
Motor
Speed Rated 1500/maximum 3000
(r pm)
SGMGH Series

Applicable Encoder Standar d: 17-bit incremental encoder

Continuous
Output C ur rent 3.8 — 7.1 10.7 16.7 23.8 32.8 42.1 54.7 58.6 78.0
Arm s

Maximum
Output C ur rent 11 — 17 28 42 56 84 110 130 140 170
Arm s
Allowable
Regenerative
34 — 13 10 12 8 11 26** 36**
Frequency **
(Times/min)

* Allowable regenerative energy is the value with an AC input power supply voltage of 200Vrms.
This may vary with power supply fluctuation.
** The regenerative frequency for motor combinations with the SGDH- 60AE/-75AE assume that
the JUSP-RA04 or JUSP-RA05 Regenerative Resistor Unit is used. For information on
regenerative resistor units, refer to 5.6.1 External Regenerative Resistors or to 5.2.5 Regenerative
Resistor Units in this manual.

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Sigma II User’s Manual Chapter 8: Ratings and Characteristics

Voltage Three-phase 200V

Servo Amplifier Model

— — 10AE 15AE 20AE 30AE 40AE 50AE
SGDH-
Model — — 10A 15A 20A 30A 40A 50A
SGMSH-
Servo-motor
Applicable

Capacity — — 1.0 1.5 2.0 3.0 4.0 5. 0

(kW)
Motor Speed Rat ed 3000/maximum 5000
(rpm)
Applicable Encoder Standard: 17-bit increment al encoder
SGMSH Series

Continuous
Output Current — — 5.7 9.7 12.7 18.8 25.4 28.6
Arms
Maximum
Output Current — — 17 28 42 56 77 84
Arms
Allowable
Regenerative
— — 39 31 48 20 29 22
Frequency *
(times/min)

* Allowable regenerative frequency is the number of times the servomotor is allowed to accelerate
and decelerate through a 0rpm → maximum motor speed → 0rpm cycle in a minute.

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Sigma II User’s Manual Chapter 8: Ratings and Characteristics

Specifications for Servo Amplifier and Single-phase, 100V

Servomotor Combinations

Voltage Single-phase 100V

Servo Amplifier Model

A3BE A5BE 01BE 02BE
SGDH-
Model A3B A5B 01B 02B
SGMAH-
Servomotor
Applicable

Capacity 0.03 0.05 0.1 0.2

(kW)
Motor Speed Rated 3000/maximum 5000
(rpm)
SGMAH Series

Applicable Encoder Standard: 13-bit incremental encoder

Continuous Input Current *
1.1 1.8 3.0 5.2
Arms
Continuous Output Current
Arms 0.66 0.95 2.4 3.0

Maximum Output Current

Arms 2.0 2.9 7.2 9.0

Allowable Regenerative Energy** 7.8 15.7

(Joules)

Voltage Single-phase 100V

Servo Amplifier Model

A3BE A5BE 01BE 02BE
SGDH-
Model — — 01B 02B
SGMPH-
Servomotor
Applicable

Capacit y — — 0.1 0.2

(kW)
Motor Speed Rated 3000/maximum 5000
SGMPH Series

(rpm)
Applicable Encoder Standard: 13-bit incremental encoder
Continuous Output Current
Arms — — 2.2 2.7

Maximum Output Current

Arms — — 7.1 8.4

Allowable Regenerative Energy ** — 15.7

(Joules)

* Input current rates are at the lower range of the voltage specifications.
** Allowable regenerative energy is the value with an AC input power supply voltage of 200Vrms.
This may vary with power supply fluctuation.
Note: Refer to 5.6 Selecting a Regeneration Resistor for more details on allowable regenerative energy
and frequency.

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Sigma II User’s Manual Chapter 8: Ratings and Characteristics

Specifications for Servo Amplifier and Three-phase, 400V

Servomotor Combinations
Voltage Three-phase 400V

Servo Amplifier Model

05DE 10DE 15DE 20DE 30DE 50DE 60DE 75DE 1ADE 1EDE
SGDH-
Model
SGMGH- 05D 09D 13D 20D 30D 44D 55D 75D 1AD 1ED
Servomotor
Applicable

Capacity
(kW) 0.45 0.85 1.3 1.8 2.9 4.4 5.5 7.5 11 15
Motor Speed Rated 1500/
(rpm) Rated 1500/maximum 3000 maximum 2000
SGMGH Series

Applicable Encoder Standard: 17-bit incremental encoder

Continuous Output Current
Arms 1.9 3.5 5.4 8.4 11.9 16.5 20.8 25. 4 28.1 37. 2

Maximum Output Current

Arms 5.5 8.5 14 20 28 40.5 55 65 70 85

Allowable Regenrative
Frequency* 42 15 10 12 8 11 26 18 36 32
(times/min)
Model — 10D 15D 20D 30D 40D 50D —
SGMSH-
Servomotor
Applicable

Capacity — 1.0 1.5 2.0 3.0 4.0 5.0 —

(kW)
Motor Speed Rated 3000/maximum 5000
(rpm)
SGMSH Series

Applicable Encoder Standard: 17-bit incremental encoder

Continuous Output Current
Arms — 2.8 4.7 6.2 8.9 12.5 13.8 —

Maximum Output Current

Arms — 8.5 14 19.5 28 38 42 —

Allowable Regenerative
Frequency* — 47 31 48 20 29 22 —
(times/min)

* Allowable regenerative frequency is the number of times the servomotor is allowed to accelerate and
decelerate through a 0rpm → maximum motor speed → 0rpm cycle in a minute.

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Sigma II User’s Manual Chapter 8: Ratings and Characteristics

Voltage Three-phase 400V

Servo Amplifier Model

05DE 10DE 15DE 20AE 30DE
SGDH-
Model
SGMUH- — 10D 15D — 30D
Servomotor
Applicable

Capacity
(kW) — 1.0 1.5 — 2.9

Motor
Speed Rated 6000/maximum 6000
(rpm)
Applicable
SGMSH Series

Encoder Standard: 17-bit incremental encoder

Continuous
Output Current — 2.7 4.1 — 8.1
Arms
Maximum
Output Current — 8.5 14 — 28
Arms
Allowable
Regenerative
— 27 19 — 13
Frequency*
(times/min)

* Allowable regenerative frequency is the number of times the servomotor is allowed to accelerate and
decelerate through a 0rpm → maximum motor speed → 0rpm cycle in a minute.

Note: Refer to 5.6 Selecting a Regeneration Resistor for more details on allowable regenerative energy
and frequency.

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Sigma II User’s Manual Chapter 8: Ratings and Characteristics

8.2.2 Ratings and Specifications

The following table shows ratings and specifications for the SGDH servo amplifier
to use in selecting the appropriate servo amplifier.

Servo Amplifier Ratings and Specifications Table 1

The table’s input current rates are at the lower range of the voltage specifications.

Servo Amplifie r Model SGDH- A3 A5 01 02 04 05 08 10 15 20 30

SGMAH-
B A3 A5 01 02 — — — — — — —
100V

SGMPH-
B — — 01 02 — — — — — — —
Applicable Servomotor

SGMAH-
A A3 A5 01 02 04 — 08 — — — —
SGMPH-
A — — 01 02 04 — 08 — 15 — —
200V

SGMGH-
A
A — — — — — 05 — 09 13 20 30
(1500rpm)
SGMSH-
A — — — — — — — 10 15 20 30
SGMGH-
D — — — — — 05 — 09 13 20 30
400V

SGMSH-
D — — — — — — — 10 15 20 30
SGMUH-
D — — — — — — — 10 15 — 30
Maximum Applicable
Servomotor Capacity 0.03 0.05 0.1 0.2 0.4 0.45 0.75 1.0 1.5 2.0 3.0
[kW]
Continuous
Input Current 1.1 1.8 3.0 5.2 — — — — — — —
[A r ms]
Continuous
Output
100V

Current 0.66 0.95 2.4 3.0 — — — — — — —

[A r ms]
Maximum
Output Current 2.0 2.9 7.2 9.0 — — — — — — —
Basic Specificatio ns

[A r ms]
Continuous
Input Current 0.82 1.1 2.0 3.4 5.5 4.0 5.4 7.0 9.5 12.0 17.0
[A r ms]
Continuous
200V

Output Current 0.44 0.64 0.91 2.1 2.8 3.8 5.7 7.6 11.6 18.5 24.8
[A r ms]
Maximum Output Current
[A r ms] 1.3 2.0 2.8 6.5 8.5 11.0 13.9 17 28 42 56

Continuous Input Current

[A r ms] — — — — — 2.0 — 3.5 4.8 6 8.5

Continuous
400V

Output Current — — — — — 1.9 — 3.5 5.4 8.4 11.9

[A r ms]
Maximum Output Current
[A r ms] — — — — — 5.5 — 8.5 14 20 28

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Sigma II User’s Manual Chapter 8: Ratings and Characteristics

Servo Amplifier Ratings and Specifications Table 1 (continued)

Servo Amplifie r Model SGDH- A3 A5 01 02 04 05 08 10 15 20 30

100V For Single-phase 100 to 115V ac +10 to -15%, 50/60Hz
Main Single/Three-phase 200 to 230V ac +10 to -15%, 50/60Hz
200V
Circuit
Supply* **
Input Power

400V Three-phase. 380 to 480VAC +10 to -15%, 50/60Hz

100V For Single-phase 100 to 115V ac +10 to -15%, 50/60Hz
Control For Single-phase 200 to 230.5V ac +10 to -15%, 50/60Hz
200V
Circuit
400V 24V D C ±15%
Control Method Single or three-phase full-wave rectificatio n IGBT-PWM (sinewave driven)
Basic Specifications

Feedback Seria l encoder: 13- (incremental only), 16-, or 17-bit (incremental/absolute).

Ambient/Storage 0 to +55°C/-20 to +85°C (When enclosed, internal temperatures must not exceed this
Temperature *** range.)
Conditions

Ambient/Storage 90% relative humidit y or le ss (with no condensation)

Humidity
Vib ration/Shock
Resis tance 4.9 m/s2 /19.6 m/s2
Configuration Base mounted (Rack mounted optional).
2.43
For 100V —
(1.1)
Approx. Mass

1.76 (0.8)
[lb (kg)}

1.76 3.75
For 200V (0.8) 2.43 (1.7). 6.17 8.38
(1.1) 3.75 3.75 (2.8) (3.8)
For 400V — — — — —
(1.7) (1.7)

* Supply voltage must not exceed 230V +10% (253V) or 115V + 10% (127V). A step-down
transformer is required if the voltage exceeds these values.
** Main power supply for SGDH-08AE-S and -15AE-S is single-phase, 220 to 230Vac +10 -15%,
50/60Hz
If supply power is less than 187V, Alarm 41 may occur when accelerating to maximum speed at
full torque.
***Use the servo amplifier within the ambient temperature range. When enclosed, internal
temperatures must not exceed the specified range.

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Sigma II User’s Manual Chapter 8: Ratings and Characteristics

Servo Amplifier Ratings and Specifications Table 1 (continued)

Servo Amplifier Model

A3 A5 01 02 04 05 08 10 15 20 30
SGDH-
1:5000 (The lo west speed of the speed control range is the point just before
Speed Control Range the motor stops under full-load condition.)
Load Regulation 0 to 100% load: 0.01% maximum (at rated speed)
Regulation *

Voltage Regulation Rated Voltage ±10%: 0% (at rated speed)

Speed
Performance

Temperature Regulation 25 ± 25°C: ±0.1% max. (at rated speed)

Frequency Characteristics 400Hz (at J L = JM)

Speed and Torque Control Modes

Torque Control Tole rance (Repeat- ±2%

ability)
Soft Start Time Settin g 0 to 10s (Can be set individually for acceleration and deceleration)
±6VD C (Variable setting range: ±2 to ±10VDC ) at rated torque (posit iv e
Reference Volt age**
Reference

torque reference with positive reference), input voltage: ±12V (maximum).

Speed

Input

Input Impedance About 14kΩ

Circuit Time Constant —
±3VD C (Variable setting range: ±1 to ±10VDC ) at rated torque (posit iv e
Input Signals

Reference Volt age**

Reference

torque reference with positive reference), input voltage: ±12V (maximum)

Torque

Input

Input Impedance About 14kΩ

Circuit Time Constant About 47µs
Rotation Directio n With P control signal
Reference

Selection
Contact
Speed

Speed Selection With forward/reverse current limit signal (speed 1 to 3 selection),

servomotor stops or another control method is used when both are OFF.
Bia s Setting 0 to 450rpm (setting resolu tion: 1rpm)
Performance

Feed Forward Compensation 0 to 100% (settin g resolution: 1%)

Positioning Completed Width 0 to 250 reference units (setting resolutio n: 1 reference unit)
Setting
Position Control Mode

Sign + pulse train, 90° phase difference 2-phase pulse (A phase + B

Reference Pulse

Type phase), or CCW + CW puls e train

Form Line driver (+5V level), open collector (+5V or +12V level)
Input Signals

Frequency 500/200kpps maximum (line driver/open collector).

Control Signal Clear Signal (input pulse form identical to reference pulse)
Built-in Open-Colle ctor Power
+12V (1kΩ built-in resistor)
Supply***

* Speed regulation is defined as follows:

The motor speed may change due to voltage variations or amplifier drift and changes in processing
resistance due to temperature variation. The ratio of speed changes to the rated speed represents
speed regulation due to voltage and temperature variations.
** Forward is clockwise viewed from the non-load side of the servomotor, (counterclockwise viewed
from the load and shaft end).
***The built-in open collector power supply is not electrically isolated from the control circuit in the
servo amplifier.

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Sigma II User’s Manual Chapter 8: Ratings and Characteristics

Servo Amplifier Ratings and Specifications Table 1 (continued)

Servo Amplifier Model

A3 A5 01 02 04 05 08 10 15 20 30
SGDH-
Position

A-, B-, C-phase line driver

Form S-phase line driver (only with an absolute encoder)

Frequency Dividing Any

Ratio
I/O Signals

Servo ON, P control (or Control Mode switchin g, forward/reverse motor rotation by internal
Sequence

Signal allocation can speed settin g, zero clamping, reference puls e prohibited), forward run prohibited (P-OT),
be reverse run prohibited (N-OT), alarm reset, forward current limit, and reverse current limit
modified (or internal speed selection)
Fixed Output Servo alarm, 3-bit alarm codes
Sequence

Signal allocation can Positioning completed (speed coincid ence), during servomotor rotation, servo ready,
be durin g current limiting, during speed limiting, brake released, warning, selecting three of
modified the NEAR sig nals.
Dynamic Brake Operated at main power OFF, servo alarm, servo OFF, or overtravel.
Regeneration External regenerative resistor. Built-in.
Overtravel Stop Dynamic brake stop at P-OT or N-OT, deceleration to a stop, or free run to a stop.
Electronic Gear 0.01 ≤ A/B ≤ 100
Overcurrent, overvoltage, low voltage, overload, regeneration error, main circuit volt age
Protectio n error, heat sink overheated, no power supply, overflow, overspeed, encoder error, overrun,
CPU error, parameter error, etc.
LED Dis play Charge, Power, five 7-segment LEDs (built-in digital operator functions)
Internal Functions

Analog monitor connector built in for monitoring speed, torque and other reference sig nals.
Speed: 1V/1000rpm
CN5 Analog Monitoring Torque: 1V/rated torque
Pulses remainin g: 0.05V/reference unit or 0.05V/100 reference units
Dig ital operator (hand-held model), RS-422A port such as for a personal computer
Connected Devices (RS-232C ports under certain conditions)
Communications

1:N Communications Up to N = 14 for RS-422A ports

Axis Address Settin g Set with parameters.
Status display, parameter setting, monit or display, alarm trace-back displa y, JOG and
Functions auto-tuning operations, speed, torque reference signal, and other drawing functions.
Reverse rotation connection, orig in search, automatic servomotor ID, DC reactor
Others connection terminal for high power supply frequency control*

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Sigma II User’s Manual Chapter 8: Ratings and Characteristics

Servo Amplifier Ratings and Specifications Table 2

Servo Amplifier Model SGDH- 50 60 75 1A 1E

SGMGH-
A
A 44 55 75 1A 1E
200V
Applicable Servomot or

SGMSH-
A 40 50 — — — —

SGMGH-
D 44 55 75 1A 1E
400V

SGMSH-
D 40 50 — — — —

SGMUH-
D 40 — — — —

Maximum Applicable.
Servomotor Capacity 5.0 6.0 7.0 11 15
[kW]
Continuous I nput Current
[Arms] 24 32 41 60 80

Continuous Output Current

200V

[Arms] 32.9 46.9 54.7 58.6 78.0

Maximum Output Current

[Arms] 84 110 130 140 170

Continuous I nput Current

[Arms] 14.9 17.8 22.3 32.7 44.6

Continuous Output Current

400V

[Arms] 16.5 21.1 27.4 28.1 37.2

BasicSpecifications

Maximum Output Current

[Arms] 40.5 55 65 70 85

200V Three-phase 200 to 230Va c +10 to -15%, 50/60Hz

Main Circuit
Supply *

400V Three-phase 380 to 480Va c +10 to -15%, 50/60Hz

Power
Input

200V Single-phase 200 to 230Vac +10 to -15%, 50/60Hz

Control Circuit
400V 24VDC ±15%.
Control Met hod Three-phase full-wave rectification IGBT-PWM (sinewave driven)
Feedback Serial encoder: 17-bit (incremental/absolute).
Ambient/Storage
0 to +55°C/-20 to +85°C
Temperature **
Conditions

Ambient/Storage Humidity 90% relative humidity or less (with no condensation)

Vibration/Shock Resistance 4.9 m/s 2 /19.6 m/s2

Configuration Base mounted (Rack Base mounted. (Duct ventilated optional)

mounted optional).
Approximate Mass For 200V 12.1(5.5) 33.1 (15)
lb. (kg)

Notes: * Supply voltage must not exceed 230V +10% (253V) or 115V + 10% (127V). A step-down
transformer is required if the voltage exceeds these values.
** Use the servo amplifier within the ambient temperature range. When enclosed, internal
temperatures must not exceed the specified range.

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Sigma II User’s Manual Chapter 8: Ratings and Characteristics

Servo Amplifier Ratings and Specifications Table 2 (continued)

Servo Amplifier Model

50 60 75 1A 1E
SGDH-

Speed Control Range 1:5000 (The lowest speed of the speed control range is the point just before the
motor stops under full-load condition.)
Load 0 to 100% load: 0.01% maximum (at rated speed)
Regulation*

Regulation
Performance

Speed

Voltage Rated Voltage ±10%: 0% (at rated speed)

Regulation
Temperat ure Regulation 25 ± 25°C: ±0.1% max. (at rated speed)
Frequency Characteristics 400Hz (at J L = J M)
Torque Control Tolerance (Repeatability) ±2%
Speed and Torque Control Modes

Soft Start Time Set ting 0 to 10s (Can be set individually for acceleration and deceleration)
±6VDC (Variable setting range: ±2 to ±10V D C) at rated torque (positive torque
Reference Voltage**
Reference Input

reference with positive reference), input voltage: ±12V (maximum).

Speed

Input Impedance About 14kΩ

Circuit Time Constant —

±3VDC (Variable setting range: ±1 to ±10V D C) at rated torque (positive torque

Reference Voltage**
Reference Input
Input Signals

reference with positive reference), input voltage: ±12V (maximum)

Torque

Input Impedance About 14kΩ

Circuit Time Constant About 47µs

Rotation Direction Selection With P control signal

Contact Speed
Reference

Speed Selection With forward/reverse current limit signal (speed 1 to 3 selection), servomotor stops
or another control method is used when both are OFF.

Bias Setting 0 to 450rpm (setting resolution: 1rpm)

Performance

Feed Forward Compensation 0 to 100% (setting resolution: 1%)

Position Control Mode

Positioning Completed Width Setting 0 to 250 reference units (setting resolution: 1 reference unit)

Type Sign + pulse train, 90° phase difference 2-phase pulse (A phase + B phase), or
Reference

CCW + CW pulse train

Pulse
Input Signals

Form Line driver (+5V level), open collector (+5V or +12V level)
Frequency 500/ 200kpps maximum (line driver/open collector).
Control Signal Clear Signal (input pulse f orm identical to reference pulse)
Built-in Open Collector Power Supply*** +12V (1kΩ built-in resistor)

Note: * Speed regulation is defined as follows:

The motor speed may change due to voltage variations or amplifier drift and changes in
processing resistance due to temperature variation. The ratio of speed changes to the rated speed
represents speed regulation due to voltage and temperature variations.
** Forward is clockwise viewed from the non-load side of the servomotor, (counterclockwise
viewed from the load and shaft end).
***The built-in open collector power supply is not electrically isolated from the control circuit in the
servo amplifier.

8 - 33
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

Servo Amplifier Ratings and Specifications Table 2 (continued)

Servo Amplifier Model

50 60 75 1A 1E
SGDH-

Form A-, B-, C-phase line driver

Position
Output

S-phase line driver (only with an absolute encoder)

Frequency Dividing Ratio Any
Servo ON, P control (or Control Mode switching, forward/reverse motor rotation by
Sequence
I /O Signals

internal speed setting, zero clamping, reference pulse prohibited), forward run
Input

Signal allocation can be modified prohibited (P-OT), reverse run prohibited (N-OT), alarm reset, forward current limit,
and reverse current limit (or internal speed selection)
Fixed Output Servo alarm, 3-bit alarm codes
Sequenc
Output

Positioning completed (speed coincidence), during servomotor rotation, servo ready,

Signal allocation can be modified during current limiting, during speed limiting, brake released, warning, selecting three
of the NEAR signals.
Dynamic Brake Operat ed at main power OFF, servo alarm, servo OFF, or overtravel.
Regeneration Built-in External regenerative resistor.
Overtravel Stop Dynamic brake stop at P-OT or N-OT, deceleration to a stop, or free run to a stop.
Electronic Gear 0.01 ≤ A/B ≤ 100
Overcurrent, overvoltage, low voltage, overload, regeneration error, main circuit volt-
Protection age error, heat sink overheated, no power supply, overflow, overspeed, encoder error,
overrun, CPU error, parameter error, etc.
LED Display Charge, Power, five 7-segment LEDs (built-in digital operator functions)
Internal Functions

Analog monitor connector built in for monitoring speed, torque and other reference
signals.
CN5 Analog Monitoring Speed: 1V/ 1000rpm
Torque: 1V/rated torque
Pulses remaining: 0.05V/reference unit or 0.05V/100 reference units

Connect ed Devices Digital operator (hand-held model), RS-422A port such as for a personal computer
Communications

(RS-232C ports under certain conditions)

1:N Communications Up to N = 14 for RS-422A ports
Axis Address Setting Set with parameters.

Functions Status display, parameter setting, monitor display, alarm trace-back display, JOG and
auto-tuning operations, speed, torque reference signal, and other drawing functions.
Reverse rotation connection, origin search, automatic servomotor ID, DC reactor
Others
connection terminal for high power supply frequency control *

* The DC reactor connection terminals for power supplies designed to minimize the effects of
harmonics are not included in servo amplifiers with capacitites of 6kW or more.

8 - 34
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

8.2.3 Base-Mounted Servo Amplifier Dimensions in inches (mm)

SGDH-A3AE to -02AE (Single-phase, 200V, 30 to 200W) and

SGDH-A3BE to -01BE (Single-phase, 100V, 30 to 100W)
0.32 (8)
SE R VOP AC K
S
GDH
YASKAWA

Terminal

1.54
888 88

(39)
block
(3 types) MO DE/SE T DATA/
C HARGE POWER
CN3
C
L1 N
3
L2
6.30 (160)

⊕1

4.17 (106)
CN1
⊕2

C
N
L1
C 1
0.24 (6)

L2
C
B1
B2

U CN2
V
C
W N
2

Ground terminal 0.39

2 x M4 screws 0.24 (10) 2.95 (75) 5.12 (130)
(6)
2.17 (55)

Mounting Hole Diagram

0.28 (7) 3.60 (91.5)
(5.5)
0.22

2 x M4 screw holes
5.89 (149.5) ±0.020 (0.5)
(Mounting pitch)

0.67 (17)

0.20 1.97 (50)

0.20 (5)

(5)
Approximate mass: 1.76lb (0.8kg)

The same servo amplifier connector is used for SGDH-A3AE (30W) to SGDH-30AE (3.0kW)
and SGDH-A3BE (30W) to SGDH-02BE (200W).
Connectors on the amplifier (supplied):
Connector Symbol Servo Amplifier Receptacle Manufacturer
CN1 10250-52A2JL 3M Company
CN2 53460-0611 Molex Co.
CN3 10214-52A2JL 3M Company
User needs to obtain the following:
Connector Symbol Mating Connector Manufacturer
1CN 10150-3000VE connector 3M Company
10350-52A0-008 case
2CN 55100-0600 Molex Co.
3CN JEZ-9S connector JST Company
J-C9-2C case

8 - 35
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

SGDH-04AE (Single-phase, 200V, 400W) and

SGDH-02BE (Single-phase, 100V, 200W)

2 -Φ0.20 ( Φ5) h oles

0.315 (8)
S E R V OP A C K
SGDH
YA SKA WA

Terminal 8 8888

1.54
(39)
block
(3 types) MOD E/ SET

C HAR GE
DAT A/

PO WER CN3
6.30 (160)

C
L1 N
3
L2

CN1

4.17 (106)
⊕1

⊕2

C
N
1
L1C

CN2
L2C

B1

B2

C
W N
2

0.39 (10)
0.24 (6) 2. 95 (75) 5.12 (130)
0.24 (6)

Gr oun d te rmina l 0.20 (5)

2 x M4 scre ws 2.95 (75)

Mou nting Hol e Di agra m

0.28 (7) 3.60 (91.5)
( 5.5)
0.22

2 x M4 scre w h oles
5 .8 9 (14 9.5) ±0.02 0 (0.5)

0. 67 (17)
(Mounting pitch)

0.47 2.48 ( 63) Mating connectors: see page 8-35.

0.20 (5 )

12 )
A ppro ximate mass: 2.43lb ( 1.1kg)

8 - 36
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

SGDH-05AE to-10AE (Three-phase, 200V, 0.5 to 1.0kW)

SGDH-08AE-S (Single-phase, 200V, 750W)*
2-Φ0.20(Φ5) holes
Air flow

0.31 (8)
Terminal SERVO
block SGDH
YASKAWA

(3 types) 8 8 88 8

1.54
(39)
MODE/SET DATA
/
CHARGEPOWER C N3
6.30 (160)

L1 C
N
3
L2
L3

4.17 (106)
⊕1 C N1
⊕2 C
N
1

Air flow L1C

L2C
B1 C N2
B2
B3
0.24 (6)

U C
N
2
V

Ground 0.39 (10)

terminal 0.59 (15) 2.95 (75) 7.09 (180)
2 x M4 Air flow
screws 1.38 (35) 2.17 (55)
3.54 (90)

Mounting Hole Diagram

0.28 (7) 5.57 (91.5)

0.22
(5.5)

2 x M4
screw holes

0.67 (17)
5.89 (149.5) ±0.020 (0.5)
(Mounting pitch)

Air flow

Mating connectors: see page 8-35.

1.06 2.48 (63)
0.20
(5)

(27) Approximate mass: 3.75lb (1.7kg)

* Rating 200 to 230Vac +10% -5%

8 - 37
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

SGDH-15AE (Three-phase, 200V, 1.5kW)

SGDH-05DE to -15DE (Three-phase, 400V, 0.5 to 1.5kW)

2-Φ0.20 (Φ5) holes

Heat sink

Air flow 0.31 (8)

SGDH
YASKAW
A

1.54
8 8888

(39)
MO DE/SE T DATA/

CN3
6.30 (160)

CHA RGE PO WER

C
L1 N
3
L2

⊕1

CN1
4.17 (106)

⊕2

C
N
1
L1C
L2C
B1
B2

U CN2
V

C
W N
2

Terminal 0.16 (4)

Ground terminal block
2 x M4 screws (3 types) 2.95 (75) 7.09 (180)
Air flow
0.20 (5) 4.33 (110)

Mounting Hole Diagram

2 x M4 screw holes
(5.5)
0.22

0.28 (7) 5.57 (141.5)

5.89 (149.5) ±0. 020 (0.5)
(Mounting pitch)

Cooling fan

Mating connectors: see page 8-35.

0.20
(5)

0.20 3.94 (100) ±0.020 (0.5) 0.20

(5) (Mounting pitch) (5) Approximate mass: 6.17lb (2.8kg)

8 - 38
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

SGDH-20AE, 30AE (Three-phase, 200V, 3.0kW)

SGDH-15AE-S (Single-phase, 200V, 1.5kW)*
SGDH-20DE, 30DE (Three-phase, 400V, 2.0kW, 3.0kW)
2-Φ0.24 (Φ6) holes
Heat sink
Air flow 0.315 (8)
S ER V OPA C K
SGDH
YA SKA W
A

8 888 8

1.54
(39)
MO DE/ SE T D ATA/

CN3
C HAR GE PO WER

C N3

CN1
C N1
9.84 (250)

CN2
C N2
7.72 (196)

B2

B3

Air 14-pin terminal 0.16 (4)

Ground terminal
2 x M4 screws flow M4 mounting screws 2. 95 (75) 7.09 (180)

0.24 (6) 4.33 (110)

Mounting Hole Diagram

4 x M5 screw holes
0.24
(6)

0.28 (7) 5.57 (141.5)

9.39 (238.5) ±0.020 (0.5)
(Mountingpitch)

(100°)

1.57
(40) Cooling fan

Mating connectors: see page 8-35.

A ppro xi ma te ma ss: 8.38 lb (3.8kg)
(5.5)
0.22

0.20 3.94 (100) 0.20

(5) ±0.020 (0.5) (5)
(Mounting pitch)

* Rating 200 to 230Va c +10% -5%

8 - 39
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

SGDH-50AE (Three-phase 200V, 5.0kW)

SGDH-50DE (Three-phase 200V, 5.0kW)

2 Φ0.24 (Φ6) holes

Heat sink 0.31 (8)
5-pin terminal
Y
ASK
AWASE
RVO

SGDH-50AE
P
ACK 2
00V
M6 mounting screw
V
er
.

6-pin terminal L1

1.54
(39)
M5 mounting screws L2
CN3
MO
DE/S
ET D
AT
A /
CHA
RGEP
OWER

L3 C
N
3

2 CN1
C
N
1
9.84 (250)

L1C
CN2
L2C C
N
2

B1
B1
B1

Ground terminal 2.95 (75) 9.06 (230)

2 × M4 screws 5.31 (135)
Cover (not shown) hinges
3-pin terminal from this line, closing over
M5 mounting screws the left side of the front.

Mounting Hole Diagram

4 x M5 screw holes
0.24
(6)

0.28 (7) 7.54 (191.5)

9.39 (238.5) ±0.020 (0.5)
Mounting pitch

(1
00
°)

3.27 (83)
(5.5)
0.22

0.20 4.92 (125) 0.20 Mating connectors: see page 8-35.

(5) (Mounting pitch) (5)
Approximate mass: 12.12lb (5.5kg)

8 - 40
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

SGDH-60AE, 75AE (Three-phase 200V, 6.0kW, 7.5kW)

Cooling fan
Air flow
10 (0.39)

SER VOPACK 200 V

SGD H-
Ver.
0.31
C N8 (8)
CN3
CN10

maximum 13.78 (350)

C N5
4.33 (110)

1 .54 (39)
Control circuit 0.83 (21)
terminal M4
11.13 (282.6)

8.31 (211.1)
Control circuit
C N1 CN 2 terminal

Main circuit
0.98 (25)3.96 (100.5)

terminal
4.92 (125)

51 2 .6 0 (66) 1.81
(2.01) (46 )
0 .4 9 (12.5)
Main circuit
terminal
L1 L2 L3 + - B1 B2 U V W
0.35 (9)

4.86(123.4) 1.67 2.58

0.75 (19) (41)
1.06 3.45 (87.7) 4.20 (106.8)
(65.6)
9 x 0.75 (19) = 6.75 (171) 1.11 (27)
(28.3) maximum 9.25 (235)
maximum 9.06 (230)
Ground Ground
terminal terminal Air flow
A

Mounting Hole Diagram

(7.5)
0.30

4 x M5 screw holes

5. 71 (145)
(Mount ing pitch)
13.19 (335)

3.54 (90)

View A

Mating connectors: see page 8-35.

0.98 7.09 (180) 0.98
(7.5)
0.30

Approximate Mass: 31.5lb (14.3kg)

(25) (Mounting pitch) (25)

8 - 41
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

SGDH-60DE, 75DE (Three-phase 400V, 6.0kW, 7.5kW)

0.31 Cooling fan
(8) Air flow
0.39
(10)

8. 8. 8. 8. 8. CN8

CN 5
CN10

1.54
(39)
4.33 (110)
Control
11.13 (282.6)

Circ‘uit
M5 Main circuit terminal Terminal

13.78 (350)
CN1 CN2

8.31 (211.1)
Main circuit/
Control circuit
Terminal
4.61 (117) 1.81 (46)
1.26
(32) 0.28
(7)

L1 L2 L3 L1 L2 L3 + − B1 B2 U V W

0.28 (7) 0.94 4.76 (121) 3.54(90)

6.22 (158) 0.79 (24) maximum9.25 (235)
1.2 (30.7) 1.11
(20)
maximum9.05 (230) (28.3)
M4 Control circuit terminal M8 Ground terminal Ground terminal Air flow

Mounting Hole Diagram::

0.295
(7.5)

8.74 (22)
13.19 (335)

5.04 (128)
4.09 (104)

Mating connectors: see page 8-35.

0.98 7.09 (180) 0.98
0.295
(7.5)

(25) (25) Approximate mass: 29.8lb (13.5kg)

8 - 42
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

SGDH-1AAE, 1EAE (Three-phase 200V, 11.0kW, 15.0kW)

Cooling fan Air flow
0.28 (7) 9.69(246)

0.295
(7.5)
0.39(10)

S ER VO PA C K 2 0 0 V
S GD H —

V er.

YA S KA W A

5.51 (140) 0.31

(8)
CN3
8. 8. 8. 8. 8.
maximum 17.72 (450)

DATA

1.54
(39)
17.13 (435)
CN10
12.60 (320)

CN1 CN2

9.76 (248)
M4 Control
circuit terminal
M4 Mounting screws

L 1 L2 L3 + 1 +2 B1 B2 U V W
1.42 (36)

0.28 0.28 0.68 (17)

(7.5)
0.295
0.35 (9)

(7) (7)
5.28(134) 2.05(52) 2.91(74) 0.94(24) 0.75 4.62 (117) 4.92 (125)
10.55 (268) (19) 11.22 (285)
M5 Maincircuit terminal M8Groundterminal Main/Control circuit terminal
Air flow
M8Groundterminal
Mounting Hole Diagram
A
0.295
(7.5)

View A:

10.67 (271)
8.74 (2.22)
17.13 (435)

8.23 (209)
5.59 (142)

Mating connectors: see page 8-35.

0.295

1.18 0.28(7)
(7.5)

7.87(200) 1.18 Approximate mass: 31.53lb (14.3kg)

(30) (30)

8 - 43
Sigma II User’s Manual Chapter 8: Ratings and Characteristics

SGDH-1ADE, 1EDE (Three-phase 400V, 11.0kW, 15.0kW)

Cooling fan Air flow

0.28 (7) 9.69(246)

0.295
(7.5)
0.39(10)

S ER VO PA C K 2 0 0 V
S GD H —

V er.

YA S KA W A

5.51 (140) 0.31

(8)
CN3
8. 8. 8. 8. 8.
maximum 17.72 (450)

DATA

1.53
(39)
17.13 (435)
CN10
12.60 (320)

CN1 CN2

9.76 (248)
M4 Control
circuit terminal
M4 Mounting screws

L 1 L2 L3 + 1 +2 B1 B2 U V W
1.42 (36)

0.28 0.28 0.68 (17)

(7.5)
0.295
0.35 (9)

(7) 5.28 (134) 2.05(52) 2.91(74) (7) 0.94(24) 0.75 4.62 (117) 4.92 (125)
10.55 (268) (19) 11.22 (285)
M5 Maincircuit terminal M8Groundterminal Main circuit/Control circuit terminal Air flow
M8Groundterminal
Mounting Hole Diagram
A
0.295
(7.5)

View A:

10.67 (271)
8.74 (2.22)
17.13 (435)

8.23 (209)
5.59 (142)

Mating connectors: see page 8-35.

1.18 0.28(7)
0.295
(7.5)

7.87(200) 1.18
(30) (30) Approximate mass: 31.53lb (14.3kg)

8 - 44
Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

9 Inspection, Maintenance, and Troubleshooting

This chapter describes the basic inspection and maintenance to
be carried out by the user. In addition, troubleshooting proce-
dures are described for problems which generate an alarm dis-
play and for problems which result in no alarm display.
9.1 Servodrive Inspection and Maintenance .............................................................. 9-2
9.1.1 Servomotor Inspection ................................................................................ 9-2
9.1.2 Servo Amplifier Inspection......................................................................... 9-3
9.1.3 Replacing the Battery for the Absolute Encoder ........................................ 9-4
9.2 Troubleshooting ................................................................................................... 9-5
9.2.1 Troubleshooting Problems with Alarm Displays ........................................ 9-5
9.2.2 Troubleshooting Problems with No Alarm Display ................................. 9-39
9.2.3 Alarm Display Table ................................................................................. 9-41
9.2.4 Warning Displays ...................................................................................... 9-43

9- 1
Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

9.1 Servodrive Inspection and Maintenance

This section describes the basic inspections and maintenance of servomotors and servo
amplifiers and the procedures for replacing the battery for absolute encoders.

9.1.1 Servomotor Inspection

For inspection and maintenance of servomotors, follow the simple, daily inspection
procedures in the following table.
The AC servomotors are brushless. Simple, daily inspection is sufficient under most
conditions. The inspection and maintenance frequencies in the table are only
guidelines. Increase or decrease the frequency to suit the operating conditions and
environment.

IMPORTANT
• During inspection and maintenance, do not disassemble the servomotor.
If disassembly of the servomotor is required, contact Yaskawa.

Servomotor Inspection

Action or
Frequency Procedure Comments
Problem
Vibration and Daily Touch and listen. Levels higher than normal?
Noise

Exterior Dirt According to degree Clean with cloth or com- —

of contamination pressed air.

Insulation Disconnect servo amplifier Contact Yaskawa if the insu-

Resistance At least every year and test insulation resis- lation resistance is below
Measurement tance at 500V. Must 10MΩ.
exceed 10MΩ.*

Oil Seal At least every 5000 Remove servomotor from Applies only to motors with
Replacement hours machine and replace oil oil seals.
seal.

Servomotor At least every 20000 The user should not disas-

Overhaul hours or 5 years Contact Yaskawa. semble and clean the servo-
motor.

* Measure across the servomotor FG and the U-phase, V-phase, or W-phase power line

9- 2
Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

9.1.2 Servo Amplifier Inspection

For inspection and maintenance of the servo amplifier, follow the inspection proce-
dures in the following table. Perform inspection and maintenance at least once every
year. Other routine inspections are not required.

Servo Amplifier Inspection

Action or
Frequency Procedure Comments
Problem
Clean interior and At least every year Check for dust, dirt, and oil Clean with compressed air.
circuit boards on the surfaces.
Check for loose terminal
Loose screws At least every year block and connector Tighten any loose screws.
screws.
Defective parts in Check for discoloration,
unit or on circuit At least every year damage or discontinuities Contact Yaskawa.
boards due to heating.

Part Replacement Schedule

The following parts are subject to mechanical wear or deterioration over time. To
avoid failure, replace these parts at the frequency indicated.
The parameters of any servo amplifiers overhauled by Yaskawa are reset to the
default (standard factory) settings before shipping. Be sure to confirm that the
parameters are set to the application’s requirements before starting operation.

Periodic Part Replacement

Part Standard Lifespan Replacement Method

Cooling fan 4 to 5 years Replace with new part.
Smoothing capacitor 7 to 8 years Test. Replace with a new part, if necessary.
Relays — Test. Replace if necessary.
Fuse 10 years Replace with new part.
Aluminum electrolytic Test. Replace with new circuit board, if nec-
capacitor on circuit 5 years essary.
board

Operating Conditions:
Ambient Temperature: Annual average of 30°C.
Load Factor: 80%, maximum.
Operation Rate: 20 hours/day, maximum.

9- 3
Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

9.1.3 Replacing the Battery for the Absolute Encoder

If the voltage of the battery for an absolute encoder drops to about 2.7V or less, an
Absolute Encoder Battery Alarm (A. 83*) will occur in the servo amplifier. This
alarm occurs when the servo amplifier receives a signal from the absolute encoder
when the power to the servo amplifier is turned ON. Therefore, the servo amplifier
will not give an alarm when the battery voltage drops below the minimum voltage
level while the power is being supplied to the servo amplifier.
Refer to 5.7.3 Handling Batteries for the battery type recommended for absolute
encoders.
Replace the battery using the following procedure if the battery voltage drops below
the minimum required battery voltage.

Battery Replacement Procedure
1. Replace the battery while the control power to the servo amplifier is ON.
2. After replacement, turn OFF the power to the servo amplifier in order to clear the
Absolute Encoder Battery Alarm (A. 83).
3. Turn ON the power to the servo amplifier again and confirm that it operates
properly.
Note: The absolute encoder data will be lost when the control power to the servo amplifier is turned OFF
and the encoder cable is disconnected from the battery. If the data is lost, refer to 5.7.4 I. Absolute
Encoder Setup and follow the procedure to initialize the absolute encoder.

*Alarm A.83 is described in greater detail on page 9 - 22.

9- 4
Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

9.2 Troubleshooting
This section describes causes and remedies for problems which generate an alarm display
and for problems which result in no alarm display.

9.2.1 Troubleshooting Problems with Alarm Displays

Problems that occur in the servodrives are displayed on the panel operator as
“A.” or “CPF”. Refer to the following sections to identify the cause of an
alarm and the action to be taken.
Contact Yaskawa if the problem has not been solved after following the described
procedures.
Note: “A.- -: Normal Operation”, is not an alarm. Additional information appears on page 9 - 38.

A.02
A.02: Parameter Breakdown

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
OFF OFF OFF OFF

Note: OFF: Output transistor is OFF (alarm state).

Status and Remedy for Alarm

At power ON. A, B

Cause of the Problem Solution

Power turned OFF during param- • Initialize parameters using
A eter write. Alarm occurred at next Fn005 then reenter settings .
power ON. • Replace the servo amplifier.
B Circuit board (1PWB) defective. Replace the servo amplifier.

9- 5
Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.03
A.03: Main Circuit Detection Error

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
OFF OFF OFF OFF

Note: OFF: Output transistor is OFF (alarm state).

Status and Remedy for Alarm

At power ON. A

Cause of the Problem Solution

A Circuit board (1PWB or 2PWB) Replace servo amplifier.

defective.

9- 6
Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.04
A.04: Parameter Setting Error

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
OFF OFF OFF OFF

Note: OFF: Output transistor is OFF (alarm state)

Status and Remedy for Alarm

At power ON. A, B

Cause of the Problem Solution

An out-of-range parameter was • Reset all parameters in the range.
A previously set or loaded. • Otherwise, reload the correct parameter.
B Circuit board (1PWB) is defective. Replace the servo amplifier.

9- 7
Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.05
A.05: Servomotor and Amplifier Combination Error

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
OFF OFF OFF OFF

Note: OFF: Output transistor is OFF (alarm state).

Status and Remedy for Alarm

At power ON. A, B

Cause of the Problem Solution

The range of servomotor capaci- Replace the servomotor so that
A ties that can be combined has an acceptable combination is
been exceeded. achieved.
Encoder parameters have not
B Replace the servomotor.
been written properly.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.10
A.10: Overcurrent or Heat Sink Overheated

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
ON OFF OFF OFF

Note: OFF: Output transistor is OFF (alarm state).

ON: Output transistor is ON.

Status and Remedy for Alarm

During servomotor When Servo ON (S-ON)

operation. A, B, D, ssignal is turned ON. C, D
E, F, G

At power ON. C

Cause of the Problem Solution

Shorted wiring between servo
A Check and correct wiring.
amplifier and servomotor.
Shorted servomotor U, V, or W
B Replace servomotor.
phase.
• Defective circuit board (1PWB)
C . Replace servo amplifier.
• Defective power transistor.
Defective current feedback circuit,
D power transistor, DB circuit, or cir- Replace servo amplifier.
cuit board.
Ambient temperature of the servo Alter conditions so that the ambi-
E amplifier greater than 55°C. ent temperature is below 55°C.
Inadequate air flow around the Providing sufficient space as
F heat sink. specified.
G Fan stopped. Replace servo amplifier.
Servo amplifier is operating under
H Reduce load.
an overload.

Note: Problems E to H can occur in a servo amplifier with a capacity of

1.5 to 5kW, and all 400V models.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.30
A.30: Regenerative Error Detected

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
ON ON OFF OFF

Note: OFF: Output transistor is OFF (alarm state).

ON: Output transistor is ON.

Status and Remedy for Alarm

During servomotor When the control power
operation. A, B is turned ON. D

About 1s after main circuit

power is turned ON. A, B, C

Cause of the Problem Solution

A Malfunctioning regenerative transistor. Replace servo amplifier.
Replace servo amplifier or regen-
B Regenerative resistor is open. erative resistor.
Disconnected regenerative unit Check the wiring of the external
C (for an external regenerative resistor). regenerative resistor.
D Defective servo amplifier. Replace servo amplifier.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.32
A.32: Regenerative Overload

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
ON ON OFF OFF

Note OFF: Output transistor is OFF (alarm state).

ON: Output transistor is ON.

Status and Remedy for Alarm

During servomotor operation. A, B

Cause of the Problem Solution

Use an external regenerative
Regenerative power exceeds the
A resistor that matches the regener-
limit. ative power capacity.
Alarm occurs although an exter-
nal regenerative resistor is used
B Correct parameter Pn600.
and the temperature rise of the
regenerative resistor is small.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.40
A.40: Main Circuit DC Voltage Error Detected: Overvoltage

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
OFF OFF ON OFF

Note: OFF: Output transistor is OFF (alarm state).

ON: Output transistor is ON.

Status and Remedy for Alarm

During servomotor When control power
operation.
A, B, C, D is turned ON.
E

When main circuit

power is turned ON. A, D

Cause of the Problem Solution

Power supply voltage is not within
A Check power supply.
the range of specifications.
Load exceeds capacity of the regen- Check specifications of load iner-
B erative unit. tia and overhanging load.
Malfunctioning regenerative transis-
C tor.
Replace servo amplifier.
D Defective rectifying diode.
E Defective servo amplifier.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.41
A.41: Main Circuit DC Voltage Error Detected: Undervoltage

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
OFF OFF ON OFF

Note: OFF: Output transistor is OFF (alarm state).

ON: Output transistor is ON.

Status and Remedy for Alarm

During servomotor When control power
operation.
A, B, C is turned ON.
D

When main circuit

power is turned ON. A, B, C

Cause of the Problem Solution

A The power supply voltage Check power supply voltage.

exceeds specified range.
B Fuse blown.
C Defective rectifying diode. Replace servo amplifier.
D Defective servo amplifier.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.51
A.51: Overspeed

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
ON OFF ON OFF

Note: OFF: Output transistor is OFF (alarm state).

ON: Output transistor is ON.

Status and Remedy for Alarm

When Servo ON (S-ON)
signal is turned ON. A At power ON. D

During high-speed
servomotor rotation B, C
after a reference input.

Cause of the Problem Solution

Check and correct wiring. (Check
A Incorrect servomotor wiring. for U-, V-, and W-phase wiring
errors.)
Position or speed reference input
B Lower the reference input values.
is too large.
Incorrect reference input gain set- Check and correct parameter set-
C tings. tings.
D Defective circuit board (1PWB). Replace servo amplifier.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.71, A.72
A.71: Overload: High Load
A.72: Overload: Low Load.

The alarm output, status, and remedy for A.71 are the same as for A.72.

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
ON ON ON OFF

Note: OFF: Output transistor is OFF (alarm state).

ON: Output transistor is ON.

Status and Remedy for Alarm

When Servo ON (S-ON)
A At power ON. C
signal is turned ON.

When speed reference

is entered.

No servomotor
rotation. B

During servomotor
operation. B

Cause of the Problem Solution

Incorrect or disconnected servo- Check wiring and connectors at
A motor wiring. the servomotor.
Reduce load torque and inertia.
Load greatly exceeds rated
B Otherwise, replace with a larger
torque. capacity servomotor.
C Defective circuit board (1PWB). Replace servo amplifier.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

Overload Characteristics
Servo amplifiers have a built-in overload protection function that protects the servo
amplifiers and servo motors from overload. Allowable power for the servo amplifi-
ers is limited by the overload protective function, as shown in the figure below.
The overload detection level is set under hot start conditions at a servomotor ambient
temperature of 40°C.

10,000
Low Overload
Region (A.72)
1,000
Operating Time (s)

100
High Overload
Region (A.71)
A
10
5

1
Rated torque +Maximumtorque
A p pr ox im a te
2
Rated torque Maximum Torque
Motor Torque

Note: The overload protection characteristics of A and B in the figure are applicable when the servo ampli-
fier is combined with one of the following servomotors:
A: SGMAH or SGMPH servomotor with a maximum capacity of 400W, 100V and 200V only.
B: Other servomotors similar to the SGMAH, SGMPH, SGMGH, SGMSH, and SGMUH.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.73
A.73: Dynamic Brake Overload

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
ON ON ON OFF

Note: OFF: Output transistor is OFF (alarm state).

ON: Output transistor is ON.

Status and Remedy for Alarm

When the Servo OFF (/S-ON)
signal is turned ON. A At power ON. B

Cause of the Problem Solution

The product of the square of rotational motor
speed, the combined inertia of the motor, • Reduce the rotational speed.
A and load (rotation energy) exceeds the • Decrease the load inertia.
capacity of the dynamic brake resistor built • Minimize use of the dynamic brake.
into servo amplifier.
B Defective circuit board (1PWB). Replace servo amplifier.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.74
A.74: Overload of Surge Current Limit Resistor

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
ON ON ON OFF

Note: OFF: Output transistor is OFF (alarm state).

ON: Output transistor is ON.

Status and Remedy for Alarm

When main circuit power
A At power ON. B
is turned ON or OFF.

Cause of the Problem Solution

Frequently turning the main circuit Do not repeatedly turn ON/OFF
A power ON/OFF. the main circuit power.
B Defective circuit board (1PWB). Replace servo amplifier.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.7A
A.7A: Heat Sink Overheated
Heat sink temperature exceeds 100°C.

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
ON ON ON OFF

Note: OFF: Output transistor is OFF (alarm state).

ON: Output transistor is ON.

Status and Remedy for Alarm

During servomotor A, B When control power
operation. is turned ON. E
C, D

Cause of the Problem Solution

Alter conditions so that the ambi-
The ambient temperature of the
A ent temperature goes below
servo amplifier exceeds 55°C. 55°C.
Inadequate air flow around the Provide sufficient space as speci-
B heat sink . fied.
C Fan stopped. Replace servo amplifier.
Servo amplifier is operating under
D Reduce load.
overload.
E Defective servo amplifier. Replace servo amplifier.

Note: Larger servo amplifiers (1.5kW., or larger) will display alarm A.10 if the
heat sink overheats.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.81
A.81: Absolute Encoder Backup Power Supply Error

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
OFF OFF OFF OFF

Note: OFF: Output transistor is OFF (alarm state).

Status and Remedy for Alarm

At power ON.

When parameter
Pn002.2 = 0 or 2 A, B, C

When parameter
Pn002.2 = 1 C

Cause of the Problem Solution

The following power supplies to the
absolute encoder both failed:
A Follow absolute encoder setup procedure.
• +5V supply
• Battery power
B Absolute encoder malfunctioned. Replace servomotor.
C Circuit board (1PWB) defective. Replace servo amplifier.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.82
A.82: Encoder Checksum Error

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
OFF OFF OFF OFF

Note: OFF: Output transistor is OFF (alarm state).

Status and Remedy for Alarm

When the sensing (SEN)
At power ON. A, B signal is ON and parameter A
Pn002.2 = 0 or 2.

During servomotor
operation. A, B

Cause of the Problem Solution

• Follow absolute encoder setup
Error during encoder memory procedure.
A check. • Replace servomotor if error
occurs frequently.
B Circuit board (1PWB) defective. Replace servo amplifier.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.83
A.83: Absolute Encoder Battery Error

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
OFF OFF OFF OFF

Note: OFF: Output transistor is OFF (alarm state).

Status and Remedy for Alarm

At power ON.

When parameter
Pn002.2 = 0 or 2 A, B, C

When parameter
Pn002.2 = 1 C

Cause of the Problem Solution

• Disconnected battery. Check and correct battery con-
A
• Defective battery connection. nection.
Install a new battery while the
Battery voltage below specified control power to the servo ampli-
B value. fier is ON. After replacement,
Specified value: 2.7V. cycle the power OFF and ON
again.
C Defective circuit board (1PWB). Replace servo amplifier.*

* The replacement procedure is described in Section 9.1.3 Replacing the Bat-

tery for the Absolute Encoder

Note: No alarm will occur at the servo amplifier if the battery error occurs during
operation.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.84
A.84: Absolute Encoder Data Error

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
OFF OFF OFF OFF

Note: OFF: Output transistor is OFF (alarm state).

Status and Remedy for Alarm

During servomotor
At power ON. A operation. B

Cause of the Problem Solution

Replace servomotor if error
A Malfunctioning absolute encoder. occurs frequently.
Check and correct wiring around
the encoder, (grounding of servo-
Operational error in encoder motor, separation of encoder and
B caused by external noise power cables, insertion of toroi-
dal cores onto cables to reduce
noise, etc.)

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.85
A.85: Absolute Encoder Overspeed

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
OFF OFF OFF OFF

Not: OFF: Output transistor is OFF (alarm state).

Status and Remedy for Alarm

At power ON. A, B

Cause of the Problem Solution

Absolute encoder turned ON at Turn ON power supply with the
A motor speed exceeding 200rpm. servomotor stopped.
B Circuit board (1PWB) defective. Replace servo amplifier.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.86
A.86: Encoder Overheated

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
OFF OFF OFF OFF

Note: OFF: Output transistor is OFF (alarm state).

Status and Remedy for Alarm

When the control panel
During servomotor operation. A, B C, D
is turned ON.

Cause of the Problem Solution

The ambient temperature of the Alter conditions so that the ambi-
A servomotor is high. ent temperature goes below 40°C
Servomotor is operating under
B Reduce load.
overload.
C Circuit board (1PWB) defective. Replace servo amplifier.
D Encoder defective. Replace servo amplifier.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.b1, A.b2
A.b1: Reference Speed Input Read Error
A.b2: Reference Torque Input Read Error

The alarm output, status, and remedy for A.b1 are the same as for A.b2.

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
OFF OFF OFF OFF

Note: OFF: Output transistor is OFF (alarm state).

Status and Remedy for Alarm

During servomotor operation. A, B At power ON. A, B, C

Cause of the Problem Solution

Error in reference read-in unit (A/ Reset alarm and restart opera-
A D Converter, etc.). tion.
Faulty reference read-in unit (A/D
B Replace servo amplifier.
Converter, etc.).
C Defective circuit board (1PWB). Replace servo amplifier.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.C1
A.C1: Servo Run Away

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
ON OFF ON OFF

Note: OFF: Output transistor is OFF (alarm state).

ON: Output transistor is ON.

Status and Remedy for Alarm

When Servo ON (S-ON)
At power ON. A signal is turned ON. A, B, C, D

When parameter
Pn50A.1 = 7. D
When the speed reference A, B, C
is entered.

Within 1 to 3s after
power is turned ON. A

When parameter
Pn50A.1 ≠ 7. A, B, C, D

Cause of the Problem Solution

Incorrect or disconnected Check wiring and connectors at
A servomotor wiring. the servomotor.
Incorrect or disconnected Check wiring and connectors at
B encoder wiring. the encoder.
C Defective encoder. Replace servomotor.
D Defective circuit board (1PWB). Replace servo amplifier.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.C8
A.C8: Absolute Encoder Clear Error and Multi-turn Limit Setting Error

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
ON OFF ON OFF

Note: OFF: Output transistor is OFF (alarm state).

ON: Output transistor is ON.

Status and Remedy for Alarm

When resetting the multi-turn
At power ON. A, B clear encoder alarm. A, B

Cause of the Problem Solution

A Encoder defective. Replace servomotor.
B Servo amplifier defective. Replace servo amplifier.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.C9
A.C9: Encoder Communications Error

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
ON OFF ON OFF

Note: OFF: Output transistor is OFF (alarm state).

ON: Output transistor is ON.

Status and Remedy for Alarm

During servomotor operation. A, B, C At power ON. A, B, C

Cause of the Problem Solution

Incorrect or disconnected Check wiring and connectors at
A encoder wiring. the encoder.
B Defective encoder. Replace servomotor.
C Defective servo amplifier. Replace servo amplifier.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.CA
A.CA: Encoder Parameter Error

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
ON OFF ON OFF

Note: OFF: Output transistor is OFF (alarm state).

ON: Output transistor is ON.

Status and Remedy for Alarm

At power ON. A, B

Cause of the Problem Solution

A Defective encoder. Replace servomotor.
B Defective servo amplifier. Replace servo amplifier.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.Cb
A.Cb: Encoder Echoback Error

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
ON OFF ON OFF

Note: OFF: Output transistor is OFF (alarm state).

ON: Output transistor is ON.

Status and Remedy for Alarm

At power ON. A, B

Cause of the Problem Solution

Incorrect or disconnected Check wiring and connectors at
A encoder wiring. encoder.
B Defective encoder. Replace servomotor.
C Defective servo amplifier. Replace servo amplifier.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.CC
A.CC: Multi-turn Limit Disagreement Alarm

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
ON OFF ON OFF

Note: OFF: Output transistor is OFF (alarm state).

ON: Output transistor is ON.

Status and Remedy for Alarm

At power ON. A, B

Cause of the Problem Solution

Incorrectly set Multi-Turn Limit Change the value in parameter
A Setting parameter (Pn205) in the Pn205.
servo amplifier.
First verify that the Multi-Turn
Limit Setting parameter (Pn205)
is set correctly in the servo ampli-
No Multi-Turn Limit value set in fier. While in the active alarm
B the encoder. state, change the setting in the
encoder Multi-Turn Limit Setting
parameter (Pn205) using function
Fn013.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.d0
A.d0: Position Error Pulse Overflow

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
ON ON OFF OFF

Note: OFF: Output transistor is OFF (alarm state).

ON: Output transistor is ON.

Status and Remedy for Alarm

During servomotor oper ation. A At power ON. E

During high speed

rotation. A

When a long r eference

is entered during B, C, D
normal operation.

When a properly entered

reference pulse does not E
generate a feedback pulse.

Cause of the Problem Solution

Servomotor wiring incorrect or Check wiring and connectors at
A poor connection encoder.
Servo amplifier was not correctly Increase speed loop gain (Pn100)
B adjusted. and position loop gain (Pn102).
Reduce load torque or inertia. If
C Motor load was excessive. problem persists, replace with a
larger capacity motor.
•Increase or decrease reference
Position reference pulse fre- pulse frequency.
D quency was too high. •Add smoothing function.
•Correct electronic gear ratio.
E Circuit board (1PWB) defective. Replace servo amplifier.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.E7
A.E7: Option Unit Detection Error
A.E7 occurs the first time the SGDH amplifier is used after disconnecting an option
unit. This alarm cannot be cleared with an alarm reset; instead, clear it with function
Fn014.

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
ON ON OFF OFF

Note: OFF: Output transistor is OFF (alarm state).

ON: Output transistor is ON.

Status and Remedy for Alarm

When the control power is When the control power
turned ON after disconnecting A is turned ON with an option B, C, D
an option unit unit connected.

Cause of the Problem Solution

The SGDH amplifier is used To use the SGDH amplifier after disconnecting
immediately after disconnection of the option unit, execute Fn014 (option unit
A an option unit without clearing the detection result clear), in the auxiliary function
unit detector. mode, and then cycle the power.
B Option unit connection is defective. Check and correct the connection.
C Option unit is defective. Replace the option unit.
D Servo amplifier Replace the servo amplifier.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.F1
A.F1: Power Line Open Phase

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
OFF ON OFF OFF

Note: OFF: Output transistor is OFF (alarm state).

ON: Output transistor is ON.

Status and Remedy for Alarm

When the main circuit’s When the control power
power supply is turned ON. A, B is turned ON. C

Cause of the Problem Solution

• Check power supply.
One phase (L1, L2, or L3) of the • Check wiring of the main circuit
A main circuit power supply is dis- power supply.
connected. • Check MCCB, noise filter, mag-
netic contactor.
There is one phase where the line
B Check power supply.
voltage is low.
C Servo amplifier defective. Replace servo amplifier.

Note: A and B tend to occur in a servo amplifier with a capacity of 500W or

higher.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

CPF00
CPF00: Digital Operator Transmission Error 1
This alarm is not stored in the alarm history.

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
Not Applicable

Status and Remedy for Alarm

When the digital operator
is connected before or after A, B
the servo amplifier has been
turned ON. C, D

Cause of the Problem Solution

Cable defective or poor contact • Check connector connections.
A between digital operator and • Replace cable.
servo amplifier.
Separate digital operator and
B Malfunction due to external noise. cable from noise source.
C Digital operator defective. Replace digital operator.
D Servo amplifier defective. Replace servo amplifier.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

CPF01
CPF01: Digital Operator Transmission Error 2
This alarm is not stored in the alarm history.

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
Not Applicable

Status and Remedy for Alarm

During servomotor
operation. A, B, C, D

Cause of the Problem Solution

Cable defective or poor contact • Check connector connections.
A between digital operator and • Replace cable.
servo amplifier.
Separate digital operator and
B Malfunction due to external noise cable from noise source.
C Digital operator defective. Replace digital operator.
D Servo amplifier defective. Replace servo amplifier.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

A.- -
A.- -: Normal Operation
This is not an alarm display.

Display and Outputs

Alarm Outputs
Alarm Code Output
ALM Output
ALO1 ALO2 ALO3
OFF OFF OFF ON

Note: OFF: Output transistor is OFF (alarm state).

ON: Output transistor is ON.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

9.2.2 Troubleshooting Problems with No Alarm Display

Use the tables below to identify the cause of a problem that causes no alarm display
and follow the described corrective procedure.
Turn OFF the servo system power supply before starting the shaded procedures.
Contact Yaskawa if the problem cannot be solved by carefully following the
described procedure.
Troubleshooting Table No Alarm Display

Symptom Cause Comment Solution

Power not connected Check voltage between Correct the power circuit.
power supply terminals.
Loose connection Check terminals of connec- Tighten any loose parts.
tors (CN1, CN2).
Connector (CN1) external Check connector (CN1) Refer to connection diagram
wiring incorrect external wiring and correct wiring.
Servomotor or encoder — Reconnect wiring
wiring disconnected.

Overloaded Run under no load. Reduce load or replace with

larger capacity servomotor.
No speed/position Check reference input pins. Correctly input speed/position
references input references.

Servomotor does /S-ON is turned OFF Check settings of parameters Turn /S-ON input ON.
not start Pn50A.0 and Pn50A.1.

/P-CON input function set- Refer to section 5.3.5 and set

ting incorrect Check parameter Pn000.1. parameters to match
application.
Reference pulse mode Refer to section 5.2.2 Correct setting of parameter
selection incorrect. Pn200.0.
Encoder type differs from Confirm whether incremental Set parameter Pn002.2 to the
parameter setting. or absolute encoder is used. encoder type being used.
P-OT and N-OT inputs Refer to section 5.1.2. Turn P-OT and N-OT input
are turned OFF. signals ON.
CLR input is turned ON Check status of error counter Turn CLR input OFF.
clear input.

SEN input is turned OFF. When absolute encoder is Turn SEN input ON.
used.
Servomotor Servomotor or encoder Refer to chapter 3 and
moves suddenly, wiring incorrect. — correct wiring.
then stops
Suddenly stops Alarm reset signal Remove cause of alarm. Turn
during operation (/ALM-RST) is turned ON — alarm reset signal (ALM-RST)
and will not because an alarm from ON to OFF.
restart occurred
Check the connections of the
Unstable servo- Defective wiring power lead (U-, V-, and Tighten any loose terminals or
motor speed. connection to the motor. W-phases) and the encoder connectors
connectors.

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Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

Symptom Cause Comment Solution

Speed loop gain value too Reduce speed loop gain
high. — (Pn100) preset value.
Minimize length of speed/
position reference input
Servomotor vibrates Speed/position reference — wire, with impedance not
at approximately 200 input wire too long. exceeding several hundred
to 400Hz. ohms
Speed/position reference Separate reference input
input wire is bundled with — wire at least 30cm from
power cables. power cables.
Reduce speed loop gain
Speed loop gain value too (Pn100) preset value.
high. — Increase integration time
High rotation speed constant (Pn101).
overshoot on starting Increase the value of
and stopping. Speed loop gain is too low parameter Pn100 (speed
compared to position loop — loop gain).
gain. Reduce the integration time
constant (Pn101).
Ambient temperature too Measure servomotor ambient Reduce ambient tempera-
high temperature. ture to 40°C maximum.
Servomotor Clean dust and oil from
overheated Servomotor surface dirty Visual check motor surface.
Reduce load or replace with
Overloaded Run under no load. larger capacity servomotor.
Servomotor mounting screws
loose? Tighten mounting screws.
Incorrect mechanical
mounting Coupling not centered? Center coupling.
Coupling unbalanced? Balance coupling.
Abnormal noise
Check noise and vibration Consult your Yaskawa
Bearing defective near bearing. representative if defective.
Foreign object intrusion, dam-
Machine causing vibra- age, or deformation of sliding Consult with machine
tions parts of machine. manufacturer.

Speed reference 0V Adjust reference offset.

but servomotor Speed reference voltage — Refer to sections 7.2.4 and
rotates. offset applied 7.2.5

9 - 40
Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

9.2.3 Alarm Display Table

A summary of alarm displays and alarm code outputs is given in the following table.

Alarm Display Table

Alarm Alarm Code Output ALM

Alarm Name Description
Display ALO1 ALO2 ALO3 Output

A.02 EEPROM data of servo amplifier

Parameter Breakdown* is abnormal.

A.03 Main Circuit Encoder Detection data for power circuit

Error is abnormal.
OFF OFF OFF OFF The parameter setting is outside
A.04 Parameter Setting Error* the allowable setting range.

Servomotor and Amplifier Servo amplifier and servomotor

A.05 Combination Error capacities do no match each
other.
An overcurrent flowed through
Overcurrent or Heat Sink the IGBT.
A.10 ON OFF OFF OFF
Overheated** Heat sink of servo amplifier was
overheated.

A.30 Regeneration Error • Regenerative circuit is faulty

Detected • Regenerative resistor is faulty.
ON ON OFF OFF
A.32 Regenerative Overload Regenerative energy exceeds
regenerative resistor capacity.

A.40 Overvoltage Main circuit DC voltage is

excessively high.
OFF OFF ON OFF
A.41 Undervoltage Main circuit DC voltage is
excessively low.

A.51 ON OFF ON OFF Overspeed Rotational speed of the motor is

excessively high.
The motor was operating for
A.71 Overload: High Load several seconds to several tens
of seconds under a torque
largely exceeding ratings.
The motor was operating
A.72 Overload: Low Load continuously under a torque
largely exceeding ratings
ON ON ON OFF When the dynamic brake was
A.73 Dynamic Brake Overload applied, rotational energy
exceeded the capacity of
dynamic brake resistor.

A.74 Overload of Surge The main circuit power was

Current Limit Resistor frequently turned ON and OFF.

A.7A The heat sink of servo amplifier

Heat Sink Overheated ** overheated.

* These alarms are not reset by the alarm reset signal (/ALM-RST). Eliminate the cause of
the alarm and then turn OFF the power supply to reset the alarms.
** This alarm display appears only within the range of 30W to 1kW.
Notes: OFF: Output transistor is OFF.
ON: Output transistor is ON.

9 - 41
Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

Alarm Alarm Code Output ALM

Alarm Name Description
Display ALO1 ALO2 ALO3 Output

Absolute Encoder All the power supplies for the abso-

A.81 lute encoder have failed and position
Backup Error * data was cleared.
Encoder Checksum The checksum results of encoder
A.82
Error* memory is abnormal.

A.83 Absolute Encoder Battery voltage for the absolute

Battery Error encoder has dropped.
Absolute Encoder Data
A.84 Received absolute data is abnormal.
Error*
OFF OFF OFF OFF Absolute Encoder The encoder was rotating at high
A.85 Overspeed speed when the power was turned
ON.

A.86 Encoder Overheated The internal temperature of encoder

is too high.

A.b1 Reference Speed Input The A/D converter for reference

Read Error speed input is faulty.

A.b2 Reference Torque Input The A/D converter for reference

Read Error torque input is faulty.

A.bF A system error occurred in the servo

System Alarm * amplifier.

A.C1 Servo Overrun The servomotor ran out of control.

Detected
Absolute Encoder Clear
Error and The multi-turn for the absolute
A.C8 Multi-Turn Limit encoder was not properly cleared or
set.
Setting Error *
ON OFF ON OFF Encoder Communications between servo
A.C9
Communications Error* amplifier and encoder is not possible.
Encoder Parameter
A.CA Encoder parameters are faulty.
Error*
Encoder Echoback Contents of communications with
A.Cb
Error* encoder is incorrect.

Multi-Turn Limit Different multi-turn limits have been

A.CC ON OFF ON OFF Disagreement set in the encoder and servo
amplifier.

A.d0 ON ON OFF OFF Position Error Pulse Position error pulse exceeded
Overflow parameter (Pn505).

A.E7 OFF ON ON OFF Option Unit Detection Option unit detection fails.
Error

A.F1 OFF ON OFF OFF Power Line Open One phase is not connected in the
Phase main power supply
CPF00 Digital Operator Digital operator (JUSP-OP02A-2)
Not Specified Transmission Error fails to communicate with servo
CPF01 amplifier (e.g., CPU error).
A.-- OFF OFF OFF ON Not an error Normal operation status

* These alarms are not reset by the alarm reset signal (/ALM-RST). Eliminate the cause of
the alarm and then turn OFF the power supply to reset the alarms.
** This alarm display appears only within the range of 30 to 1000W.
Notes: OFF: Output transistor is OFF.
ON: Output transistor is ON.

9 - 42
Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

9.2.4 Warning Displays

The correlation between warning displays and warning code outputs is shown in the
following table.

Warning Displays and Outputs

Warning Warning Code Outputs Warning

Meaning of Warning
Display ALO1 ALO2 ALO3 Name

This warning occurs before either of

the overload alarms (A.71 or A.72)
A.91 ON OFF OFF Overload occurs. If the warning is ignored and
operation continues, an overload
alarm may result.
This warning occurs before the
Regenerative regenerative overload alarm (A.32)
A.92 OFF ON OFF Overload occurs. If the warning is ignored and
operation continues, a regenerative
overload alarm may result.

9 - 43
Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting

Notes:

9 - 44
Sigma II User’s Manual Appendix A: Host Controller Connection Examples

A Host Controller Connection Examples

This appendix provides examples SGDH servo amplifiers con-
nected to typical host controllers. Refer to the manuals for the
host controller when actually connecting to them.

A.1 Connecting the GL-series MC20 Motion Module .............................................. A-2

A.2 Connecting the CP-9200SH Servo Controller Module (SVA) ........................... A-3
A.3 Connecting the GL-series B2813 Positioning Module ....................................... A-4
A.4 Connecting OMRON's C500-NC221 Position Control Unit .............................. A-5
A.5 Connecting OMRON's C500-NC112 Position Control Unit .............................. A-6
A.6 Connecting MITSUBISHI's AD72 Positioning Unit .......................................... A-7
A.7 Connecting MITSUBISHI's AD75 Positioning Unit .......................................... A-8

A-1
Sigma II User’s Manual Appendix A: Host Controller Connection Examples

A.1 Connecting the GL-series MC20 Motion Module

The following diagram shows an example of connecting to the GL-series MC20 Motion
Module. In this example, the servo amplifier is used in Speed Control Mode.
Servopack
SGDM
L1C
L2C
L1
Servomotor
L2
Yaskawa's L3
MC20 *1 U
A (1)
MC Unit SV1 CN1 V M
B (2)
1 *2 33
PA PAO W
2 P 34 C (3)
*PA *PAO
3 35 D (4)
PB PBO
4 P 36
*PB *PBO
5 19
PC PCO PG
6 P 20
*PC *PCO
7 5
VREF VREF
8 P 6
SG SG CN2
9 21
BAT BAT (+)
10 P 22
BAT0 BAT (-)
19 47
+24V +24VIN
13 40
SVON SON
14 41
PCON PCON
11 4
SEN SEN
12 P 2
0SEN SG
15 44
ALMRST ALMRST
16 31
ALM ALM+
17 32
ALM0 ALM-

FG (connector frame)

. These pin numbers are the same for SV2 to SV4.

. P indicates twistedpair wires.

A-2
Sigma II User’s Manual Appendix A: Host Controller Connection Examples

A.2 Connecting the CP-9200SH Servo Controller Module (SVA)

The following diagram shows an example of connecting to the CP-9200SH servo control-
ler Module (SVA). In this example, the servo amplifier is used in Speed Control Mode.

Servopack
Servomotor
SGDM
L1C
L2C U
Yaskawa's A (1) M
L1
CP9200SH SVA V
L2 B (2)
L3 W
C (3)
D (4)
CN CN1
17 47
+24V +24VIN PG
22 40
DO0 SON
47 41
DO1 PCON
23 43
DO2 NOT CN2
48 42
DO3 POT
24 44
DO4 ALMRST
19 27
DI2 TGON+
28
TGON-
43 25
DI1 VCMP+
26
VCMP-
18 29
DI0 SRDY+
30
SRDT-
44 31
DI3 ALM+
45 32
024V ALM-
21 BAT (+)
P 22
BAT (-)
1 * 4
SENS SEN
26 P 2
SENSG SG
3 5
INA VREF
4 P 6
0V SG
7 9
TLIMP TREF
8 P 10
TLIMPG SG
10 33
PA P PAO
11 34
PAL *PAO
12 35
PB P PBO
13 36
PBL *PBO
14 19
PC P PCO
15 20
PCL *PCO
9 1
PG0V SG

Connector shell

* P indicates twistedpair wires.

A-3
Sigma II User’s Manual Appendix A: Host Controller Connection Examples

A.3 Connecting the GL-series B2813 Positioning Module

The following diagram shows an example of connecting to the GL-series B2813 Position-
ing Module. In this example, the servo amplifier is used in Position Control Mode.
Servopack
SGDM *2
L1C
L2C
024 V+24 V L1 Servomotor
Yaskawa's
CN2 L2 A (1)
JAMSCB2813 U
1 L3
B (2) M
33 V
1Ry C (3)
CN2 CN1 W
20 SERVO 24 7 D (4)
NORMAL PULSE PULSE
23 P 8
35 DECELERA *PULSE *PULSE
T ION LS 22 *4 11
3 SIGN SIGN
ST ART P
*SIGN 21 12 *SIGN P
2 38 15
ST OP CLR CLR
P G
45 *CLR 5 14 *CLR
46 6 2 CN2
0V SG
+12 V 47
CN1 *3 Connector shell

16 33 +24 V 024 V
PA PAO CN1
17 P 34
*PA *PAO
18 35 +24VIN 47
PB PBO
P SON 40
*PB 19 36 *PBO 3Ry
14 19 POT 42
PC PCO
48 15 P 20 43 4Ry
*PC *PCO NOT
49 1 1 SG
0V 1Ry
+5 V 50 0V 2 ALM+ 31
*1

10 0V 3
20 32
11 FG ALM-
0V CN2 2Ry +12 V
12
ERROR
36

* . The ALM signal is output for approximately two seconds when the power is turned ON. Take this into consid
eration when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop
main circuit power supply to the Servopack.
* . Set user constant Pn200.0 to 1".
* . Connect the shield wire to the connector shell.
* . P indicates twistedpair wires.

A-4
Sigma II User’s Manual Appendix A: Host Controller Connection Examples

A.4 Connecting OMRON's C500-NC221 Position Control Unit

The following diagram shows an example of connecting to an OMRON C500-NC221
Position Control Unit. In this example, the servo amplifier is used in Speed Control
Mode.
Servopack
SGDM
Servomotor
L1C
L2C U A (1)
I/O Power Supply
+24 V B (2)
C500NC221 L1 V M
+24V +
- 024 V
(Made by OMRON) L2 C (3)
W
X axis (Y axis) L3 D (4)
EXT IN
8 ON when
+24V 9 positioning is
2 (12) 3Ry canceled. PG
CCWLX
3 (13) ON when
STPX proximity is
4 (14) detected. CN2
ORGX
5 (15)
EMGX CN1
6 (16) 4Ry 1Ry
CWLX *1
31 CN1
1 ALM+
DC GND
32 42
DC GND 11 ALM- POT
M/D 47 3Ry
11 +24VIN
+24V 12 43 024 V
NOT
4RY
3 (19) 40
OUT1X SON
XOUT 9 (25) 5 (9) VREF (TREF)
XAG 8 (24) 6 (10) SG

7 (23) 33 PAO
XA
XA 6 (22) *3 P 34 *PAO
XB 5 (21) 35 PBO
XB 4 (20) P 36 *PBO
XC 16 (14) 19 PCO
XC 15 (13) P 20 *PCO
0V 1 (17) 1 SG

*2 Connec
tor shell

* . The ALM signal is output for approximately two seconds when the power is turned ON. Take this into consider
ation when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop
main circuit power supply to the Servopack.
* . Connect the shield wire of the I/O cable to the connector shell.
* . P indicates twistedpair wires.
Note Only signals applicable to OMRON's C500NC221 Position Control Unit and Yaskawa's SGDM Servopack
are shown here.

A-5
Sigma II User’s Manual Appendix A: Host Controller Connection Examples

A.5 Connecting OMRON's C500-NC112 Position Control Unit

The following diagram shows an example of connecting to the OMRON C500-NC112
Position Con trol Unit. In this example, the servo amplifier is used in the position control
mode.
Servopack *2
Servomotor
SGDM
L1C U
A (1) M
L2C V
W B (2)
I/O Power Supply L1 C (3)
C500NC112 L2 D (4)
(Made by OMRON) +
+12V - 012 V L3
PG
1A
+12V 1B
4Ry CN2
CW LIMIT 2A
CCW LIMIT 2B 3Ry
CN1
EMERGENCY STOP 3A *3 CN1
+24VIN 47 External
EXTERNAL 3B 6 LRX01/A2 10 19 40
PC SON power
INTERRUPT 4A +24 V
ORIGIN 9 20 O POT 42 3Ry supply
*4 *PCO +24 V
4B 12V 0V NOT 43 4Ry
ORIGIN PROXIMITY *
LOCAL 5A 8 7 1Ry 31 ALM+
1 012 V
1Ry +24V 32
READY 5B ALM-
8A +5 V
+5V 8B
9A 7 PULSE
PULSE OUTPUT 9B 8 *PULSE
10A 11 SIGN
10B 12 *SIGN
15 CLR
14 *CLR

* . The ALM signal is output for approximately two seconds when the power is turned ON. Take this into consider
ation when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop
main circuit power supply to Servopack.
* . Set user constant Pn200.0 to 1".
* . Manufactured by Yaskawa Controls Co.
Note Only signals applicable to OMRON's C500NC112 Position Control Unit and Yaskawa's SGDM Servopack
are shown here.

A-6
Sigma II User’s Manual Appendix A: Host Controller Connection Examples

A.6 Connecting MITSUBISHI's AD72 Positioning Unit

The following diagram shows an example of connecting to the MITSUBISHI AD72 Posi-
tioning Unit. In this example, the servo amplifier is used in Speed Control Mode.
Servopack
Servomotor
SGDM
I/O Power Supply L1C A (1)
+24 V L2C U
B (2) M
+ L1 V
AD 72 +24V - 024 V L2 C (3)
W D (4)
(Made by MITSUBISHI) *2 L3
CONT
1 ON when
STOP 2 positioning is PG
canceled.
DOG 3 ON when CN1
proximity is CN2
SERVO detected. 47 +24VIN
1 40 SON
SVON 2
3 *1 31 CN1
1Ry ALM+
READY 42
1Ry POT
4 32 ALM-
5 5 (9) 43
SPEED 6 (10) VREF (TREF) NOT 024 V
6 P SG
REFERENCE
ENCO
4 35 PBO
PULSE A 5 *4 P 36 *PBO
7 33 PAO
PULSE B 8 P 34 *PAO
10 19 PCO
PULSE C 11 P 20 *PCO
0V 3 1 SG
6
0V
9 *3 Connector
0V
shell

* . The ALM signal is output for approximately two seconds when the power is turned ON. Take this into consider
ation when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop
main circuit power supply to Servopack.
* . Pin numbers are the same both for X axis and Y axis.
* . Connect the connector wire of the cable to the connector shell.
* . P indicates twistedpair wires.
Note Only signals applicable to Mitsubishi's AD72 Positioning Unit and Yaskawa's SGDM Servopack are shown
here.

A-7
Sigma II User’s Manual Appendix A: Host Controller Connection Examples

A.7 Connecting MITSUBISHI's AD75 Positioning Unit

The following diagram shows an example of connecting to the MITSUBISHI AD75 Posi-
tioning Unit. In this example, the servo amplifier is used in Position Control Mode.
Servopack
Servomotor
SGDM
U
A (1)
L1C
V M
L2C B (2)
L1 W
C (3)
L2
I/O Power Supply D (4)
L3
+24 V
+
AD75 -
(Made by Mitsubishi)+24v 024 V
P
X axis
G
(Y axis) CN2
26
1Ry
READY 7
CN1
ON when
14 positioning is 47 +24 V
STOP canceled.
SON 40
ON when CN1
DOG 11 42
proximity is POT
detected.
43
24 19 PCO NOT 024 V
PGO 25 20 *PCO

* 31 ALM+
1Ry

32 ALM-

3 7 PULSE
PULSE 21 8
*PULSE

4 11 SIGN
SIGN 22 12 *SIGN
2.2KW
15 CLR
5 14
*CLR
CLEAR 23

* The ALM signal is output for approximately two seconds when the power is turned ON. Take this into consider
ation when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop
main circuit power supply to Servopack.
Note Only signals applicable to MITSUBISHI's AD75 Positioning Unit and Yaskawa's SGDM Servopack are
shown here.

A-8
Sigma II User’s Manual Appendix B: List of Parameters

B List of Parameters
This appendix lists the parameters, switches, input signal
selections, out put signal selections, auxiliary functions, and
monitor modes for SGDH servo amplifiers.

B.1 Parameters ............................................................................................................B-2

B.2 Switches ...............................................................................................................B-5
B.3 Input Signal Selections ........................................................................................B-9
B.4 Output Signal Selections ....................................................................................B-11
B.5 Auxiliary Functions ...........................................................................................B-12
B.6 Monitor Modes ..................................................................................................B-13

B-1
Sigma II User’s Manual Appendix B: List of Parameters

B.1 Parameters
The following list shows parameters and their settings.

Parameter Setting Default

Category Name Unit Reference
Number Range Setting
5.1.1,
Pn000* Function Selection Basic Switches — — 0000 5.3.5
Function Selection

5.1.2,
Function Selection Application
Parameters

Pn001* — — 0000 5.4.2,

Switches 1** 5.5.7
5.2.8,
Pn002* Function Selection Application — — 0000 5.2.9,
Switches 5.7.2
Function Selection Application
Pn003 Switches 3 — — 0002 6.5
Pn100 Speed Loop Gain Hz 1 to 2000 40 6.2.1
15 to
Pn101 Speed Loop Integral Time Constant 0.01ms 51200 2000 6.2.1

Pn102 Position Loop Gain s-1 1 to 2000 40 6.2.1

Pn103 Inertia Ratio % 0 to 10000 0 6.2.1,

6.3.3
Pn104 2nd Speed Loop Gain Hz 1 to 2000 40 —

Pn105 2nd Speed Loop Integral Time 0.01ms 15 to 2000 —

Constant 51200
Pn106 2nd Position Loop Gain s-1 1 to 2000 40 —
Pn107 Bias rpm 0 to 450 0 6.2.4
Pn108 Bias Width Addition ref. units 0 to 250 7 6.2.4
Pn109 Feed-Forward % 0 to 100 0 6.2.2
Parameters

Pn10A Feed-Forward Filter Time Constant 0.01ms 0 to 6400 0 5.2.5

Gain

Pn10B* Gain-Related Application Switches — — 0000 6.2.5

Pn10C Mode Switch Torque Reference % 0 to 800 200 6.2.5
Pn10D Mode Switch Speed Reference rpm 0 to 10000 0 6.2.5
Pn10E Mode Switch Acceleration 10rpm/s 0 to 3000 0 6.2.5
Pn10F Mode Switch Error Pulse ref. units 0 to 10000 0 6.2.5
Pn110* Online Autotuning Switches — — 0010 6.3.4
Pn111 Speed Feedback Compensation*** % 1 to 500 100 6.2.6
Reserved parameters (Do not
Pn112 change.) % 0 to 1000 100 —

Pn113 — 0 to 10000 1000 —

Pn114 — 0 to 400 200 —
Pn115 — 0 to 1000 32 —
Pn116 — 0 to 1000 16 —
Pn117 % 20 to 100 100 —

* After changing this parameter, cycle the main circuit and control power supplies to enable the new
settings.
** The multi-turn limit is valid only when parameter Pn002.2 Absolute Encoder Usage is set to "2". The
value will be processed in the range of "+32767 to -32768" for other settings even if the value is changed.
There is no need to change the multi-turn limit except for in special cases. Be careful not to change the
setting unless necessary.
*** The setting of parameter Pn111 is valid only when parameter Pn110.1 is set to 0.

B-2
Sigma II User’s Manual Appendix B: List of Parameters

Parameter Setting Default

Category Name Unit Reference
Number Range Setting
Pn118 % 20 to 100 100 —
Pn119 s-1 1 to 2000 50 —
Pn11A 0.1% 1 to 2000 1000 —
Pn11B Hz 1 to 150 50 —
Gain Parameters

Pn11C Hz 1 to 150 70 —
Pn11D Reserved parameters (Do not % 1 to 150 100 —
Pn11E change). % 1 to 150 100 —
Pn11F ms 1 to 2000 0 —
Pn120 0.01ms 1 to 51200 0 —
Pn121 Hz 10 to 250 50 —
Pn122 Hz 0 to 250 0 —
Pn123 % 0 to100 0 —
Position Control Reference Selection
Pn200* Switches — — 0000 5.2.2

16 to
Pn201* PG Divider p/r 16384 16384 5.2.3

Pn202* Electronic Gear Ratio (Numerator) — 1 to 65535 4 5.2.5

Position Parameters

Electronic Gear Ratio (Denominator)

Pn203* (See note 3). — 1 to 65535 1 5.2.5

Position Reference Accel/Decel

Pn204 Parameter 0.01ms 0 to 6400 0 6.1.2

Pn205* Multi-Turn Limit Setting** rev 0 to 65535 65535 5.7.2

513 to
Pn206 Reserved parameter (Do not change). P/rev 65535 16384 —

5.2.9
Pn207* Position Control Function Switches* — — 0000 6.1.2
Position Reference Movement
Pn208* Averaging Time 0.01ms 6 to 6400 0 6.1.2

0.01V/
Pn300 Speed Reference Input Gain rated 150 to 600 5.2.1
speed 3000

Pn301 Speed 1 rpm 0 to 10000 100 5.2.6

Speed Parameters

Pn302 Speed 2 rpm 0 to 10000 200 5.2.6

Pn303 Speed 3 rpm 0 to 10000 300 5.2.6
Pn304 Jog Speed rpm 0 to 10000 500 5.3.2
Pn305 Soft Start Acceleration Time ms 0 to 10000 0 6.1.1
Pn306 Soft Start Deceleration Time ms 0 to 10000 0 6.1.1
Speed Reference Filter Time
Pn307 Constant 0.01ms 0 to 65535 40 —

Pn308 Speed Feedback Filter Time Constant 0.01ms 0 to 65535 0 6.2.6

* After changing these parameters, cycle the main circuit and control power supplies to enable the new
settings.
** The multi-turn limit is valid only when parameter Pn002.2 Absolute Encoder Usage is set to "2". The
value will be processed in the range of "+32767 to -32768" for other settings even if the value is changed.
There is no need to change the multi-turn limit except for in special cases. Be careful not to change the
setting unless necessary.

B-3
Sigma II User’s Manual Appendix B: List of Parameters

Parameter Setting Default

Category Name Unit Reference
Number Range Setting

Pn400 Torque Reference Input Gain 0.1V/rated 10 to 100 30 5.2.7

torque

Pn401 Torque Reference Filter Time 0.01ms 0 to 65535 100 6.1.5

Constant
Torque Parameters

Pn402 Forward Torque Limit % 0 to 800 800 5.1.3

Pn403 Reverse Torque Limit % 0 to 800 800 5.1.3
Pn404 Forward External Torque Limit % 0 to 800 100 5.1.3
Pn405 Reverse External Torque Limit % 0 to 800 100 5.1.3
Pn406 Emergency Stop Torque % 0 to 800 800 5.1.2
Pn407 Speed Limit during Torque Control rpm 0 to 10000 10000 5.2.7
Pn408 Torque Function Switches — — 0000 6.1.6
Pn409 Notch Filter Frequency Hz 50 to 2000 2000 6.1.6
Pn500 Positioning Completed Width ref. units 0 to 250 7 5.5.3
Pn501 Zero Clamp Level rpm 0 to 10000 10 5.4.3
Sequence Parameters

Pn502 Rotation Detection Level rpm 1 to 10000 20 5.5.5

Pn503 Speed Coincidence Signal Output rpm 0 to 100 10 5.5.4

Width
Pn504 NEAR Signal Width ref. units 1 to 250 7 5.5.8

Pn505 Overflow Level 256 ref. 1 to 32767 1024 6.2.1

units

Pn506 Brake Reference Servo OFF Delay 10ms 0 to 50 0 5.4.4

Time
Pn507 Brake Reference Output Speed Level rpm 0 to 10000 100 5.4.4
Pn508 Timing for Brake Reference Output 10ms 10 to 100 50 5.4.4
during Motor Operation
Pn509 Momentary Hold Time ms 20 to 1000 20 5.5.9
Sequence Parameters

Pn50A* Input Signal Selections 1 — — 2100 5.3.3

Pn50B* Input Signal Selections 2 — — 6543 5.3.3
Pn50C* Input Signal Selections 3 — — 8888 5.3.3
Pn50D* Input Signal Selections 4 — — 8888 5.3.3
Pn50E* Output Signal Selections 1 — — 3211 5.3.4
Pn50F* Output Signal Selections 2 — — 0000 5.3.4
Pn510* Output Signal Selections 3 — — 0000 5.3.4
Pn511 Reserved parameter (Do not change). — — 8888 —
Pn512* Output Signal Reversal Settings — — 0000 5.3.4
0 to
Parameters

Pn600 Regenerative Resistor Capacity ** 10W capac- 0 5.6.1

ity***.
Other

0 to
Pn601 Reserved parameter (Do not change.) — capac- 0 —
ity ***

* After changing these parameters, cycle the main circuit and control power supplies to enable the
new settings.
** Normally set to "0". When using an external regenerative resistor, set the capacity (W) of the regenerative
resistor.
*** The upper limit is the maximum output capacity (W) of the servo amplifier.

B-4
Sigma II User’s Manual Appendix B: List of Parameters

B.2 Switches
The following list shows the switches and their default settings.

Dig it Default
Parameter Name Setting Description
Place Setting
0 Sets CCW as forward direction.
0 Direction 0
Selection 1 Sets CW as forward direction (reverse rotation
mode).
0 Speed control (analog reference).
1 Position control (pulse train reference).
2 Torque control (analog reference).
3 Internal set speed control (contact reference).
Function Selection Basic Switches

4 Internal set speed control (contact reference)/Speed

control (analog reference).

5 Internal set speed control (contact reference)/Position

control (pulse train reference).
Pn000

6 Internal set speed control (contact reference)/Torque

Control Method control (analog reference).
1 Selection 0
7 Position control (pulse train reference)/Speed control
(analog reference).

8 Position control (pulse train reference)/Torque control

(analog reference).
Torque control (analog reference)/Speed control
9 (analog
reference).
A Speed control (analog reference)/Zero clamp.

B Position control (pulse tra.in reference)/Position

control (Inhibit)
2 Axis Address 0 to F Sets servo amplifier axis address. 0
3 Reserved — 0
0 Stops the motor by applying dynamic brake (DB). 0
Servo OFF or 1 Stops the motor by applying dynamic brake (DB) and
0 Alarm Stop then releases DB.
Mode
Function Selection Application Switches

2 Makes the motor coast to a stop state without using

the dynamic brake (DB).

0 Same setting as Pn001.0 (Stops the motor by

applying DB or by coasting.)
Sets the torque of Pn406 to the maximum value,
1 Overtravel 1 decelerates the motor to a stop, and then sets it to 0
Stop Mode servo lock state.
Pn001

Sets the torque of Pn406 to the maximum value,

2 decelerates the motor to a stop, and then sets it to
coasting state.
0 Not applicable to DC power input: Input AC power
AC/DC Power supply through L1, L2, and (L3) terminals.
2 Input Selection 0
1 Applicable to DC power input: Input DC power supply
through (+)1 and (-) terminals.
0 ALO1, ALO2, and ALO3 output only alarm codes.
Warning Code
3 Output Selec- ALO1, ALO2, and ALO3 output both alarm codes and 0
tion 1 warning codes. While warning codes are output,
ALM signal output remains ON (normal state).

B-5
Sigma II User’s Manual Appendix B: List of Parameters

Dig it Default
Parameter Name Setting Description
Place Setting
0 None.
Function Selection Application Switches
Speed Control
Option 1 Uses T-REF as an external torque limit input.
0 (T-REF 2 Uses T-REF as a torque feed-forward input. 0
Terminal
Allocation) 3 Uses T-REF as an external torque limit input when
P-CL and N-CL are ON.
Torque Control 0 None.
Pn002

Option
1 (V-REF 0
Terminal 1 Uses V-REF as an external speed limit input.
Allocation)
0 Uses absolute encoder as an absolute encoder.

2 Absolute 1 Uses absolute encoder as an incremental encoder. 0

Encoder Usage
2 Uses absolute encoder as an absolute encoder.
Uses multi-turn limit.
3 Not used. 0 — 0
0 Motor speed: 1V/1000rpm. 2
1 Speed reference: 1V/1000rpm.
2 Torque reference: 1V/100%.
3 Position error: 0.05V/1 reference units.
Function Selection Application Switches

Analog 4 Position error: 0.05V/100 reference units.

Monitor 1 Reference pulse frequency (converted to rpm): 1V/
Torque 5
1000rpm.
Reference
0
Monitor 6 Motor speed × 4: 1V/250rpm.
7 Motor speed × 8: 1V/125rpm.
Pn003

0
Analog 8
1
Monitor 2 9
Speed
Reference A
Monitor B
Reserved parameter (Do not change.).
C
D
E
F
2 Not used. — — 0
3 Not used. — — 0
0 Uses internal torque reference as the condition (Level
setting: Pn10C).
Uses speed reference as the condition (Level
Gain Application Switches

1
setting: Pn10D).
Mode Switch
0 Selection 2 Uses acceleration as the condition (Level setting: 0
Pn10E).
Pn10B

3 Uses error pulse as the condition (Level setting:

Pn10F).
4 No mode switch function available.
Speed Loop 0 PI control.
1 Control Method 0
1 IP control.
2 Not used. 0 — 0
3 Reserved 0 to 2 Reserved parameter. (Do not change). 0

B-6
Sigma II User’s Manual Appendix B: List of Parameters

Dig it Default
Parameter Name Setting Description
Place Setting
0 Tunes only at the beginning of operation.
Online Auto-
Online Autotuning Switches

0 tuning Method 1 Always tunes. 0

2 Does not perform autotuning.
Speed Feed- 0 Enabled.
back Compen-
Pn110

1 1
sation 1 Disabled.
Selection
0 Friction compensation: Disabled.
Friction Com-
2 pensation 1 Friction compensation: Small. 0
Selection
2 Friction compensation: Large.
3 Reserved 0 -3 Reserved parameter (Do not change). 0
0 Sign + pulse, positive logic.
1 CW + CCW, positive logic.
2 A phase + B phase (x1), positive logic.
Position Control References Selection Switches

3 A phase + B phase (x2), positive logic.

Reference 4 A phase + B phase (x4), positive logic.
0 Pulse Form 0
5 Sign + pulse, negative logic.
6 CW + CCW, negative logic.
7 A phase + B phase (x1), negative logic.
8 A phase + B phase (x2), negative logic.
Pn200

9 A phase + B phase (x4), negative logic.

0 Clears error counter when the signal goes high.
Error Counter 1 Clears error counter at the rising edge of the signal.
1 Clear Signal 0
Form 2 Clears error counter when the signal goes low.
3 Clears error counter at the falling edge of the signal.
0 Clears error counter at the baseblock.

2 Clear 1 Does not clear error counter. (Possible to clear error 0

Operation counter only with CLR signal).
2 Clears error counter when an alarm occurs.
0 Reference input filter for line driver signals.
3 Filter Selection 0
1 Reference input filter for open collector signals.
Position 0 Acceleration/deceleration filter.
Position Control Function Switches

0 Reference
Filter Selection 1 Average movement filter.

Position 0 Disabled.
1 Control Option 1 Uses V-REF as a speed feed-forward input.
Pn207

2 —
0

3 —

B-7
Sigma II User’s Manual Appendix B: List of Parameters

Dig it Default
Parameter Name Setting Description
Place Setting
Notch Filter 0 Disabled.
Torque Control Function Switches
0 Selection 1 Uses a notch filter for torque reference.
1
2
Pn408

0
Not used. — —
3

B-8
Sigma II User’s Manual Appendix B: List of Parameters

B.3 Input Signal Selections

The following list shows input signal selections and their default settings.

Digit Default
Parameter Name Setting Description
Place Setting
Sets the input signal allocation for the
0 sequence to the same one as for the
0 Input Signal Allocation SGDB servo amplifier. 0
Mode
1 Possible to freely allocate the input
signals.
0 Inputs from the SI0 (CN1-40) input
terminal.

1 Inputs from the SI1 (CN1-41) input

terminal.

2 Inputs from the SI2 (CN1-42) input

terminal.

3 Inputs from the SI3 (CN1-43) input

terminal.

4 Inputs from the SI4 (CN1-44) input

terminal.

5 Inputs from the SI5 (CN1-45) input

terminal.

6 Inputs from the SI6 (CN1-46) input

terminal.
Pn50A /S-ON Signal Mapping 7 Sets signal ON.
1 (Servo ON when low.) 0: SI0
8 Sets signal OFF.

9 Inputs the reverse signal from the SI0

(CN1-40) input terminal.

A Inputs the reverse signal from the SI1

(CN1-41) input terminal.

B Inputs the reverse signal from the SI2

(CN1-42) input terminal.

C Inputs the reverse signal from the SI3

(CN1-43) input terminal.

D Input the reverse signals from the SI4

(CN1-44) input terminal.

E Inputs the reverse signal from the SI5

(CN1-45) input terminal.

F Inputs the reverse signal from the SI6

(CN1-46) input terminal.

2 /P-CON Signal Mapping 0 to F Same as above. 1: SI1

(Pcontrol when low.)

3 P-OT Signal Mapping 0 to F Same as above. 2: SI2

(Ovetravel when high.)
0 N-OT Signal Mapping 0 to F Same as above. 3: SI3
(Overtravel when high.)

1 /ALM-RST Signal Mapping 0 to F Same as above. 4: SI4

(Alarm reset when low.)
Pn50B
2 /P-CL Signal Mapping 0 to F Same as above. 5: SI5
(Torque control when low.)

3 /N-CL Signal Mapping 0 to 8 Same as above. 6: SI6

(Torque control when low.)

B-9
Sigma II User’s Manual Appendix B: List of Parameters

Digit Default
Parameter Name Setting Description
Place Setting
/SPD-D Signal Mapping
0 (Internal Set Speed 0 to F Same as above. 8: OFF
Selection)
/SPD-A Signal Mapping
1 (Internal Set Speed 0 to F Same as above. 8: OFF
Pn50C Selection)
/SPD-B Signal Mapping
2 (Internal Set Speed 0 to F Same as above. 8: OFF
Selection)

3 /C-SEL Signal Mapping 0 to F Same as above. 8: OFF

(Control Mode Switching)
0 /ZCLAMP Signal Mapping 0 to F Same as above. 8: OFF
(Zero Clamping)
/INHIBIT Signal Mapping
1 (Disabling Reference 0 to F Same as above. 8: OFF
Pn50D Pulse)

2 /G-SEL Signal Mapping 0 to F Same as above. 8: OFF

(Gain Switching)
3 (Reserved) 0 to F Same as above. 8: OFF

* When Pn50A.0 is set to 0 for the SGDH servo amplifier, only the following modes are compati-
ble: Pn50A.1=7, Pn50A.3=8, and Pn50B.0=8.

B - 10
Sigma II User’s Manual Appendix B: List of Parameters

B.4 Output Signal Selections

The following list shows output signal selections and their default settings.

Digit Default
Parameter Name Setting Description
Place Setting
0 Disabled.

1 Outputs from the SO1 (CN1-25, 26) output

terminal.
0 /COIN Signal 1: SO1
Mapping 2 Outputs from the SO2 (CN1-27, 28) output
terminal.

3 Outputs from the SO3 (CN1-29, 30) output

Pn50E terminal.

1 /V-CMP Signal 0 to 3 Same as above 1: SO1

Mapping

2 /TGON Signal 0 to 3 Same as above 2: SO2

Mapping
3 /S-RDY Signal 0 to 3 Same as above 3: SO3
Mapping
0 /CLT Signal 0 to 3 Same as above
Mapping
1 /VLT Signal 0 to 3 Same as above
Mapping
Pn50F
2 /BK Signal Map 0 to 3 Same as above
ping 0: Not
used
3 /WARN Signal 0 to 3 Same as above
Mapping

0 /NEAR Signal 0 to 3 Same as above

Mapping
Pn510 1 Reserved 0 to 3 Same as above
2 Not used. 0 — 0
3 Not used. 0 — 0
Output Signal 0 Output signal is not reversed.
0 Reversal for
SO1 (CN-25 1 Output signal is reversed.
and 26)
Output Signal 0 Output signal is not reversed.
1 Reversal for 0: Not
Pn512 SO2 (CN-25 1 Output signal is reversed. reversed
and 26)
Output Signal 0 Output signal is not reversed.
2 Reversal for
SO3 (CN-25 1 Output signal is reversed.
and 26)
3 Not used. — — 0

Notes: 1. When more than one signal is allocated to the same output circuit, data is output using OR logic.
2. Depending on the control mode, undetected signals are treated as OFF. For example, in the speed
control mode, the /COIN signal is treated as OFF.
3. Types of /WARN signals: Overload and regenerative overload.

B - 11
Sigma II User’s Manual Appendix B: List of Parameters

B.5 Auxiliary Functions

The following list shows the available auxiliary functions.

Parameter Function
Fn000 Alarm traceback data display.
Fn001 Rigidity setting for online autotuning.
Fn002 JOG mode operation.
Fn003 Zero-point search mode.
Fn004 (Reserved parameter).
Fn005 Parameter settings initialization.
Fn006 Alarm traceback data clear.
Fn007 Writing to EEPROM inertia ratio data obtained from online autotuning.
Fn008 Absolute encoder multi-turn reset and encoder alarm reset.
Fn009 Automatic tuning of analog (speed, torque) reference offset.
Fn00A Manual adjustment of speed reference offset.
Fn00B Manual adjustment of torque reference offset.
Fn00C Manual zero-adjustment of analog monitor output.
Fn00D Manual adjustment of analog monitor output gain.
Fn00E Automatic adjustment of motor current detection signal offset.
Fn00F Manual adjustment of motor current detection signal offset.
Fn010 Write protect setting (protects parameters from being changed).
Fn011 Motor model display.
Fn012 Software version display.
Fn013 Multi-Turn Limit Setting: Change when a Multi-Turn Limit Disagreement Alarm (A.CC) occurs.
Fn014 Clear Option Unit Detection Alarm (A.E7).

B - 12
Sigma II User’s Manual Appendix B: List of Parameters

B.6 Monitor Modes

The following list shows monitor modes available

Parameter Content of Display Unit Remarks

Un000 Actual motor speed rpm —
Un001 Input speed reference rpm —
Un002 Internal torque reference % Value for rated torque
Un003 Rotation angle 1 pulse Number of pulses from the origin
Un004 Rotation angle 2 degree Angle from the origin (electrical angle)
Un005 Input signal monitor — —
Un006 Output signal monitor — —
Un007 Input reference pulse speed rpm —

Un008 Error counter value reference Amount of position error

units

Un009 Accumulated load rate % Value for the rated torque as 100%
Displays effective torque in 10s cycle.
Value for the processable regenerative
Un00A Regenerative load rate % power as 100%
Displays effective torque in 10s cycle.
Value for the processable power when
Un00B Power consumed by DB resistance % dynamic brake is applied as 100%
Displays effective torque in 10s cycle.
Un00C Input reference pulse counter — Displayed in hexadecimal.
Un00D Feedback pulse counter — Displayed in hexadecimal.

B - 13
Sigma II User’s Manual Appendix B: List of Parameters

Notes:

B - 14
Sigma II User’s Manual Appendix C: Examples of Standard Connections

C Examples of Standard Connections

The following diagrams show examples of standard servo
amplifier connections by specifications and type of control.

C.1 Single-Phase Power Supply Specifications .........................................................C-2

C.2 Three-Phase Power Supply Specifications (200V)..............................................C-3
C.3 Three-Phase Power Supply Specifications (400V)..............................................C-4
C.4 Position Control Mode .........................................................................................C-5
C.5 Speed Control Mode ............................................................................................C-6
C.6 Torque Control Mode...........................................................................................C-7

C-1
Sigma II User’s Manual Appendix C: Examples of Standard Connections

C.1 Single-Phase Power Supply Specifications

Single -Pha se 20 0 to 23 0Vac or Single -Pha se 10 0 to 115 Va c
(50/60 Hz) (5 0/60H z)

1MC CB

Powe r Po wer Alarm

N oise filter OFF ON pro cessin g
1MC

1 MC SU P Be sure to attach a surg e supp ressor to th e excitation

coi l of the ma gne ti c co ntactor and re lay.

1MC B1 B2 A (1 ) Se rvomotor
U
L1 B (2 )
V M
L2 C (3)
W
D(4)

L1C
L2C SGDH Servo Amplifier Optica l
1 e ncod er

2 2C N PG

Be sure to
grou nd Be sure to pro perl y p repare the
1 CN
en d of the sh iel ded w ire.
V-REF 5
R eferen ce spee d: LPF*
± 2 to ± 10V/rated mo to r sp eed (se t by pa rameter) P SG 6
37
T-REF 9 A/D ALO1 Alarm cod e maximu m o utput:
Torqu e referen ce: LPF*
P 38 ALO3 Opera ti ng vol tag e: 30 VDC
±1 to ±10 V/ra te d motor spee d (se t by para meter) SG 10 Opera ti ng curre nt: 20mAD C
39 ALO3
PUL S PU LS 7 150 Ω
CW P /PU LS
A ph ase 8

SIGN SIGN 11 33
CC W P /SIGN PAO
B pha se 12 34 /PAO PG divi din g ratio ou tp ut
Posi ti on refere nce C LR CL R 15 App lica ble l ine re ceive r
35 PBO
P /CL R 14 SN 751 75 or MC3 486 ma nufac-
36 /PBO tu red by T/I, o r the eq uiva len t
Open -coll ector +1 2V
refere nce PL 1 3 1kΩ 19 PCO
po wer sup ply PL 2 13 20
/PCO
PL 3 18 Amoun t of S-pha se rotation
48
Use d onl y w ith PSO Seria l data ou tp ut
49 /PSO
Backup b attery 2 .8 to 4 .5 V BAT (+) 21 a n abso lute en code r Appl icab le li ne rece iver
PBAT (-) 1 SN7 517 5 or MC34 86 man ufac-
(Wh en usi ng an a bsol ute enco der). SG
22 ture d by T/I, or th e equ ival ent
+5V SEN
4
SEN sig nal i npu t
P SG 2
(When u sing a n abso lute en code r).
0V
+24 V +2 4V 47 3.3k Ω Spee d coin cide nce de te cti on
25
1R y /V-CMP+ (ON wh en spe ed coi ncid es)
ServoONwith 2R y ON /S-ON 40 Servo ON 26 (/C OIN+)
/V-CMP- Po sition ing co mple te d
2 RY (ON wh en po sition ing i s
P con tro l with 2R y ON /P-CON 41 Propo rti ona l control (P con tro l) (/C OIN-) co mple te d)
P-LS Forwa rd run 27
Forw ard run p rohi bited w ith P-LS OPEN P-OT 42 pro hib ited /T-GON+ T-GON o utput
28 (ON a t le vels ab ove the setting )
R everse ru n proh ibi te d with N-L S OPEN N -LS Re verse run /T-GON-
N -OT 43 proh ibi te d
29
Al arm reset with 3R y ON 3R y /ALM-RST 44 Ala rm re set /S-R DY+ Se rvo read y o utput
30 (ON wh en rea dy)
/S-R DY-
6R y Forw ard curre nt
Forw ard curre nt l imit ON w ith 6Ry ON /P-C L 45 l imit ON 31 Servo a larm ou tp ut
ALM+
R everse cu rrent limi t ON with 7R y ON 7 RY Re ve rse curren t 32 ALM- (OFF with an a larm)
/N-C L 46 limi t ON

C onn ector shel l

Photoco upl er maximu m o utput:
FG Opera ti ng vol ta ge: 3 0VDC
C onn ect sh iel d to co nne cto r sh ell Op eratin g curren t: 5 0mA DC

*The time co nstant fo r the p rimary filter is 47µs P: In dica te s twi ste d wire pa irs.

C-2
Sigma II User’s Manual Appendix C: Examples of Standard Connections

C.2 Three-Phase Power Supply Specifications (200V)

Thre e-Phase 2 00 to 2 30Va c
(50/60 Hz)
R S T
1MCC B

Nois e filter Powe r Po wer Alarm

OFF ON pro cessin g
1MC

1 MC SUP Be sure to atta ch a surge su ppre ssor to the e xcitation

coil o f the mag netic con ta cto r a nd rel ay.

1 MC B1 B2 B3 A (1) Servo motor

U
L1 B (2)
V M
L2 C (3 )
W
L3 D (4)

L1C
L2C SGDH Servo Amplifier Optical
en code r
1
2 2CN PG

Be sure to
grou nd Be sure to prop erly pre pare the
1 CN
end o f the shi eld ed wi re.
V-REF 5
R eferen ce spee d: LPF*
P
± 2 to ± 10V/rated mo to r sp eed (se t by pa rameter) SG 6
37
T-REF 9 A/D ALO1 Al arm code ma ximum ou tp ut:
Torqu e referen ce: LPF*
P 38 Op eratin g voltag e: 30 VDC
± 1 to ± 10V/rated mo to r torq ue (set b y p arame te r) SG 1 0 ALO3
Op eratin g curren t: 2 0mADC
39
ALO3
PULS PU LS 7 1 50Ω
CW P /PU LS
A ph ase 8

SIGN SIGN 11 33
CCW P PAO
/SIGN 1 2 34
B p hase /PAO PG divi din g ratio ou tp ut
Positio n referen ce CL R 1 5 Appl icab le li ne rece iver
CL R 35
P /CL R 1 4 PBO SN 751 75 or MC3 486 ma nufac-
36 /PBO tu red by T/I, o r the eq uiva len t
Open -coll ector +12 V 19
refere nce PL 1 3 1kΩ PCO
PL 2 1 3 20
po wer sup ply /PCO
PL 3 1 8 Amoun t of S-pha se rota ti on
48
Use d onl y w ith PSO Seria l data outpu t
49
BAT (+) 2 1 an a bsol ute enco der /PSO
Backup b atte ry 2 .8 to 4.5V Ap pli cabl e lin e recei ver
PBAT (-) 1 SN75 175 o r MC 348 6 manu fa c-
(Wh en usi ng an a bsol ute enco der). 22 SG
tured b y T/I, or the e qui vale nt
+5V SEN
SEN sign al in put 4
P SG 2
(Wh en usi ng an a bsol ute enco der).
0V
+24V +2 4V 4 7 3 .3 kΩ 25
Sp eed co inci den ce detectio n
1Ry /V-CMP+ (ON wh en spe ed coi ncid es)
ServoONwith 2R y ON /S-ON 4 0 Servo ON 26 (/C OIN+) Posi ti oni ng comp leted
/V-CMP-
2 RY (ON whe n posi ti oni ng is
P con tro l with 2R y ON /P-CON 4 1 Pro portio nal co ntrol (P control )
(/C OIN-) comp leted )
P-L S Fo rward ru n 27
Forw ard run p rohi bited w ith P-LS OPEN P-OT 4 2 proh ibi te d /T-GON+ T-GON o utput
28 (ON a t le vels ab ove the setting )
N -LS Reve rse run /T-GON-
R everse ru n proh ibi te d with N-L S OPEN N -OT 4 3 p rohi bited
29
Al arm reset with 3R y ON 3Ry Alarm rese t /S-R DY+ Se rvo read y o utput
ALM-RST 4 4 30 (ON wh en rea dy)
Forwa rd curren t /S-R DY-
Forw ard curre nt l imit ON w ith 6Ry ON 6Ry
P-C L 4 5 li mit ON 31
ALM+ Servo a larm ou tp ut
R everse cu rrent limi t ON with 7R y ON 7 RY Reve rse curren t 32 ALM-
N-C L 4 6 (OFF with an a larm)
limi t ON

C onn ector shel l

Photoco upl er maximu m o utput:
FG Opera ti ng vol tag e: 30 VDC
Co nne ct shi eld to con nector she ll Ope rating cu rrent: 50 mADC

*The time co nsta nt for the pri mary fi lter is 47µs P: Ind icates twisted w ire pa irs.

C-3
Sigma II User’s Manual Appendix C: Examples of Standard Connections

C.3 Three-Phase Power Supply Specifications (400V)

Thre e-Phase 3 80 to 4 80Va c
(50/60 Hz)
R S T
1MCC B

Nois e filter Powe r Po wer Alarm

OFF ON pro cessin g
1MC

1 MC SUP Be sure to atta ch a surge su ppre ssor to the e xcitation

coil o f the mag netic con ta cto r a nd rel ay.

1 MC B1 B2 B3 A (1) Servo motor

U
L1 B (2)
V M
L2 C (3 )
W
L3 D (4)
+24 V
2 4VD C ±15 %
0V SGDH Servo Amplifier Optical
1 en code r

2 2CN PG

Be sure to
grou nd Be sure to prop erly pre pare the
1 CN
end o f the shi eld ed wi re.
R eferen ce spee d: V-REF 5
P LPF*
± 2 to ± 10V/rated mo to r sp eed (se t by pa rameter) SG 6
37
T-REF 9 A/D ALO1 Al arm code ma ximum ou tp ut:
Torqu e referen ce: LPF*
P 38 ALO3 Op eratin g voltag e: 30 VDC
± 1 to ± 10V/rated torq ue (set b y p arame te r) SG 1 0 Op eratin g curren t: 2 0mADC
39 ALO3
PULS PU LS 7 1 50Ω
CW P /PU LS
A ph ase 8
SIGN SIGN 11 33
CCW P PAO
B p hase /SIGN 1 2 34 /PAO PG divi din g ratio ou tp ut
Positio n referen ce CL R CL R 1 5 Appl icab le li ne rece iver
35 PBO
P /CL R 1 4 SN 751 75 or MC3 486 ma nufac-
36 /PBO tu red by T/I, o r the eq uiva len t
Open -coll ector +12 V
1kΩ 19
refere nce PL 1 3 PCO
po wer sup ply 20
PL 2 1 3 /PCO
PL 3 1 8 Amoun t of S-pha se rota ti on
48
Use d onl y w ith PSO Seria l data outpu t
49
BAT (+) 2 1 an a bsol ute enco der /PSO
Backup b atte ry 2 .8 to 4.5V Ap pli cabl e lin e recei ver
PBAT (-) 1 SG SN75 175 o r MC 348 6 manu fa c-
(Wh en usi ng an a bsol ute enco der). 22 tured b y T/I, or the e qui vale nt
+5V SEN 4
SEN sign al in put
P
(Wh en usi ng an a bsol ute enco der). SG 2
0V
3 .3 kΩ Sp eed co inci den ce detectio n
+24V +2 4V 4 7 25 (ON wh en spe ed coi ncid es)
1Ry /V-CMP+
ServoONwi th 2 Ry ON /S-ON 4 0 Servo ON 26 (/C OIN+)
/V-CMP- Posi ti oni ng comp leted
0V 2 RY (ON whe n posi ti oni ng is
P co ntrol wi th 2 Ry ON /P-CON 4 1 Pro portio nal co ntrol (P control ) (/C OIN-) comp leted )
P-L S Fo rward ru n 27
Fo rward ru n proh ibi te d with P-LS OPEN P-OT 4 2 proh ibi te d /T-GON+ T-GON o utput
28 (ON a t le vels ab ove the setting )
N -LS Reve rse run /T-GON-
Reve rse run pro hib ited wi th N -LS OPEN N -OT 4 3 p rohi bited
29
Alarm rese t wi th 3 Ry ON 3Ry Alarm rese t /S-R DY+ Se rvo read y o utput
ALM-RST 4 4
30 /S-R DY- (ON wh en rea dy)
6Ry Forwa rd curren t
Fo rward cu rrent limi t ON with 6R y ON P-C L 4 5 li mit ON 31
ALM+ Servo a larm ou tp ut
Reve rse curren t li mit ON wi th 7 Ry ON 7 RY Reve rse curren t (OFF with an a larm)
N-C L 4 6 32 ALM-
limi t ON

C onn ector shel l

Photoco upl er maximu m o utput:
FG Opera ti ng vol tag e: 30 VDC
Co nne ct shi eld to con nector she ll Ope rating cu rrent: 50 mADC

*The time co nsta nt for the pri mary fi lter is 47µs P: Ind icates twisted w ire pa irs.

C-4
Sigma II User’s Manual Appendix C: Examples of Standard Connections

C.4 Position Control Mode

Thre e-Phase 2 00 to 2 30Va c
(50/60 Hz)
R S T
1MCC B

Nois e filter Powe r Po wer Al arm

OFF ON proce ssing
1MC

1 MC SUP Be sure to atta ch a surge su ppre ssor to the e xcitation

coil o f the mag netic con ta cto r a nd rel ay.

1 MC B1 B2 B3 U A (1) Se rvomotor
L1
V B (2) M
L2 W C (3)
L3 D (4)
L 1C
L 2C SGDH Servo Amplifier Optica l
e ncod er
1
2 2CN PG

Be sure to
grou nd Be sure to prop erly pre pare the
1C N
end o f the shi eld ed wi re.
T-REF 9
To rque re fe rence : LPF*
± 1 to ± 10V/rated mo to r torq ue (set by para meter) P SG 1 0 A/D
37
ALO1 Al arm code ma ximum ou tp ut:
3 8 ALO3 Op eratin g voltag e: 30 VDC
Op eratin g curren t: 2 0mADC
3 9 ALO3
PULS PU LS 7 1 50Ω
CW P /PU LS
A pha se 8

SIGN SIGN 11 3 3 PAO

CCW P
B p hase /SIGN 1 2 3 4 /PAO
PG d ivid ing ra ti o outpu t
Positio n referen ce CL R CL R 1 5 Appl icab le li ne rece iver
3 5 PBO
P /CL R 1 4 SN7 517 5 or MC34 86 man ufac-
3 6 /PBO
ture d by T/I, or th e equ ival ent
Op en-co lle cto r +12V 1 9 PC O
referen ce PL 1 3
pow er supp ly PL 2 1 3 2 0 /PC O
PL 3 1 8 48 Amo unt of S-p hase ro ta ti on
Used o nly wi th PSO Se rial d ata outpu t
4 9 /PSO
BAT (+) an a bsol ute enco der Ap pli cabl e lin e recei ver
Backup b atte ry 2 .8 to 4.5V 21
PBAT (-) 1 SG SN75 175 o r MC 348 6 manu fa c-
(Wh en usi ng an a bsol ute enco der). 22 tured b y T/I, or the e qui vale nt
+5V SEN 4
SEN sign al in put
P SG 2
(Wh en usi ng an a bsol ute enco der).
0V
+24V +2 4V 4 7 3 .3 kΩ
25 Positio nin g compl eted
1Ry /COIN + (ON w hen p ositio nin g is
ServoON w ith 2Ry ON /S-ON 4 0 Servo ON 26 compl eted)
/COIN -
2 RY
P co ntrol wi th 2 Ry ON /P-CON 4 1 Pro portio nal co ntrol (P control )
P-L S Fo rward ru n 27
Fo rward ru n proh ibi te d with P-LS OPEN P-OT 4 2 proh ibi te d /T-GON + T-GON o utput
28
N -LS Reve rse run /T-GON - (ON a t le vels ab ove the setting )
Reve rse run pro hib ited wi th N -LS OPEN N -OT 4 3 p rohi bited
29
3Ry /S-RDY+ Servo re ady ou tp ut
Alarm rese t wi th 3 Ry ON ALM-RST 4 4 Alarm rese t
30
/S-RDY- (ON whe n read y)
6Ry Forwa rd curren t
Fo rward cu rrent limi t ON with 6R y ON P-C L 4 5 li mit ON 31
ALM+ Servo a larm ou tp ut
Reve rse curren t li mit ON wi th 7 Ry ON 7 RY Reve rse curren t (OFF with an a larm)
N-C L 4 6 limi t ON 3 2 ALM-

Co nne cto r sh ell P hotoc oupler max im um out put:

Operat ing v oltage: 30VDC
FG
Co nne ct shi eld to con nector she ll Operati ng c urrent: 50m A D C

*The time con sta nt for the pri mary fi lter is 47 µs P: Ind icates twisted w ire pa irs.

C-5
Sigma II User’s Manual Appendix C: Examples of Standard Connections

C.5 Speed Control Mode

Thre e-Phase 2 00 to 2 30V a c

(50/60 Hz)
R S T
1MCC B

Nois e filter Powe r Po wer Alarm

OFF ON pro cessin g
1MC

1 MC SUP Be sure to atta ch a surge su ppre ssor to the e xcitation

coil o f the mag netic con ta cto r a nd rel ay.

1 MC B1 B2 B3 A (1) Servo motor

U
L1 B (2)
V M
L2 C (3 )
W
L3 D (4)
L1C
L2C SGDH Servo Amplifier Optical
1 en code r

2 2CN PG

Be sure to
grou nd Be sure to prop erly pre pare the
1 CN
end o f the shi eld ed wi re.
V-REF 5
R eferen ce spee d: LPF*
P
± 2 to ± 10V/rated mo to r sp eed (se t by pa rameter) SG 6
37
9 A/D AL O1 Al arm code ma ximum ou tp ut:
Exte rnal torq ue con tro l: LPF*
P 3 8 AL O3 Op eratin g voltag e: 30 VDC
± 1 to ± 10V/rated mo to r torq ue (set b y p arame te r) SG 1 0
Op eratin g curren t: 2 0mADC
39
AL O3

3 3 PAO
3 4 /PAO
PG divi din g ratio ou tp ut
3 5 PBO Appl icab le li ne rece iver
SN 751 75 or MC3 486 ma nufac-
3 6 /PBO ture d by T/I, or th e equ ival ent

19 PCO
20
/PCO
48 Amo unt of S-p hase ro ta ti on
Used o nly wi th PSO Se rial d ata outpu t
49
BAT (+) 2 1 an a bsol ute enco der /PSO
Backup b atte ry 2 .8 to 4.5V Ap pli cabl e lin e recei ver
PBAT (-) 1 SG SN75 175 o r MC 348 6 manu fa c-
(Wh en usi ng an a bsol ute enco der). 22 tured b y T/I, or the e qui vale nt
+5V SEN 4
SEN sign al in put
P
(Wh en usi ng an a bsol ute enco der). SG 2
0V
+24V +2 4V 3 .3 kΩ
25
1Ry /V-CMP+ Spee d coin cide nce de te cti on
ServoONwith 2R y ON /S-ON Servo ON 26 (ON w hen sp eed co inci des)
/V-CMP-
2 RY
P con tro l with 2R y ON /P-CON Pro portio nal co ntrol (P control )

P-L S Fo rward ru n 27
Forw ard run p rohi bited w ith P-LS OPEN P-OT proh ibi te d /T-GON+ T-GON o utput
28 (ON a t le vels ab ove the setting )
N -LS Reve rse run /T-GON-
R everse ru n proh ibi te d with N-L S OPEN N -OT p rohi bited
29
Al arm reset with 3R y ON 3Ry ALM-RST Alarm rese t /S-RD Y+ Se rvo read y o utput
3 0 /S-RD Y- (ON wh en rea dy)
6Ry Forwa rd curren t
Forw ard curre nt l imit ON w ith 6Ry ON P-C L li mit ON 31
AL M+ Servo a larm ou tp ut
R everse cu rrent limi t ON with 7R y ON 7 RY Reve rse curren t 3 2 AL M- (OFF with an a larm)
N-C L limi t ON

C onn ector shel l

Photoco upl er maximu m o utput:
FG Op eratin g voltag e: 30 VDC
Co nne ct shi eld to con nector she ll Ope rating cu rrent: 50 mADC

*The time co nsta nt for the pri mary fi lter is 47 µs P: Ind icates twisted w ire pa irs.

C-6
Sigma II User’s Manual Appendix C: Examples of Standard Connections

C.6 Torque Control Mode

Thr ee-Phase 2 00 to 2 30Va c
(50 /6 0Hz)
R S T
1MC CB

Noise filte r Pow er Powe r Alarm

OFF ON pro cessin g
1 MC

1MC SU P Be sure to attach a surg e supp ressor to th e excitation

coi l of the ma gne ti c co ntactor and re lay.

1MC B1 B2 B3 A (1 ) Se rvomotor
U
L1 B (2 )
V M
L2 C (3)
W
L3 D(4)
L1C
L2C SGDH Servo Amplifier Optica l
1 e ncod er

2 2C N PG

Be sure to
grou nd Be sure to pro perl y p repare the
1 CN
en d of the sh iel ded w ire.
V-REF 5
Extern al spe ed con tro l: LPF*
P
± 2 to ± 10V/rated mo to r sp eed (se t by pa rameter) SG 6
37
T-REF 9 A/D ALO1 Alarm cod e maximu m o utput:
Torqu e control : LPF* 38
P ALO3 Opera ti ng vol tag e: 30 VDC
±1 to ±10 V/ra te d motor spee d (se t by para meter) SG 10 Opera ti ng curre nt: 20mAD C
39
ALO3

33 PAO
34
/PAO PG divi din g ratio ou tp ut
35 Appl icab le li ne rece iver
PBO SN 751 75 or MC3 486 ma nufac-
36
/PBO ti red by T/I, o r the eq uiva len t
19
PCO
20
/PCO
48 Amoun t of S-pha se rota ti on
Use d onl y w ith PSO Seria l data outpu t
49
BAT (+) 21 a n abso lute en code r /PSO
Backup battery 2.8 to 4 .5 V Ap pli cabl e lin e recei ver
PBAT (-) 1 SN75 175 o r MC 348 6 manu fa c-
(Wh en usi ng an a bsol ute enco de r). SG
22 tired b y T/I, or the e qui vale nt
+5V SEN 4
SEN sig nal i npu t
P SG 2
(When u sing a n abso lute en code r).
0V
+24 V +2 4V 3.3kΩ
25
1R y /VLT+ Spee d control o utput
ServoONwi th 2 Ry ON /S-ON Servo ON 26 (ON d urin g spee d control )
/VLT-
2 RY
P con tro l with 2R y ON /P-CON Propo rti ona l control (P con tro l)
P-LS Forwa rd run 27
Forw ard run p rohi bited w ith P-LS OPEN P-OT pro hib ited /T-GON+ T-GON o utput
28
N -LS Re verse run /T-GON- (ON a t le vels ab ove the setting )
R everse ru n proh ibi te d with N-L S OPEN N -OT proh ibi te d
29
3R y /S-R DY+ Servo rea dy outpu t
Al arm reset with 3R y ON ALM-RST Ala rm re set
30
/S-R DY- (ON w hen re ady)
6R y Forw ard curre nt
Forw ard curre nt l imit ON w ith 6Ry ON P-C L l imit ON 31
ALM+ Servo al arm outpu t
R everse cu rrent limi t ON with 7R y ON 7 RY Re verse curren t (OFF w ith an al arm)
N-C L li mi t ON 32 ALM-

C onn ector shel l

Photoco upl er maximu m o utput:
FG Opera ti ng vol ta ge: 3 0VDC
C onn ect sh iel d to co nne cto r sh ell Op eratin g curren t: 5 0mADC

P: In dica te s twi ste d wire pa irs.

*The time co nstant fo r the p rimary filter is 47 µs

C-7
Sigma II User’s Manual Appendix C: Examples of Standard Connections

Notes:

C-8
Sigma II User’s Manual Index

A A.32, Regenerative Overload . . . . . . . . . . . . 9 - 11

absolute data . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 110 A.40, Main Circuit DC Voltage Error
Absolute Encoder Backup Power Supply Error. . . . . . . Detected (Overvoltage) . . . . . . . . . 9 - 12
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 - 20 A.41, Main Circuit DC Voltage Error
Absolute Encoder Battery Error . . . . . . . . . . . . . . 9 - 22 Detected (Undervoltage) . . . . . . . . 9 - 13
Absolute Encoder Clear Error . . . . . . . . . . . . . . . . 9 - 28 A.51, Overspeed . . . . . . . . . . . . . . . . . . . . . . 9 - 14
Absolute Encoder Data Error . . . . . . . . . . . . . . . . 9 - 23 A.71, Overload, High Load . . . . . . . . . . . . . 9 - 15
Absolute Encoder Overspeed . . . . . . . . . . . . . . . . 9 - 24 A.72, Overload, Low Load . . . . . . . . . . . . . . 9 - 15
absolute encoders A.73, Dynamic Brake Overload . . . . . . . . . . 9 - 17
/S-RDY conditions . . . . . . . . . . . . . . . . . . . . . 5 - 81 A.74, Overload of Surge Current Limit
alarm data, transferring . . . . . . . . . . . . . . . . 5 - 114 Resistor . . . . . . . . . . . . . . . . . . . . . . 9 - 18
batteries A.81, Absolute Encoder Backup Power
back-up . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 105 Supply Error . . . . . . . . . . . . . . . . . 9 - 20
replacing . . . . . . . . . . . . . . . . . . . . . . . . . . 9 - 4 A.82, Encoder Checksum Error . . . . . . . . . . 9 - 21
battery alarm . . . . . . . . . . . . . . . . . . . . . . . . . . 9 - 4 A.83, Absolute Encoder Battery Error . . . . . . . . . .
configuring . . . . . . . . . . . . . . . . . . . 5 - 101, 5 - 103 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 - 22
connections . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 24 A.84, Absolute Encoder Data Error . . . . . . . 9 - 23
data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 110 A.85, Absolute Encoder Overspeed . . . . . . . 9 - 24
extending encoder cables . . . . . . . . . . . . . . . 5 - 127 A.86, Encoder Overheated . . . . . . . . . . . . . . 9 - 25
grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 122 A.b1, Reference Speed Input Read Error . . . . . . . .
I/O signals . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 - 26
interface circuits . . . . . . . . . . . . . . . 5 - 101, 5 - 102 A.b2, Reference Torque Input Read Error . . . . . . .
mounted to servomotor, connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 - 26
. . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 102 A.C1, Servo Run Away . . . . . . . . . . . . . . . . 9 - 27
using multiple servodrives . . . . . . . . . . . . . . 5 - 126 A.C8, Absolute Encoder Clear Error and
multi-turn limit setting . . . . . . . . .5 - 108 to 5 - 109 Multi-turn Limit Setting Error . . . . 9 - 28
noise filter installation . . . . . . . . . . . . . . . . . 5 - 124 A.C9, Encoder Communications Error . . . . . 9 - 29
PAO serial data specifications . . . . . . . . . . . 5 - 112 A.CA, Encoder Parameter Error . . . . . . . . . . 9 - 30
pulses, number of . . . . . . . . . . . . . . . . . . . . . . 5 - 27 A.Cb, Encoder Echoback Error . . . . . . . . . . 9 - 31
reception sequence . . . . . . . . . . . . . . . . . . . . 5 - 110 A.CC, Multi-turn Limit Disagreement
SEN signals . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 102 Alarm . . . . . . . . . . . . . . . . . . . . . . . 9 - 32
serial data specifications . . . . . . . . . . . . . . . 5 - 112 A.d0, Position Error Pulse Overflow . . . . . . 9 - 33
setup . . . . . . . . . . . . . . . . . . . . . . .5 - 106 to 5 - 108 A.E7, Option Unit Detection Error . . . . . . . . 9 - 34
transmission sequence . . . . . . . . . . . . . . . . . 5 - 111 A.F1, Power Line Open Phase . . . . . . . . . . . 9 - 35
absolute signals . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 110 CPF00, Digital Operator Transmission
absorbable energy . . . . . . . . . . . . . . . . . . . 5 - 94, 5 - 99 Error 1 . . . . . . . . . . . . . . . . . . . . . . 9 - 36
acceleration CPF01, Digital Operator Transmission
used as detection point . . . . . . . . . . . . . . . . . . 6 - 14 Error 2 . . . . . . . . . . . . . . . . . . . . . . 9 - 37
acceleration/deceleration filter . . . . . . . . . . . . . . . . 6 - 3 table . . . . . . . . . . . . . . . . . . . . . . . . 9 - 41 to 9 - 42
adjusting used for troubleshooting . . . . . . . . . . 9 - 5 to 9 - 38
brake ON timing . . . . . . . . . . . . . . . . . . . . . . 5 - 70 alarm traceback data, clearing . . . . . . . . 7 - 38 to 7 - 39
gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 5 Alarm Traceback Mode, description . . . . . . . . . . 7 - 25
offset . . . . . . . . . . . . . . . . . . . 5 - 63 to 5 - 64, 6 - 6 alarms
Alarm Display Table . . . . . . . . . . . . . . . . . . . . . . . 9 - 41 absolute encoder backup power supply
alarm displays error, clearing . . . . . . . . . . . . . . . . 5 - 108
A.- -, Normal Operation . . . . . . . . . . . . . . . . . 9 - 38 checking . . . . . . . . . . . . . . . . . . . . . 7 - 25 to 7 - 26
A.02, Parameter Breakdown . . . . . . . . . . . . . . 9 - 5 clearing
A.03, Main Circuit Detection Error . . . . . . . . . 9 - 6 backup . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 108
A.04, Parameter Setting Error . . . . . . . . . . . . . 9 - 7 option unit detection results . . . . . . . . . 7 - 60
A.05, Servomotor and Amplifier Combination code outputs
Error . . . . . . . . . . . . . . . . . . . . . . . . . 9 - 8 table . . . . . . . . . . . . . . . . . . . . . 9 - 41 to 9 - 42
A.10, Overcurrent or Heat Sink Overheated. . . . . . using . . . . . . . . . . . . . . . . . . . . 5 - 71 to 5 - 72
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9 - 9 data transfer, SEN signal . . . . . . . . . . . . . . 5 - 114
A.30, Regenerative Error Detected . . . . . . . . 9 - 10 encoder checksum error, clearing . . . . . . . . 5 - 108

Index - 1
Sigma II User’s Manual Index

alarms (continued) capacity

external 24V power supply . . . . . . . . . . . . . . 5 - 71 servo amplifiers . . . . . . . . . . . . . . . . . . . . . . . 1 - 5
history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 25 servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 3
insufficient voltage . . . . . . . . . . . . . . . . . . . . 5 - 86 cautions
output signals checking product on delivery . . . . . . . . . . . . . . . .xi
connections . . . . . . . . . . . . . . . . . . . . . . . 5 - 71 installation environment . . . . . . . . . . . . . . . . . . . .xi
uses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 72 maintenance and inspection . . . . . . . . . . . . . . . xiii
output terminal connections, multiple operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
servodrives . . . . . . . . . . . . . . . . . . . 5 - 126 starting/stopping the servomotor . . . . . . . . . 5 - 73
protective circuit . . . . . . . . . . . . . . . . . . . . . . 5 - 71 trial operation . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 3
resetting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 5 wiring main circuit . . . . . . . . . . . . . . . . . . . . 3 - 12
/ALM-RST signal . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 72 wiring terminal block . . . . . . . . . . . . . . . . . . 3 - 16
ambient temperature, servo amplifiers . . . . . . . . . . 2 - 8 charge indicator, picture and description . . . . . . . . 1 - 6
amplifier. See servo amplifier. . . . . . . . . . . . . . . . . 1 - 4 check sum alarm, clearing . . . . . . . . . . . . . . . . . 5 - 108
analog input circuit . . . . . . . . . . . . . . . . . . . . . . . . 3 - 21 circular table, electronic gear function . . . . . . . . 5 - 30
analog monitors . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 49 clearing
description of voltage signals . . . . . . . . . . . . 6 - 40 alarm traceback data . . . . . . . . . . . . 7 - 38 to 7 - 39
manual output gain adjustment . . . . . . . . . . . . . . . . backup alarms . . . . . . . . . . . . . . . . . . . . . . . 5 - 108
. . . . . . . . . . . . . . . . 6 - 33 to 6 - 40, 7 - 52 encoder backup alarm . . . . . . . . . . . . . . . . . 5 - 108
A-phase + B-phase pulse forms . . . . . . .5 - 18 to 5 - 19 option unit detection alarm results . . . . . . . . 7 - 60
auto-tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 21 restoring default settings . . . . . . . . . . . . . . . . 7 - 47
mechanical rigidity settings . . . . . . . . . . . . . . 6 - 23 /CLT signal, see also /VLT signal . . . . . . 5 - 9 to 5 - 10
method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 28 CN1
related parameters . . . . . . . . . . . . . . . 6 - 28, 6 - 29 default settings, list of inputs . . . . . . . . . . . . 5 - 53
saving results of . . . . . . . . . . . . . . . . . . . . . . . 6 - 25 external alarm response circuit . . . . . . . . . . . 5 - 71
setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 22 I/O signal connector, picture and
average movement filter . . . . . . . . . . . . . . . . . . . . . 6 - 3 description . . . . . . . . . . . . . . . . . . . . 1 - 6
axis end specifications, servomotors . . . . . . . . . . . . 1 - 3 outputs
B allocating . . . . . . . . . . . . . . . . . 5 - 57 to 5 - 59
backup alarm, clearing . . . . . . . . . . . . . . . . . . . . 5 - 108 connector terminals . . . . . . . . . . . . . . . . 5 - 57
ball screws, electronic gear function . . . . . . . . . . . 5 - 30 inversion settings . . . . . . . . . . . . . . . . . . 5 - 59
batteries terminal layout and specifications . . . . . . . . 3 - 18
absolute encoders zero clamp (/Z-CLAMP) function, setting . . . . . . .
replacement . . . . . . . . . . . . . . . . . . . . . . . . 9 - 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 66
specifications and handling . . . . . . . . . . 5 - 105 CN1 output signals . . . . . . . . . . . . . . . . . . . . . . . . 5 - 57
installation warning . . . . . . . . . . . . . . . . . . . 5 - 105 CN2
servo amplifiers . . . . . . . . . . . . . . . . . . . . . . 5 - 105 connector models . . . . . . . . . . . . . . . . . . . . . 3 - 25
battery holder, picture and description . . . . . . . . . . 1 - 6 encoder connector, picture and description . . . . . . .
belts and pulleys, electronic gear function. . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . 1 - 6
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 30 terminal layout . . . . . . . . . . . . . . . . . . . . . . . 3 - 25
bias function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 37 CN3 connector to PC or digital operator, picture
/BK signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 70 and description . . . . . . . . . . . . . . . . . . . . . 1 - 6
block diagrams CN5 analog monitor connector, picture and
position control . . . . . . . . . . . . . . . . . . . . . . . 5 - 31 description . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 6
servo amplifiers . . . . . . . . . . . . . . . . .3 - 7 to 3 - 11 CN8 battery connector, picture and description . . . . . . .
B-phase + A-phase pulse forms . . . . . . .5 - 18 to 5 - 19 . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . 1 - 6
brake. See holding brake or dynamic brake. CN10 connector for option unit, picture and
built-in panel operator. See panel operator. description . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 6
built-in regenerative resistors . . . . . . . . . . . . . . . . 5 - 92 /COIN signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 75
C condensation, servo amplifiers . . . . . . . . . . . . . . . 2 - 8
cables connection examples
encoders, extending . . . . . . . . . . . . . . . . . . . 5 - 127 CP-9200SH servo controller Module (SVA). . . . . .
stress . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 5 . . . . . . . . . . . . . . . . .. . . . . . . . . . . . A - 3

Index - 2
Sigma II User’s Manual Index

connection examples (continued) default setting allocations, list . . . . . . . . . . . . . . . 5 - 57

GL-series default settings
B2813 Positioning Module . . . . . . . . . . . A - 4 lists
MC20 Motion Module . . . . . . . . . . . . . . A - 2 all input signals . . . . . . . . . . . . .B - 9 to B - 10
Mitsubishi all output signals . . . . . . . . . . . . . . . . . . B - 11
AD72 Positioning Unit . . . . . . . . . . . . . . A - 7 all parameters . . . . . . . . . . . . . . .B - 2 to B - 4
AD75 Positioning Unit . . . . . . . . . . . . . . A - 8 CN1 input signals . . . . . . . . . . . . . . . . . 5 - 53
Omron switches . . . . . . . . . . . . . . . . . . . .B - 5 to B - 8
C500-NC112 Position Control Unit . . . . A - 6 output signal allocation . . . . . . . . . . . . . . . . . 5 - 57
C500-NC221 Position Control Unit . . . . A - 5 restoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 47
servo amplifiers definitions
single phase . . . . . . . . . . . . . . . . . . . . . . . 3 - 26 current loop . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 31
three phase, 200V . . . . . . . . . . . . . . . . . . 3 - 27 display digits . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 14
three phase, 400V . . . . . . . . . . . . . . . . . . 3 - 28 feed-forward control . . . . . . . . . . . . . . . . . . . 6 - 11
typical I/O signals . . . . . . . . . . . . . . . . . . 3 - 17 forward rotation . . . . . . . . . . . . . . . . . . . . . . . 5 - 4
connections inverted signals . . . . . . . . . . . . . . . . . . . . . . . . . . . x
multiple servodrives . . . . . . . . . . . . . . . . . . . 5 - 126 position loop . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 31
wiring procedure . . . . . . . . . . . . . . . . . . . . . . 3 - 16 servo ready . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 81
connectors for encoder cables . . . . . . . . . . . . . . . 5 - 127 servo system feedback loops . . . . . . . . . . . . 6 - 31
constants. See parameters. smoothing function . . . . . . . . . . . . . . . . . . . . . 6 - 3
contact input signals . . . . . . . . . . . . . . . . . . . . . . . 5 - 25 speed loop
contact input speed control . . . . . . . . . . .5 - 32 to 5 - 36 definition . . . . . . . . . . . . . . . . . . . . . . . . 6 - 31
operation . . . . . . . . . . . . . . . . . . . . .5 - 34 to 5 - 35 descriptions
example . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 36 brake ON timing . . . . . . . . . . . . . . . . . . . . . . 5 - 69
rotation direction, selecting . . . . . . . . . . 5 - 35 contact input speed control . . . . . . . . . . . . . . 5 - 32
starting and stopping . . . . . . . . . . . . . . . . 5 - 34 contact input speed control (contact
procedure . . . . . . . . . . . . . . . . . . . . .5 - 32 to 5 - 34 reference) . . . . . . . . . . . . . . . . . . . . 5 - 61
required condition . . . . . . . . . . . . . . . . . . . . . 5 - 35 control modes . . . . . . . . . . . . . . . . . . . . . . . . 5 - 60
switching modes and/or references . . . . . . . . 5 - 61 dynamic brake . . . . . . . . . . . . . . . . . . . . . . . . 5 - 64
contact input speed control (contact reference), electronic gear function . . . . . . . . . . . . . . . . 5 - 27
description . . . . . . . . . . . . . . . . . . . . . . . . 5 - 61 holding brake . . . . . . . . . . . . . . . . . . . . . . . . 5 - 67
control circuit, power loss . . . . . . . . . . . . . . . . . . . 3 - 15 mode and/or reference switching. . . . . . . . . . . . . . .
control modes . . . . . . . . . . . . . . . . . . . . . 5 - 61 to 5 - 62
descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 60 Position Control Mode (pulse train
Motor Model Check Mode . . . . . . .7 - 40 to 7 - 42 reference) . . . . . . . . . . . . . . . . . . . . 5 - 60
settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 60 Speed Control Mode (analog reference) . . . . . . . . .
switching modes and/or references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 60
. . . . . . . . . . . . . . . . . . . . . .5 - 61 to 5 - 62 torque control . . . . . . . . . . . . . . . . . . . . . . . . 5 - 42
control panel, servo amplifiers . . . . . . . . . . . . . . . . 2 - 8 Torque Control Mode (analog reference) . . . . . . . .
control power supply terminal, picture and . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 60
description . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 6 torque limiting by analog voltage
cooling fans, servo amplifier . . . . . . . . . . . . . . . . . . 2 - 8 reference . . . . . . . . . . . . . . . . . . . . . 5 - 48
CP-9200SH servo controller Module (SVA) . . . . . . . . zero clamp (/Z-CLAMP) function . . . . . . . . 5 - 65
.................................. A-3 detection error, option unit . . . . . . . . . . . . . . . . . . 9 - 34
current loop response . . . . . . . . . . . . . . . . . . . . . . 6 - 31 detection point
current loop, definition . . . . . . . . . . . . . . . . . . . . . 6 - 31 acceleration reference
D application and example . . . . . . . . . . . . 6 - 16
data parameter description and units . . . . . . . 6 - 14
absolute . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 110 error pulse input reference
transfer specifications . . . . . . . . . . . . . . . . . 5 - 112 application and example . . . . . . . . . . . . 6 - 17
transmitting . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 102 parameter description and units . . . . . . . 6 - 14
DC reactor speed reference input
connecting . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 131 application and example . . . . . . . . . . . . 6 - 15
specifications . . . . . . . . . . . . . . . . . . . . . . . . 5 - 132 parameter description and units . . . . . . . 6 - 14

Index - 3
Sigma II User’s Manual Index

detection point (continued) disabling inputs, overtravel limit . . . . . . . . . . . . . . 5 - 6

torque reference displays
application and example . . . . . . . . . . . . . 6 - 15 alarm code table . . . . . . . . . . . . . . . 9 - 41 to 9 - 42
parameter description and units . . . . . . . 6 - 14 alarm, used for troubleshooting . . . . . . . . . . . . . . . .
deterioration, replacement schedule . . . . . . . . . . . . 9 - 3 . . . . . . . . . . . . . . . . . . . . . . 9 - 5 to 9 - 38
Digital Operator Transmission Error 1 . . . . . . . . . 9 - 36 digits, definition . . . . . . . . . . . . . . . . . . . . . . 7 - 14
Digital Operator Transmission Error 2 . . . . . . . . . 9 - 37 output patterns . . . . . . . . . . . . . . . . . . . . . . . 7 - 13
digital operators . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 10 dynamic brake
Alarm Traceback Mode . . . . . . . . . . . . . . . . . 7 - 25 description . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 64
alarms, resetting . . . . . . . . . . . . . . . . . . . . . . . . 7 - 5 using . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 64
applied operation . . . . . . . . . . . . . . .7 - 24 to 7 - 61 Dynamic Brake Overload . . . . . . . . . . . . . . . . . . 9 - 17
automatic adjustment E
motor current detection offset . . . . . . . . . . . . . electronic gear function
. . . . . . . . . . . . . . . . . .7 - 54 to 7 - 55 description and setting procedure . . . . . . . . . 5 - 27
speed and torque reference offset . . . . . . . . . . examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 30
. . . . . . . . . . . . . . . . . .7 - 30 to 7 - 32 setting . . . . . . . . . . . . . . . . . . . . . . . 5 - 27 to 5 - 30
basic mode selection . . . . . . . . . . . . . . . . . . . . 7 - 6 emergency stopping the servomotor . . . . . . . . . . 5 - 64
basic operation . . . . . . . . . . . . . . . . . .7 - 2 to 7 - 23 enabling input signals, overtravel limit
checking software version . . . . . . . . . . . . . . . 7 - 43 function . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 6
clearing alarm traceback data . . . . . .7 - 38 to 7 - 39 Encoder Checksum Error . . . . . . . . . . . . . . . . . . . 9 - 21
connecting the . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 2 Encoder Communications Error . . . . . . . . . . . . . 9 - 29
connector, picture and description . . . . . . . . . . 1 - 6 Encoder Echoback Error . . . . . . . . . . . . . . . . . . . 9 - 31
descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 2 Encoder Overheated . . . . . . . . . . . . . . . . . . . . . . . 9 - 25
function selection parameter list . . . . . . . . . . 7 - 13 Encoder Parameter Error . . . . . . . . . . . . . . . . . . . 9 - 30
function selection parameters . . . . . . . . . . . . 7 - 14 encoders
functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 3 absolute
initializing parameter settings . . . . . . . . . . . . 7 - 47 /S-RDY conditions . . . . . . . . . . . . . . . . 5 - 81
JOG operation . . . . . . . . . . . . . . . . . . . . . . . . 7 - 27 alarm data, transferring . . . . . . . . . . . . 5 - 114
JOG speed, setting or modifying . . . . . . . . . . 5 - 52 batteries, specifications and handling. . . . . . . .
manual adjustment . . . . . . . . . . . . . . . . . . . . . . . . 5 - 105
gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 49 configuring . . . . . . . . . . . . . . . 5 - 101, 5 - 103
motor current detection offset . . . . . . . . . . . . . connections . . . . . . . . . . . . . . . . . . . . . . 3 - 24
. . . . . . . . . . . . . . . . . .7 - 56 to 7 - 57 data . . . . . . . . . . . . . . . . . . . . . 5 - 110, 5 - 112
speed and torque reference offset . . . . . . . . . . interface circuit . . . . . . . . . . . . 5 - 101, 5 - 102
. . . . . . . . . . . . . . . . . .7 - 33 to 7 - 37 mounted to servomotor, connections . . . . . . . .
zero point drift . . . . . . . . . . . . . . . . . . . . 7 - 49 . . . . . . . . . . . . . . . . . . . . . . . . 5 - 102
Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . 7 - 18 using multiple servo amplifiers . . . . . . . . . . . .
Motor Model Check Mode . . . . . . .7 - 40 to 7 - 42 . . . . . . . . . . . . . . . . . . . . . . . . 5 - 126
Origin Search Mode . . . . . . . . . . . . . . 7 - 27, 7 - 44 multi-turn limit setting . . . . . 5 - 108 to 5 - 109
parameter display patterns . . . . . . . . . . . . . . . 7 - 13 number of PPR . . . . . . . . . . . . . . . . . . . 5 - 27
password setting . . . . . . . . . . . . . . . . . . . . . . . 7 - 58 reception sequence . . . . . . . . . . . . . . . 5 - 110
Position Control Mode . . . . . . . . . . . . . . . . . . . 7 - 8 SEN signals . . . . . . . . . . . . . . . . . . . . . 5 - 102
Status Display Mode . . . . . . . . . . . . . . . . . . . . 7 - 7 serial data specifications . . . . . . . . . . . 5 - 112
dimensional drawings setup . . . . . . . . . . . . . . . . . . . 5 - 106 to 5 - 108
servo amplifiers . . . . . . . . . . . . . . . .8 - 35 to 8 - 44 transmission sequence . . . . . . . . . . . . . 5 - 111
servomotors alarms
SGMAH . . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 6 backup, clearing . . . . . . . . . . . . . . . . . . 5 - 108
SGMGH . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 14 checksum error . . . . . . . . . . . . . . . . . . . 9 - 21
SGMPH . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 10 resetting . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 72
SGMSH . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 18 cable connector kits . . . . . . . . . . . . . . . . . . 5 - 127
SGMUH . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 21 cables, preparing . . . . . . . . . . . . . . . . . . . . . 5 - 128
dimensional drawings. See servo amplifier/ or check sum alarm, clearing . . . . . . . . . . . . . 5 - 108
servormotor/dimensional drawings. connector models for servomotors . . . . . . . . 3 - 25

Index - 4
Sigma II User’s Manual Index

encoders (continued) G
connector terminal layout and specifications, gain
CN1 . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 18 adjustment
connector terminal layout, CN2 . . . . . . . . . . . 3 - 25 conditions . . . . . . . . . . . . . . . . . . . . . . . . 6 - 5
connector, picture and description . . . . . . . . . . 1 - 6 matching sensitivity . . . . . . . . . . . . . . . . 7 - 49
electronic gear function . . . . . . . . . . . . . . . . . 5 - 27 procedure . . . . . . . . . . . . . . . . . . . . . . . . 6 - 18
extending cables . . . . . . . . . . . . . . . . . . . . . . 5 - 127 position loop . . . . . . . . . . . . . . . . . . . . 6 - 5, 6 - 10,
incremental . . . . . . . . . . . . . . . . . 6 - 19, 6 - 20, 6 - 30
connections . . . . . . . . . . . . . . . . . . . . . . . 3 - 24 servo gain adjustment . . . . . . . . . . . 6 - 30 to 6 - 40
number of PPR . . . . . . . . . . . . . . . . . . . . 5 - 27 setting
signal output . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 21 reference values . . . . . . . . . . . . . . . . . . . 6 - 38
I/O signals . . . . . . . . . . . . . . . . . . . . . . . . 5 - 22 servo gain . . . . . . . . . . . . . . . . . . . . . . . . 6 - 9
pulse divider setting . . . . . . . . . . . . . . . . 5 - 23 speed loop . . . . . . . . . . . . . . . . . . . . . . . . 6 - 9
wiring to servo amplifier . . . . . . . . . . . . . . . . 3 - 24 speed loop . . . . . . . . . . . . . . . . . 6 - 5, 6 - 18, 6 - 20
error counter, clear signal . . . . . . . . . . . . . . . . . . . 5 - 20 zero clamp . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 10
error pulse gain adjustment function
used as detection point . . . . . . . . . . . . . . . . . . 6 - 14 manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 52
overflow alarm . . . . . . . . . . . . . . . . . . . . . . . . 6 - 10 using . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 49
setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 76 gear ratio, electronic gear function . . . . . . . . . . . 5 - 27
used as detection point . . . . . . . . . . . . . . . . . . 6 - 17 general precautions . . . . . . . . . . . . . . . . . . . . . . . . . xiii
external interlock, /TGON signal . . . . . . . . . . . . . 5 - 79 GL-series
external power supply input, 24V . . . . . . . . . . . . . 5 - 25 B2813 Positioning Module . . . . . . . . . . . . . . . A - 4
external regenerative resistors MC20 Motion Module . . . . . . . . . . . . . . . . . . A - 2
terminal picture and description . . . . . . . . . . . 1 - 6 ground terminals
external speed limit function . . . . . . . . . . . . . . . . . 5 - 43 picture and description . . . . . . . . . . . . . . . . . . 1 - 6
external torque limit warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 104
contact input . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 10 grounding
forward run side . . . . . . . . . . . . . . . . . . . . . . . 5 - 49 isolation of ground from output lines . . . . . . . . . . .
reverse run side . . . . . . . . . . . . . . . . . . . . . . . 5 - 49 . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 124
F motor frame . . . . . . . . . . . . . . . . . . . . . . . . 5 - 122
fans, servo amplifier cooling . . . . . . . . . . . . . . . . . . 2 - 8 noise control . . . . . . . . . . . . . . . . . . . . . . . . 5 - 123
feedback loops, definition . . . . . . . . . . . . . . . . . . . 6 - 31 noise filter in an enclosure . . . . . . . . . . . . . 5 - 125
feedback pulse counter monitor display . . . . . . . . 7 - 22 servo alarm . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 71
feed-forward control . . . . . . . . . . . . . . . . . . . . . . . 6 - 11 H
feed-forward function . . . . . . . . . . . . . . . . . . . . . . 6 - 36 hand-held digital operator. See digital operator.
speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 46 harmonic suppression . . . . . . . . . . . . . . . . . . . . 5 - 131
torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 44 High Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 - 15
filters, smoothing function . . . . . . . . . . . . . . . . . . . 6 - 3 high rigidity, setting gain . . . . . . . . . . . . . . . . . . . 6 - 38
forward or forward external torque limit . . . . . . . . 5 - 9 high-speed positioning . . . . . . . . . . . . . . . . . . . . . . 6 - 9
forward overtravel . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 5 history, alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 25
forward rotation holding brake
definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 4 brake interlock output . . . . . . . . . . . . . . . . . . 5 - 67
reference pulse form . . . . . . . . . . . . . . . . . . . 5 - 18 brake ON timing . . . . . . . . . . . . . . . . . . . . . . 5 - 69
forward run prohibited (/P-OT) signal . . . 7 - 27, 7 - 44 description . . . . . . . . . . . . . . . . . . . . . . . 5 - 69
friction compensation selection . . . . . . . . . . . . . . 6 - 29 description . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 67
full-wave rectification . . . . . . . . . . . . . . . . . . . . . . 8 - 29 ON/OFF circuit, wiring . . . . . . . . . . . . . . . . 5 - 67
functions setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 70
list of auxiliary functions . . . . . . . . . . . . . . . B - 12 using . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 67
bias, description . . . . . . . . . . . . . . . . . . . . . . . 6 - 37 host controllers
selection connection examples . . . . . . . . A - 2 to A - 8, C - 1
changing . . . . . . . . . . . . . . . . . .7 - 15 to 7 - 17 input circuit . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 14
list of parameter types . . . . . . . . . . . . . . . 7 - 13 position control loop . . . . . . . . . . . . . . . . . . . 5 - 21
soft start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 2 pulses, using for control . . . . . . . . . . . . . . . . 5 - 27
fuse capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 117 warning, battery installation . . . . . . . . . . . . 5 - 105

Index - 5
Sigma II User’s Manual Index

humidity, servo amplifiers . . . . . . . . . . . . . . . . . . . 2 - 8 installation

I servo amplifiers . . . . . . . . . . . . . . . . . . . . . . . 2 - 6
I/O signals servomotors . . . . . . . . . . . . . . . . . . . . . . 2 - 2, 2 - 3
CN1 terminals and specifications . . . . . . . . . 3 - 18 insufficient voltage alarm . . . . . . . . . . . . . . . . . . 5 - 86
connection example . . . . . . . . . . . . . . . . . . . . 3 - 17 integral time constant . . . . . . . . . . . . . . . . . . . . . . . 6 - 9
descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 22 integral/proportional (IP) control . . . . . . . . . . . . . 6 - 21
interface circuits . . . . . . . . . . . . . . . . . . . . . . . 3 - 21 interface circuits
reference input circuit . . . . . . . . . . . . . . . 3 - 21 absolute encoders . . . . . . . . . . . . . . . . . . . . 5 - 101
sequence input circuit . . . . . . . . . . . . . . . 3 - 22 output circuit . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 22
names and functions . . . . . . . . . . . . . . 3 - 19, 3 - 20 reference input circuit
used for protective sequence . . . . . .5 - 71 to 5 - 86 analog . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 21
IGBT-PWM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 29 reference input circuits
incremental encoders reference position . . . . . . . . . . . . . . . . . 3 - 21
connections . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 24 sequence input circuit . . . . . . . . . . . . . . . . . . 3 - 22
pulses, number of . . . . . . . . . . . . . . . . . . . . . . 5 - 27 servomotors . . . . . . . . . . . . . . . . . . . . . . . . 5 - 101
incremental pulses . . . . . . . . . . . . . . . . . . . . . . . . 5 - 113 interlock
indicators external, /TGON signal . . . . . . . . . . . . . . . . . 5 - 79
charge, picture and description . . . . . . . . . . . . 1 - 6 positioning completed output signal . . . . . . . 5 - 75
overload, or regenerative overload . . . . . . . . 5 - 82 internal block diagrams
inertia ratio . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 9, 6 - 25 position control . . . . . . . . . . . . . . . . . . . . . . . 5 - 31
inertia, load . . . . . . . . . . . . . . . . . . . . . . . . 6 - 25, 6 - 29 servo amplifiers . . . . . . . . . . . . . . . . 3 - 7 to 3 - 11
Infinite Length Positioning System . . . . . . . . . . . 5 - 101 internal regenerative resistors
inhibit (/P-CON) signal, and reference pulses . . . . . . . . calculating power capacity . . . . . . . . . . . . . . 5 - 92
. . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 50, 5 - 62 internal speed limit function, torque control . . . . . . . . . .
initial incremental pulse transmission . . . . . . . . . 5 - 102 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 42
input circuits internal torque limit, /CLT . . . . . . . . . . . . . . . . . . . 5 - 8
signal allocation . . . . . . . . . . . . . . . .5 - 53 to 5 - 56 inverted signals
default settings . . . . . . . . . . . . . . . . . . . . 5 - 53 definition and symbol . . . . . . . . . . . . . . . . . . . . . . x
enabling . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 53 isolation of inputs from outputs . . . . . . . . . . . . . 5 - 124
example . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 55 isolation transformer . . . . . . . . . . . . . 5 - 129 to 5 - 130
other signals . . . . . . . . . . . . . . . . . . . . . . 5 - 56 J
torque reference . . . . . . . . . . . . . . . . . . . . . . . 5 - 41 JOG operation
input pulse using the digital operator . . . . . . . . 7 - 27 to 7 - 29
form selecting . . . . . . . . . . . . . . . . . . . . . . . . 5 - 17 trial operation . . . . . . . . . . . . . . . . . . . . . . . . 4 - 11
multiplier . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 18 JOG speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 52
input references for control modes . . . . .5 - 60 to 5 - 62 L
input signals lengthening encoder cables . . . . . . . . . . . . . . . . 5 - 127
allocation . . . . . . . . . . . . . . . . . . . . .5 - 53 to 5 - 56 limit switches, for overtravel . . . . . . . . . . . . . . . . . 5 - 5
analog voltage reference, switching . . . . . . . . . . . . limiting torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 8
. . . . . . . . . . . . . . . . . . . . . .5 - 60 to 5 - 62 line driver output circuit
contact input speed control examples . . . . . . 5 - 36 connecting to . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 21
contact reference, switching . . . . . . . . . . . . . 5 - 61 connection example . . . . . . . . . . . . . . . . . . . 5 - 15
enabling and disabling . . . . . . . . . . . . . . . . . . . 5 - 6 line filters
monitor display . . . . . . . . . . . . . . . . . . . . . . . 7 - 20 for amplifier models, table . . . . . . . . . . . . . 5 - 123
names and functions . . . . . . . . . . . . . . . . . . . . 3 - 19 inside an enclosure, grounding . . . . . . . . . . 5 - 125
position reference . . . . . . . . . . . . . . . . . . . . . . 5 - 15 installation and wiring . . . . . . . . 5 - 124 to 5 - 125
servo ON (/S-ON) . . . . . . . . . . . . . . . . . . . . . 5 - 73 load inertia . . . . . . . . . . . . . . . . . . . . 6 - 9, 6 - 21, 6 - 25
torque reference . . . . . . . . . . . . . . . . . . . . . . . 5 - 40 load inertia, friction . . . . . . . . . . . . . . . . . . . . . . . 6 - 29
trial operation requirements . . . . . . . . . . . . . . 4 - 12 Low Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 - 15
inspection low rigidity, setting gain . . . . . . . . . . . . . . . . . . . 6 - 38
servo amplifiers . . . . . . . . . . . . . . . . . . . . . . . . 9 - 3 M
servodrives . . . . . . . . . . . . . . . . . . . . . .9 - 2 to 9 - 4 main circuit
servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 - 2 power loss . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 15
warning and caution . . . . . . . . . . . . . . . . . . . . . . xiii

Index - 6
Sigma II User’s Manual Index

main circuit (continued) monitors, analog . . . . . . . . . . . . . . . . . . . . . 6 - 40, 7 - 49

power loss, servo amplifier . . . . . . . . . . . . . . 5 - 86 motor current detection offset . . . . . . . . 7 - 54 to 7 - 57
power supply terminals, picture and Motor Model Check Mode . . . . . . . . . . 7 - 40 to 7 - 42
description . . . . . . . . . . . . . . . . . . . . . 1 - 6 motor speed, setting . . . . . . . . . . . . . . . . . . . . . . . 5 - 66
terminals motors. See servomotors.
names and descriptions . . . . . . . . . . . . . . 3 - 13 multi-turn data transmission . . . . . . . . . . . . . . . 5 - 102
wiring Multi-turn Limit Disagreement Alarm . . . . . . . . 9 - 32
caution . . . . . . . . . . . . . . . . . . . . . 3 - 12, 3 - 16 multi-turn limit setting . . . . . . . . . . . . 5 - 108 to 5 - 109
encoders . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 24 Multi-turn Limit Setting Error . . . . . . . . . . . . . . . 9 - 28
example . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 14 N
interface circuits . . . . . . . . . . . . . . . . . . . 3 - 21 /N-CL signal . . . . . . . . . . . . . . . . . . . . . . . 5 - 12, 5 - 49
peripheral devices . . . . . . . . . . . . . . . . . . . 3 - 3 near output signal (/NEAR) . . . . . . . . . . . . . . . . . 5 - 84
standard connection examples . . . . . . . . . . . . . noise control
. . . . . . . . . . . . . . . . . .3 - 26 to 3 - 28 correct grounding . . . . . . . . . . . . 5 - 122 to 5 - 123
terminal blocks . . . . . . . . . . . . . . . . . . . . 3 - 16 noise filters
Main Circuit DC Voltage Error Detected installation and wiring . . . . . 5 - 124 to 5 - 125
Overvoltage . . . . . . . . . . . . . . . . . . . . . . . . . . 9 - 12 multiple servodrives . . . . . . . . . . . . . . 5 - 126
Undervoltage . . . . . . . . . . . . . . . . . . . . . . . . . 9 - 13 using . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 115
Main Circuit Detection Error . . . . . . . . . . . . . . . . . 9 - 6 special wiring . . . . . . . . . . . . . . . 5 - 115 to 5 - 125
maintenance wiring example . . . . . . . . . . . . . . . . . . . . . . 5 - 122
Motor Model Check Mode . . . . . . .7 - 40 to 7 - 42 noise filters
servodrives . . . . . . . . . . . . . . . . . . . . . .9 - 2 to 9 - 4 for amplifier models, table . . . . . . . . . . . . . 5 - 123
servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 - 2 inside an enclosure, grounding . . . . . . . . . . 5 - 125
warning and caution . . . . . . . . . . . . . . . . . . . . . . xiii Normal Operation Display . . . . . . . . . . . . . . . . . . 9 - 38
manual adjustment notch filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 8
speed and torque reference offset . . . . . . . . 5 - 63, O
. . . . . . . . . . . . . . . . . . . . . .7 - 33 to 7 - 37 offset adjustment . . . . . . . . . . . . . . . . . . . . . 5 - 63, 6 - 6
zero adjustment function . . . . . . . . . . . . . . . . 7 - 49 automatic . . . . . . . . . . . . . . . . . . . . . . 5 - 63, 7 - 30
MCCB manual . . . . . . . . . . . . . . . . .5 - 63, 7 - 33 to 7 - 37
capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 117 oil and water, servomotors . . . . . . . . . . . . . . . . . . . 2 - 5
multiple servo amplifiers . . . . . . . . . . . . . . . 5 - 126 Omron
measuring, matching system sensitivity . . . . . . . . 7 - 49 C500-NC112 Position Control Unit . . . . . . . . A - 6
mechanical wear, replacement schedule . . . . . . . . . 9 - 3 C500-NC221 Position Control Unit . . . . . . . . A - 5
medium rigidity, setting gain . . . . . . . . . . . . . . . . 6 - 38 online auto-tuning . . . . . . . . . . . . . . . . . . . . . . . . 6 - 21
Mitsubishi mechanical rigidity settings . . . . . . . . . . . . . 6 - 23
AD72 Positioning Unit . . . . . . . . . . . . . . . . . A - 7 method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 28
AD75 Positioning Unit . . . . . . . . . . . . . . . . . A - 8 related parameters . . . . . . . . . . . . . . . . . . . . . 6 - 29
mode switch function . . . . . . . . . 6 - 14 to 6 - 17, 6 - 36 saving results of . . . . . . . . . . . . . . . . . . . . . . 6 - 25
detection point setting parameters . . . . . . . . . . . . . . . . . . . . . 6 - 22
acceleration . . . . . . . . . . . . . . . . . 6 - 14, 6 - 16 open collector output circuit
error pulse . . . . . . . . . . . . . . . . . . . . . . . . 6 - 14 connecting to . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 23
error pulse reference . . . . . . . . . . . . . . . . 6 - 17 connection example . . . . . . . . . . . . . . . . . . . 5 - 16
speed reference . . . . . . . . . . . . .6 - 15 to 6 - 16 open collector output signals, ALO to ALO3 . . . 5 - 72
speed reference input . . . . . . . . . . . . . . . 6 - 14 operation cautions . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
torque reference . . . . . . . . . . . .6 - 14 to 6 - 15 option unit connector, picture and description . . . . . . . .
model numbers . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . 1 - 6
servo amplifiers . . . . . . . . . . . . . . . . . . . . . . . . 1 - 4 Option Unit Detection Error . . . . . . . . . . . . . . . . 9 - 34
servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 3 orientation
modes. See control modes. servo amplifiers . . . . . . . . . . . . . . . . . . . . . . . 2 - 7
Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 18 servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 3
display contents . . . . . . . . . . . . . . . . . . . . . . . 7 - 19 origin pulse signals
list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B - 13 PCO,/PCO . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 22
monitoring alarm, clearing . . . . . . . . . . . . . . . . . 5 - 108 origin pulses . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 113

Index - 7
Sigma II User’s Manual Index

Origin Search Mode . . . . . . . . . . . . . . . . . 7 - 27, 7 - 44 enabling/disabling input signals . . . . . . . . . . . 5 - 6

output circuits function selection . . . . . . . . . . . . . . . . . . . . . 7 - 13
interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 22 changing . . . . . . . . . . . . . . . . . . . . . . . . 7 - 15
signal allocation, default settings . . . . . . . . . . 5 - 57 definition of display digits . . . . . . . . . . . 7 - 14
output displays, alarm display table . . . .9 - 41 to 9 - 42 initializing settings . . . . . . . . . . . . . . . . . . . . 7 - 47
output phase form . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 22 lists
output signals all . . . . . . . . . . . . . . . . . . . . . . . . .B - 2 to B - 4
allocating . . . . . . . . . . . . . . . . . . . . .5 - 57 to 5 - 59 default settings . . . . . . . . . . . . . . .B - 2 to B - 4
brake interlock . . . . . . . . . . . . . . . . . . . . . . . . 5 - 67 input signal selections, defaults . . . . . . . . B - 9
combined signals, logic for . . . . . . . . . . . . . . 5 - 82 monitor modes . . . . . . . . . . . . . . . . . . . . B - 13
connections . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 26 output signals, default settings . . . . . . . . . . . .
line driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 15 . . . . . . . . . . . . . . . . . . . . . . . . . B - 11
line driver, position reference . . . . . . . . . . . . 5 - 15 servo amplifier function selection . . . . . . . . . .
monitor display . . . . . . . . . . . . . . . . . . . . . . . 7 - 21 . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 13
names and functions . . . . . . . . . . . . . . . . . . . . 3 - 20 setting range . . . . . . . . . . . . . . . .B - 2 to B - 4
open-collector . . . . . . . . . . . . . . . . . . . . . . . . 5 - 16 switches, default settings . . . . . . .B - 5 to B - 8
overload warning . . . . . . . . . . . . . . . . . . . . . . 5 - 82 motor speed, setting or modifying . . . . . . . . 5 - 52
position reference, used for . . . . . . . . . . . . . . 5 - 15 PG dividing ratio . . . . . . . . . . . . . . . . . . . . . 5 - 22
positioning completed, used as interlock . . . . . . . . reserved . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 133
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 75 setting from host controller . . . . . . . . . . . . . . 5 - 13
servo alarm/ground . . . . . . . . . . . . . . . . . . . . 5 - 71 setting method types . . . . . . . . . . . . . . . . . . . 7 - 10
speed coincidence setting procedure . . . . . . . . . . . . . . . . . . . . . . . 5 - 4
/TGON . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 78 torque control . . . . . . . . . . . . . . . . . . . . . . . . 5 - 42
V-CMP . . . . . . . . . . . . . . . . . . .5 - 77 to 5 - 78 write protection . . . . . . . . . . . . . . . . . . . . . . . 7 - 58
/S-RDY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 81 part names
/TGON . . . . . . . . . . . . . . . . . . . . . . .5 - 79 to 5 - 80 servo amplifiers . . . . . . . . . . . . . . . . . . . . . . . 1 - 6
/V-CMP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 78 servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 5
/WARN . . . . . . . . . . . . . . . . . . . . . .5 - 82 to 5 - 83 part replacement schedule, servo amplifiers . . . . . . . . . .
output voltage drift compensation . . . . . . . . . . . . . 7 - 49 . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . 9 - 3
Overcurrent or Heat Sink Overheated . . . . . . . . . . . 9 - 9 PBO serial data, specifications . . . . . . . . . . . . . 5 - 110
overload characteristics . . . . . . . . . . . . . . . . . . . . . 9 - 16 /P-CL signal . . . . . . . . . . . . . . . . . . . . . . . . 5 - 12, 5 - 49
Overload of Surge Current Limit Resistor . . . . . . 9 - 18 PCO serial data, specifications . . . . . . . . . . . . . 5 - 110
overload or regenerative overload warning . . . . . . . . . . /P-CON, zero clamp function . . . . . . . . . . . . . . . 5 - 66
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 82 /P-CON signal . . . . . . . . . . 5 - 15, 5 - 41, 5 - 50, 5 - 66
overshoot . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 12, 9 - 40 periodic part replacement, servo amplifiers . . . . . . . . . .
mode switch function . . . . . . . . . . . . . . . . . . . 6 - 15 . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . 9 - 3
Overspeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 - 14 peripheral devices
overtravel limit function connecting to . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 3
connections . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 5 single phase specifications . . . . . . . . . . . . . . . 3 - 4
drive status . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 5 three-phase specifications . . . . . . . . . . . . 3 - 5, 3 - 6
servomotor stop mode . . . . . . . . . . . . . . . . . . . 5 - 6 personal computer connector, picture and
P description . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 6
panel operators PG dividing ratio . . . . . . . . . . . . . . . . . . . 5 - 22, 5 - 113
JOG speed, setting or modifying . . . . . . . . . . 5 - 52 photocoupler
panel display, picture and description . . . . . . . 1 - 6 output circuits . . . . . . . . . . . . . . . . . . . . . . . . 3 - 23
panel keys, picture and description . . . . . . . . . 1 - 6 output signals . . . . . . . . . . . . . . . . . . . . . . . . 5 - 75
PAO serial data, specifications . . . . . . . 5 - 110, 5 - 112 (T-GON) . . . . . . . . . . . . . . . . . 5 - 79 to 5 - 80
Parameter Breakdown Error . . . . . . . . . . . . . . . . . . 9 - 5 /S-RDY . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 81
Parameter Setting Error . . . . . . . . . . . . . . . . . . . . . . 9 - 7 /WARN . . . . . . . . . . . . . . . . . . 5 - 82 to 5 - 83
Parameter Setting Mode . . . . . . . . . . . . . . . . . . . . 7 - 10 photocoupler output signals
parameters running output (/T-GON) . . . . . . . . . . . . . . . 5 - 79
changing settings . . . . . . . . . . . . . . . . . . . . . . 7 - 10 physical shock, reducing at speed change . . . . . . . . . . .
configuring . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 36
display patterns . . . . . . . . . . . . . . . . . . . . . . . 7 - 13 plugs, servo amplifiers . . . . . . . . . . . . . . . . . . . . . 3 - 25

Index - 8
Sigma II User’s Manual Index

position control terminals, picture and description . . . . . . . . . . 1 - 6

adjusting manually . . . . . . . . . . . . . .6 - 35 to 6 - 36 three-phase
block diagram . . . . . . . . . . . . . . . . . . . . . . . . 5 - 31 specifications (200V) . . . . . . . . . 3 - 27, C - 3
inhibiting reference pulse count . . . . . . . . . . . 5 - 50 specifications (400V) . . . . . . . . . 3 - 28, C - 4
switching modes and/or references . . . . . . . 5 - 61, voltage conversion transformers . . . . . . . . . 5 - 129
. . . . . . . . . . . . . . . . . . . . . .5 - 61 to 5 - 62 voltage drop . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 86
position control loop, using . . . . . . . . . . . . . . . . . . 5 - 21 precautions
Position Control Mode wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 115
connections . . . . . . . . . . . . . . . . . . . . . 3 - 29, C - 5 proportional (P) control . . . . . . . . . . . . . . . . . . . . 6 - 12
description, pulse train reference . . . . . . . . . . 5 - 60 definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 14
trial operation . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 11 switching from PI control . . . . . . . . . . . . . . . 5 - 15
position control, definition . . . . . . . . . . . . . . . . . . 6 - 31 torque reference . . . . . . . . . . . . . . . . . . . . . . 6 - 15
Position Error Pulse Overflow . . . . . . . . . . . . . . . 9 - 33 using . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 41
position loop. See position control loop. proportional/integral (PI) control . . . . . . . . . . . . . 6 - 12
position loop gain . . . . . . . . . . . . . . . . . . . 6 - 20, 6 - 30 definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 14
adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 36 switching to P control . . . . . . . . . . . . . . . . . . 5 - 15
basic rules . . . . . . . . . . . . . . . . .6 - 31 to 6 - 32 protective sequence . . . . . . . . . . . . . . . . . . . . . . . 5 - 71
conditions . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 5 PSO serial data, specifications . . . . . . . . 5 - 110, 5 - 112
reference values . . . . . . . . . . . . . . . .6 - 38 to 6 - 39 pulse count inhibiting during position control . . . . . . . .
responsiveness . . . . . . . . . . . . . . . . .6 - 35 to 6 - 36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 50
setting . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 10, 6 - 19 pulse dividing ratio, setting . . . . . . . . . . . 5 - 23, 5 - 113
position loop, definition . . . . . . . . . . . . . . . . . . . . 6 - 31 pulse dividing, definition . . . . . . . . . . . . . . . . . . . 5 - 21
position reference inputs . . . . . . . . . . . . . . . . . . . . 5 - 15 pulse form selecting, position reference inputs . . . . . . .
error counter, clear input . . . . . . . . . . . . . . . . 5 - 20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 17
I/O signal generation pulse output signals
timing example . . . . . . . . . . . . . . . . . . . . 5 - 19 /PAO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 22
pulse form selecting PAO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 22
input pulse multiplier . . . . . . . . . . . . . . . 5 - 18 /PBO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 22
parameters . . . . . . . . . . . . . . . . . . . . . . . . 5 - 17 PBO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 22
reference pulse input signal, timing . . . . . . . . 5 - 19 pulse output signals pulse output signals . . . . . . . . . . . .
positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 22
high speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 9 pulse train reference . . . . . . . . . . . . . . . . . . . . . . . 5 - 61
infinite length . . . . . . . . . . . . . . . . . . . . . . . . 5 - 101 pulse train reference, switching . . . . . . . . . . . . . . 5 - 60
positioning completed (/COIN) output signal . . . . . . . . pulse transmission . . . . . . . . . . . . . . . . . . . . . . . 5 - 102
. . . . . . . . . . . . . . . . . . . . 5 - 75 to 5 - 76, 5 - 78 pulse width modulation (PWM) . . . . . . . . . . . . . 8 - 29
Postition Control Mode pulses (PPR), encoders . . . . . . . . . . . . . . . . . . . . 5 - 27
bit data, codes, and meanings . . . . . . . . . . . . . 7 - 8 R
Power Line Open Phase . . . . . . . . . . . . . . . . . . . . 9 - 35 radial load, servomotors . . . . . . . . . . . . . . . . . . . . . 2 - 4
power line, servomotors, picture and ratings and specifications. See servo amplifier/
description . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 6 or servomotor/ratings and specifications.
power loss, servo amplifiers . . . . . . . . . . . 3 - 15, 5 - 86 read-only setting or disabling . . . . . . . . . . . . . . . 7 - 58
power ON reception sequence . . . . . . . . . . . . . . . . . . . . . . . 5 - 110
indicator, picture and description . . . . . . . . . . . 1 - 6 reference input
sequence, designing . . . . . . . . . . . . . . . . . . . . 3 - 14 analog circuits . . . . . . . . . . . . . . . . . . . . . . . . 3 - 21
power supply Position Control Mode . . . . . . . . . . . . . . . . . . 4 - 8
control power supply terminal, picture and signal connector, picture and description . . . . . . . .
description . . . . . . . . . . . . . . . . . . . . . 1 - 6 . . . . . . . . . . . . . . . . .. . . . . . . . . . . . 1 - 6
external for alarms . . . . . . . . . . . . . . . . . . . . . 5 - 71 Speed Control Mode . . . . . . . . . . . . . . . . . . . . 4 - 7
harmonic suppression . . . . . . . . . . . . . . . . . 5 - 131 reference input circuits . . . . . . . . . . . . . . . . . . . . . 3 - 21
MCCB or fuse capacity . . . . . . . . . . . . . . . . 5 - 117 line driver output . . . . . . . . . . . . . . . . . . . . . 3 - 21
single-phase open collector output examples . . . . . . . . . . . . . . . .
connection example . . . . . . . . . . . . . . . 5 - 130 . . . . . . . . . . . . . . . . . . . . . 3 - 21 to 3 - 22
specifications . . . . . . . . . . . . . . . . 3 - 26, C - 2 reference input line, noise . . . . . . . . . . . . . . . . . 5 - 123
supply voltage (400V) . . . . . . . . . . . . . . . . . 5 - 129 reference offset adjustment . . . . . . . . . . . . . . . . . . 6 - 6

Index - 9
Sigma II User’s Manual Index

reference pulse parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 29

counter monitor display . . . . . . . . . . . . . . . . . 7 - 22 selecting . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 35
forward/reverse pulse forms . . . . . . . . . . . . . 5 - 18 running output signal (/T-GON) . . . . . . 5 - 79 to 5 - 80
input signal timing . . . . . . . . . . . . . . . . . . . . . 5 - 19 S
reference pulse inhibit function . . . . . . . . . . . . . . . 5 - 50 safety precautions. See also cautions and
Reference Speed Input Read Error . . . . . . . . . . . . 9 - 26 warnings. . . . . . . . . . . . . . . . . . . . . . . . xi to xiii
Reference Torque Input Read Error . . . . . . . . . . . 9 - 26 saving online auto-tuning results . . . . . . . . 6 - 25, 6 - 28
reference unit, definition . . . . . . . . . . . . . . . . . . . . 5 - 28 SEN signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 102
reference voltage offset . . . . . . . . . . . . . . . . . . . . . . 6 - 6 sensitivity
references for control modes measuring system matching . . . . . . . . . . . . . 7 - 49
analog . . . . . . . . . . . . . . . . . . . . . . . .5 - 60 to 5 - 62 sequence I/O signals
regenerative energy, calculating . . . . . . . . . . . . . . 5 - 94 inputs
Regenerative Error Detected . . . . . . . . . . . . . . . . . 9 - 10 changing function allocation . . . . . . . . . . . . . .
Regenerative Overload . . . . . . . . . . . . . . . . . . . . . 9 - 11 . . . . . . . . . . . . . . . . . . . . 5 - 53, 5 - 56
regenerative overload warning . . . . . . . . . . . . . . . 5 - 82 signal connections . . . . . . . . . . . . . . . . . 5 - 25
regenerative power capacity . . . . . . . . .5 - 91 to 5 - 100 outputs
regenerative resistor changing function allocation . . . . . . . . . 5 - 57
power loss . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 15 signal connections . . . . . . . . . . . . . . . . . 5 - 26
regenerative resistors . . . . . . . . . . . . . . .5 - 87 to 5 - 100 sequence input circuit interface . . . . . . . . . . . . . . 3 - 22
built-in . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 87 serial data specifications . . . . . . . . . . . . . . . . . . 5 - 112
calculating capacity . . . . . . . . . . . . . . . . . . . . 5 - 94 serial encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 3
calculating energy consumption . . . . . . . . . . 5 - 94 servo alarms
calculating regenerative power capacity. . . . . . . . . output signals, connecting . . . . . . . . . . . . . . 5 - 71
. . . . . . . . . . . . . . . . . . . . . . . 5 - 91, 5 - 92 resetting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 5
connecting . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 89 servo amplifiers
external absorbable energy . . . . . . . . . . . . . . . . . . . . . 5 - 99
connector, picture and description. . . . . . . . . . alarms, resetting . . . . . . . . . . . . . . . . . . . . . . 5 - 72
. . . . . . . . . . . . . . . . . . . . . . . . . .1 - 6 batteries
installing, parameter . . . . . . . . . . . . . . . . 5 - 88 installation warning . . . . . . . . . . . . . . . 5 - 105
optimum frequency specifications and handling . . . . . . . . . 5 - 105
0.5 to 5.0kW , table . . . . . . . . . . . . . . . . . 5 - 92 capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 5
6.0kW or more, calculation . . . . . . . . . . . . . . . control mode selection/switching . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . .5 - 92 to 5 - 93 . . . . . . . . . . . . . . . . . . . . . 5 - 60 to 5 - 62
6kW or more, calculation . . . . . . . . . . . . 5 - 93 control panel conditions . . . . . . . . . . . . . . . . . 2 - 8
power capacity cooling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 8
400W or less . . . . . . . . . . . . . . . . . . . . . . 5 - 91 definition of terms . . . . . . . . . . . . . . . . . . . . . . . . x
0.5 to 5.0kW . . . . . . . . . . . . . . . . . . . . . . 5 - 92 delivery check . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 2
4.0kW or more . . . . . . . . . . . . .5 - 92 to 5 - 93 dimensional drawings . . . . . . . . . . . 8 - 35 to 8 - 44
selecting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 87 end plugs/sockets . . . . . . . . . . . . . . . . . . . . . 3 - 25
specifications for servo amplifiers . . . . . . . . . 5 - 87 function selection parameters . . . . . . . . . . . . 7 - 13
reserved parameters . . . . . . . . . . . . . . . . . . . . . . . 5 - 133 gain adjustment . . . . . . . . . . . . . . . . 6 - 30 to 6 - 40
resetting alarms . . . . . . . . . . . . . . . . . . . . . . 5 - 72, 7 - 5 input signals
responsiveness . . . . . . . . . . . . . . . . . . . . . . 6 - 31, 6 - 36 allocation . . . . . . . . . . . . . . . . . 5 - 53 to 5 - 56
reverse or reverse external torque limit . . . . . . . . . . 5 - 9 names and functions . . . . . . . . . . . . . . . 3 - 19
reverse overtravel (N-OT) . . . . . . . . . . . . . . . . . . . . 5 - 5 inspection (annual) . . . . . . . . . . . . . . . . . . . . . 9 - 3
Reverse Rotation Mode installation . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 6
setting procedure . . . . . . . . . . . . . . . . . . . . . . . 5 - 4 installation site . . . . . . . . . . . . . . . . . . . . . 2 - 6
reverse rotation reference . . . . . . . . . . . . . . . . . . . 5 - 18 multiple units . . . . . . . . . . . . . . . . . . . . . . 2 - 8
reverse run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 27 orientation . . . . . . . . . . . . . . . . . . . . . . . . 2 - 7
reverse run prohibited (/N-OT) signal . . . . . . . . . 7 - 44 storage conditions . . . . . . . . . . . . . . . . . . 2 - 6
rigidity internal block diagrams . . . . . . . . . . 3 - 7 to 3 - 11
changing settings . . . . . . . . . . . . . . .6 - 23 to 6 - 24 model numbers . . . . . . . . . . . . . . . . . . . . . . . . 1 - 4
setting gain . . . . . . . . . . . . . . . . . . . .6 - 38 to 6 - 39 nameplate example . . . . . . . . . . . . . . . . . . . . . 1 - 4
rotation direction noise filters, table . . . . . . . . . . . . . . . . . . . . 5 - 123

Index - 10
Sigma II User’s Manual Index

servo amplifiers (continued) servomotors

online auto-tuning function . . . . . . . . . . . . . . 6 - 20 axis end specifications . . . . . . . . . . . . . . . . . . 1 - 3
operating conditions . . . . . . . . . . . . . . . . . . . . . 9 - 3 capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 3
output signals definition of term . . . . . . . . . . . . . . . . . . . . . . . . . x
names and functions . . . . . . . . . . . . . . . . 3 - 20 dimensional drawings
overload characteristics . . . . . . . . . . . . . . . . . 9 - 16 SGMAH . . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 6
Parameter Setting Mode . . . . . . . . . .7 - 10 to 7 - 18 SGMGH . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 14
parameters SGMPH . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 10
setting procedure . . . . . . . . . . . .7 - 10 to 7 - 17 SGMSH . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 18
types . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 51 SGMUH . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 21
part names . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 6 emergency stopping . . . . . . . . . . . . . . . . . . . 5 - 64
part replacement . . . . . . . . . . . . . . . . . . . . . . . . 9 - 3 encoder connectors . . . . . . . . . . . . . . . . . . . . 3 - 25
power loss . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 15 encoder pulses, number of . . . . . . . . . . . . . . 5 - 27
power supply voltage drop . . . . . . . . . . . . . . . 5 - 86 inspection and maintenance . . . . . . . . . . . . . . 9 - 2
ratings and specifications . . . . . . . . .8 - 22 to 8 - 31 installation . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 2
ratings and specifications 2 . . . . . . .8 - 32 to 8 - 34 allowable shaft load . . . . . . . . . . . . . . . . . 2 - 4
regenerative resistors . . . . . . . . . . .5 - 87 to 5 - 100 handling oil and water . . . . . . . . . . . . . . . 2 - 5
specifications, internal . . . . . . . . . . . . . . 5 - 87 orientation . . . . . . . . . . . . . . . . . . . . . . . . 2 - 3
Reverse Rotation Mode . . . . . . . . . . . . . . . . . . 5 - 4 shaft alignment . . . . . . . . . . . . . . . . . . . . 2 - 3
setting up . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 51 site . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 - 2
special wiring storage temperature . . . . . . . . . . . . . . . . . 2 - 2
fuse . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 117 JOG speed . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 52
noise control . . . . . . . . . . . . . . . . . . . . . 5 - 122 model numbers . . . . . . . . . . . . . . . . . . . . . . . . 1 - 3
standard connection examples . . . . . . . . . . . . . . . . motor speed, setting . . . . . . . . . . . . . . . . . . . 5 - 66
. . . . . . . . . . . . . . . . . . . . . .3 - 26 to 3 - 31 motor speed/torque characteristics
stopping procedure . . . . . . . . . . . . . .5 - 63 to 5 - 70 SGMAH . . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 4
torque limiting . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 8 SGMGH . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 13
troubleshooting SGMPH . . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 8
with alarm display . . . . . . . . . . . .9 - 5 to 9 - 38 SGMSH . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 17
with no alarm display . . . . . . . . . . . . . . . 9 - 39 SGMUH . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 20
servo gain nameplate example . . . . . . . . . . . . . . . . . . . . . 1 - 2
adjusting via auto-tuning . . . . . . . . .6 - 20 to 6 - 21 part names . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - 5
adjustment . . . . . . . . . . . . . . 6 - 18, 6 - 30 to 6 - 40 radial or thrust load . . . . . . . . . . . . . . . . . . . . . 2 - 4
basic rules . . . . . . . . . . . . . . . . .6 - 31 to 6 - 32 ratings and specifications
manual . . . . . . . . . . . . . . . . . . . .6 - 33 to 6 - 37 SGMAH . . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 2
parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 30 SGMGH . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 11
setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 9 SGMPH . . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 7
Servo ON input signal . . . . . . . . . . . . . . . . . . . . . . 5 - 73 SGMSH . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 15
servo ready SGMUH . . . . . . . . . . . . . . . . . . . . . . . . . 8 - 19
definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 81 starting/stopping caution . . . . . . . . . . . . . . . . 5 - 73
servo ready output signal (/S-RDY) . . . . . . . . . . . 5 - 81 switching rotation direction . . . . . . . . . . . . . . 5 - 4
servo run away alarm . . . . . . . . . . . . . . . . . . . . . . 9 - 27 terminal on amplifier, picture and
servo system description . . . . . . . . . . . . . . . . . . . . 1 - 6
block diagram . . . . . . . . . . . . . . . . . . . . . . . . 6 - 31 trial operation
definition of term . . . . . . . . . . . . . . . . . . . . . . . . . x using reference input . . . . . . . . . . . . . . . . 4 - 7
feedback loops, definition . . . . . . . . . . . . . . . 6 - 31 winding resistance loss . . . . . . . . . . . . . . . . . 5 - 96
responsiveness adjustment . . . . . . . .6 - 30 to 6 - 37 servopack. See servo amplifier.
servodrives setting
definition of term . . . . . . . . . . . . . . . . . . . . . . . . . x error pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 76
inspection and maintenance . . . . . . . . .9 - 2 to 9 - 4 setting procedure . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 10
Servomotor and Amplifier Combination Error . . . . . . . setting range, list of parameters . . . . . . . . .B - 2 to B - 4
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9 - 8 /SG signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 72
Servomotor Stop Mode . . . . . . . . . . . . . . . . . . . . . . 5 - 6 shaft alignment, servomotors . . . . . . . . . . . . . . . . . 2 - 3
servomotor-end relay sockets . . . . . . . . . . . . . . . . 3 - 25 shaft load, servomotors . . . . . . . . . . . . . . . . . . . . . 2 - 4

Index - 11
Sigma II User’s Manual Index

shared MCCB or noise filter . . . . . . . . . . . . . . . . 5 - 126 main circuit specifications . . . . . . . . . . . . . . . 3 - 4

signals power supply wiring specifications . . . . . . . . . . . . .
absolute . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 110 . . . . . . . . . . . . . . . . . . . . . . . . 3 - 26, C - 2
alarm output (ALM) . . . . . . . . . . . . . . . . . . . . 5 - 71 smooth operation . . . . . . . . . . . . . . . . . . . . 6 - 2 to 6 - 8
/ALM-RST . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 72 smoothing capacitor . . . . . . . . . . . . . . . . . . . . . . . 5 - 87
ALO1 to ALO3 . . . . . . . . . . . . . . . . . . . . . . . 5 - 72 smoothing function, definition and using . . . . . . . 6 - 3
analog input . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 21 sockets, end, for servo amplifier . . . . . . . . . . . . . 3 - 25
/BK . . . . . . . . . . . . . . . . . . . . . . . . . .5 - 67 to 5 - 70 soft start function . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 2
/CLT, See also signals /VLT . . . . . . .5 - 8 to 5 - 11 software version, checking . . . . . . . . . . . . . . . . . 7 - 43
/COIN . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 75, 5 - 84 /S-ON signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 73
I/O connections . . . . . . . . . . . . . . . . . . . . . . . 3 - 21 sort start function
input allocation signal generation timing examples . . . . . . . . 5 - 36
example . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 55 /SPD-A . . . . . . . . . . . . . . . . . . . . .5 - 33 to 5 - 35, 5 - 61
other signals . . . . . . . . . . . . . . . . . . . . . . 5 - 56 /SPD-B . . . . . . . . . . . . . . . . . . . . .5 - 33 to 5 - 35, 5 - 61
inputs /SPD-D . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 33 to 5 - 35
allocation . . . . . . . . . . . . . . . . . .5 - 53 to 5 - 56 speed and torque reference offset . . . . . . . . . . . . 7 - 30
inverted, definition and symbol . . . . . . . . . . . . . . x speed bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 13
/N-CL . . . . . . . . . . . . . . . . . . 5 - 10 to 5 - 12, 5 - 49 speed change, reducing physical shock . . . . . . . . 5 - 36
/NEAR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 84 speed coincidence output signal . . . . . . 5 - 77 to 5 - 78
/N-OT . . . . . . . . . . . . . . 5 - 5 to 5 - 7, 7 - 27, 7 - 44 speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 39
outputs /V-CMP signal . . . . . . . . . . . . . . . . . . . . . . . 5 - 78
allocation . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 57 analog reference
default settings . . . . . . . . . . . . . . . . . . . . 5 - 57 switching modes and/or references . . . . . . . . .
other signals . . . . . . . . . . . . . . . . . . . . . . 5 - 58 . . . . . . . . . . . . . . . . . . 5 - 61 to 5 - 62
/P-CL . . . . . . . . . . . . . . . . . . 5 - 10 to 5 - 12, 5 - 49 torque feed-forward function . . . . . . . . . . . . . .
/P-CON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 41 . . . . . . . . . . . . . . . . . . 5 - 44 to 5 - 45
/P-CON, zero clamp function . . . . . . . . . . . 5 - 15, low rigidity, setting position loop gain . . . . . 6 - 39
. . . . . . . . . . . . . . . . . 5 - 50, 5 - 65, 5 - 66 manual adjustment . . . . . . . . . . . . . . . . . . . . 6 - 33
photocoupler principle of . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 43
warning output (/WARN) . . . . . . . . . . . . . . . . Speed Control Mode
. . . . . . . . . . . . . . . . . .5 - 82 to 5 - 83 bit data, codes, and meanings . . . . . . . . . . . . . 7 - 7
photocoupler/running output connections . . . . . . . . . . . . . . . . . . . . . 3 - 30, C - 6
(/S-RDY) . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 81 description, analog reference . . . . . . . . . . . . 5 - 60
(/T-GON) . . . . . . . . . . . . . . . . .5 - 79 to 5 - 80 trial operation . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 7
positioning completed output speed feedback compensation . . . . . . . . . . 6 - 18, 6 - 31
used as an interlock . . . . . . . . . . . . . . . . . 5 - 75 speed feedback compensation selection . . . . . . . 6 - 29
/P-OT . . . . . . . . . . . . . . 5 - 5 to 5 - 7, 7 - 27, 7 - 44 speed feed-forward function . . . . . . . . . 5 - 46 to 5 - 47
SEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 102 speed limit
for alarm data transfer . . . . . . . . . . . . . . 5 - 114 function, external . . . . . . . . . . . . . . . . . . . . . 5 - 43
servo ready conditions . . . . . . . . . . . . . . 5 - 81 principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 43
/SG . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 14, 5 - 72 speed loop
/S-ON . . . . . . . . . . . . . . . . . . . 5 - 64, 5 - 73, 5 - 81 gain parameter . . . . . . . . . . . . . . . . . . . . . . . 6 - 30
/SPD-A . . . . . . . . . . . . . . . . . . . . . . .5 - 33 to 5 - 35 integral time constant . . . . . . . . . . . . . . . . . . 6 - 35
/SPD-B . . . . . . . . . . . . . . . . . . . . . . .5 - 33 to 5 - 35 setting gain . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 35
/SPD-D . . . . . . . . . . . . . . . . . . . . . . .5 - 33 to 5 - 35 speed loop gain . . . . . . . . . . . . . . . 6 - 18, 6 - 20, 6 - 33
/TGON . . . . . . . . . . . . . . . . . . . . . . . . 5 - 78, 5 - 80 adjustment conditions . . . . . . . . . . . . . . . . . . . 6 - 5
T-REF,signals adjustment, basic rules . . . . . . . . . . 6 - 31 to 6 - 32
SG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 13 reference values . . . . . . . . . . . . . . . 6 - 38 to 6 - 39
/V-CMP . . . . . . . . . . . . . . . . 5 - 77, 5 - 77 to 5 - 78 setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 9
/VLT, See also signals /CLT . . . . . . . . . . . . . 5 - 42 speed loop integral time constant . . . . . . . . 6 - 30, 6 - 33
V-REF . . . . . . . . . . . . . . . . . . . . . . . . 5 - 13, 5 - 14 speed reference . . . . . . . . . . . . . . . 5 - 13, 6 - 12, 6 - 31
/ZCLAMP . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 65 used as detection point . . . . . . . . . . . . . . . . . 6 - 14
single-phase input gain . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 34

Index - 12
Sigma II User’s Manual Index

speed reference input holding brake ON timing . . . . . . . . . . . . . . . 5 - 69

input circuit example/adjustment factor . . . . 5 - 14 torque control
setting examples . . . . . . . . . . . . . . . . . . . . . . . 5 - 13 description . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 42
speed reference offset examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 38
automatic adjustment . . . . . . . . . . . .7 - 30 to 7 - 32 input circuit example . . . . . . . . . . . . . . . . . . 5 - 41
manual adjustment . . . . . . . . . . . . . .7 - 33 to 7 - 35 internal speed limit function . . . . . . . . . . . . . 5 - 42
speed/torque curves. See servomotors/motor speed/ parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 42
torque characteristics. selecting . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 37
S-Phase rotation signals using . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 37
PCO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 22 torque control (analog reference)
/PCO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 22 description . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 60
/S-RDY signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 81 Torque Control Mode
standard connection examples auto-tuning alert . . . . . . . . . . . . . . . . . . . . . . 6 - 21
Position Control Mode . . . . . . . . . . . . . 3 - 29, C - 5 bit data, codes, and meanings . . . . . . . . . . . . . 7 - 7
Speed Control Mode . . . . . . . . . . . . . . 3 - 30, C - 6 connections . . . . . . . . . . . . . . . . . . . . . 3 - 31, C - 7
Torque Control Mode . . . . . . . . . . . . . 3 - 31, C - 7 description, analog reference . . . . . . . . . . . . 5 - 60
starting/stopping the servomotor, caution . . . . . . . 5 - 73 torque feed-forward function
Status Display Mode, digital operator . . . . . . . . . . . 7 - 7 auto-tuning alert . . . . . . . . . . . . . . . . . . . . . . 6 - 21
storage conditions, servo amplifiers . . . . . . . . . . . . 2 - 6 using, setting . . . . . . . . . . . . . . . . . . 5 - 44 to 5 - 45
sum check alarm. See check sum alarm. torque limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 8
supply voltage /CLT signal . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 9
three-phase 400V . . . . . . . . . . . . . . . . . . . . . 5 - 129 external . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 10
switches, default settings list . . . . . . . . . . . B - 5 to B - 8 /N-CL . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 12
switching control modes and/or references . . . . . . . . . . /P-CL . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 12
. . . . . . . . . . . . . . . . . . . . . . . . . .5 - 61 to 5 - 62 internal, /CLT . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 8
switching noise . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 122 torque limiting by analog reference . . . . 5 - 48 to 5 - 49
T torque reference
terminals filter time constant . . . . . . . . . . . . . . . . . . . . . 6 - 7
CN1 input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 40
inverting signals, SO1 to SO3 . . . . . . . . 5 - 58 used for proportional (P) control . . . . . . 6 - 15
selecting/allocating outputs . . . . . . . . . . . . . . . input adjustment factor . . . . . . . . . . . . . . . . . 5 - 49
. . . . . . . . . . . . . . . . . .5 - 57 to 5 - 59 used as reference point . . . . . . . . . . . . . . . . . 6 - 14
CN2, layout and types . . . . . . . . . . . . . . . . . . 3 - 25 voltage level per rated torque . . . . . . . . . . . . 5 - 40
control power supply, picture and torque reference filter time constant . . . . . . . . . . 6 - 30,
description . . . . . . . . . . . . . . . . . . . . . 1 - 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 34, 6 - 35
ground, picture and description . . . . . . . . . . . . 1 - 6 torque reference offset
main circuit power supply, picture and automatic adjustment . . . . . . . . . . . 7 - 30 to 7 - 32
description . . . . . . . . . . . . . . . . . . . . . 1 - 6 manual adjustment . . . . . . . . . . . . . 7 - 33 to 7 - 37
servomotor to servo amplifier, picture and torque saturation
description . . . . . . . . . . . . . . . . . . . . . 1 - 6 mode switch function . . . . . . . . . . . . . . . . . . 6 - 15
test run, see also trial operation . . . . . . . .4 - 2 to 4 - 12 torsion resonance . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 34
/TGON signal . . . . . . . . . . . . . . . . . . . . .5 - 79 to 5 - 80 total Watts lost . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 - 15
three-phase traceback See Alarm Traceback Mode.
main circuit specifications . . . . . . . . . . . 3 - 5, 3 - 6 transformer
output phase forms . . . . . . . . . . . . . . . . . . . . . 5 - 22 DC reactor . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 132
power supply harmonic suppression . . . . . . . . . . . . . . . . . 5 - 131
wiring specifications (200V) . . . . 3 - 27, C - 3 transmission sequence, absolute encoders . . . . . . . . . . .
wiring specifications (400V) . . . . 3 - 28, C - 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 111
thrust load, servomotors . . . . . . . . . . . . . . . . . . . . . 2 - 4 trial operation . . . . . . . . . . . . . . . . . . . . . . 4 - 2 to 4 - 12
time constant additional setup procedures
speed loop integral . . . . . . . . . . . . . . . . . . . . . 6 - 30 position control by host controller . . . . . 4 - 11
torque reference filter . . . . . . . . . . . . . . . . . . . 6 - 30 servomotors with brakes . . . . . . . . . . . . 4 - 10
time constant, integral . . . . . . . . . . . . . . . . . . . . . . . 6 - 9 in Position Control Mode . . . . . . . . . . . . . . . . 4 - 8
timing in Speed Control Mode . . . . . . . . . . . . . . . . . . 4 - 7

Index - 13
Sigma II User’s Manual Index

trial operation (continued) maintenance and inspection . . . . . . . . . . . . . . . xiii

input signals . . . . . . . . . . . . . . . . . . . . . . . . . . 4 - 12 multi-turn limit . . . . . . . . . . . . . . . . . . . . . . 5 - 109
parameter requirements . . . . . . . . . . . . . . . . . 4 - 12 wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .xi
servomotor with load . . . . . . . . . . . . . . . . . . . . 4 - 9 winding resistance loss . . . . . . . . . . . . . . . . . . . . 5 - 94
servomotor without load . . . . . . . . . . . . . . . . . 4 - 3 wiring
using reference input . . . . . . . . . . . . . . . . . . . . 4 - 7 connection procedure . . . . . . . . . . . . . . . . . . 3 - 16
troubleshooting example, main circuit . . . . . . . . . . . . . . . . . . 3 - 14
with alarm displays . . . . . . . . . . . . . . . . . . . . . 9 - 5 fuse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 117
with no alarm display . . . . . . . . . . . . . . . . . . . 9 - 39 isolation of inputs from outputs . . . . . . . . . 5 - 124
two-step trial operation . . . . . . . . . . . . . . . .4 - 2 to 4 - 9 using multiple servo amplifiers . . . . . . . . . 5 - 126
U noise control . . . . . . . . . . . . . . . . 5 - 115 to 5 - 126
undershoot noise filters . . . . . . . . . . . . . . . . . 5 - 124 to 5 - 125
mode switch function . . . . . . . . . . . . . . . . . . . 6 - 15 precautions . . . . . . . . . . . . . . . . . . . . 3 - 12, 5 - 115
suppressing during positioning . . . . . . . . . . . 6 - 14 servo amplifier to encoder . . . . . . . . . . . . . . 3 - 24
user constants. See parameters. specifications
V Position Control Mode . . . . . . . . 3 - 29, C - 5
/V-CMP signal . . . . . . . . . . . . . . . . . . . .5 - 77 to 5 - 78 single-phase power supply . . . . . . . . . . . . . . . .
vibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 19 . . . . . . . . . . . . . . . . . . . . 3 - 26, C - 2
excessive rigidity . . . . . . . . . . . . . . . . . . . . . . 6 - 23 Speed Control Mode . . . . . . . . . . 3 - 30, C - 6
feedback loop principle . . . . . . . . . . . . . . . . . 6 - 31 three-phase power supply (200V) . . . . . . . . . .
notch filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 - 8 . . . . . . . . . . . . . . . . . . . . 3 - 27, C - 3
positioning time setting . . . . . . . . . . . . . . . . . 6 - 11 three-phase power supply (400V) . . . . . . . . . .
servo amplifiers . . . . . . . . . . . . . . . . . . . . . . . . 2 - 8 . . . . . . . . . . . . . . . . . . . . 3 - 28, C - 4
speed loop integral time constant . . . . . . . . . . 6 - 33 Torque Control Mode . . . . . . . . . 3 - 31, C - 7
/VLT signal, see also /CLT signal . . . . . . . . . . . . 5 - 42 warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .xi
voltage conversion transformer write protection . . . . . . . . . . . . . . . . . . . . . . . . . . 7 - 58
capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 129 Y
W Y-specification, checking codes . . . . . . 7 - 40 to 7 - 42
/WARN signal . . . . . . . . . . . . . . . . . . . . .5 - 82 to 5 - 83 Z
warning displays . . . . . . . . . . . . . . . . . . . . . . . . . . 9 - 43 /Z-CLAMP function . . . . . . . . . . . . . . . 5 - 65 to 5 - 66
warning output signal (/WARN) . . . . . . .5 - 82 to 5 - 83 zero clamp function
warning output signals . . . . . . . . . . . . . . . . . . . . . 9 - 43 /P-CON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 66
warnings switching with speed control (analog
battery installation . . . . . . . . . . . . . . . . . . . . 5 - 105 reference) . . . . . . . . . . . . . . . . . . . . 5 - 62
ground terminals . . . . . . . . . . . . . . . . . . . . . 5 - 104 /Z-CLAMP . . . . . . . . . . . . . . . . . . . 5 - 65 to 5 - 66
Infinite Length Positioning System . . . . . . . . . . . . zero point drift compensation . . . . . . . . . . . . . . . 7 - 49
. . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - 101

Index - 14
YASKAWA ELECTRIC AMERICA, INC.
Chicago-Corporate Headquarters 2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone: (847) 887-7000 Fax: (847) 887-7310 Internet: http://www.yaskawa.com
MOTOMAN INC.
805 Liberty Lane, West Carrollton, OH 45449, U.S.A.
Phone: (937) 847-6200 Fax: (937) 847-6277 Internet: http://www.motoman.com
YASKAWA ELECTRIC CORPORATION
New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo, 105-0022, Japan
Phone: 81-3-5402-4511 Fax: 81-3-5402-4580 Internet: http://www.yaskawa.co.jp
YASKAWA ELETRICO DO BRASIL COMERCIO LTDA.
Avenida Fagundes Filho, 620 Bairro Saude Sao Paolo-SP, Brasil CEP: 04304-000
Phone: 55-11-5071-2552 Fax: 55-11-5581-8795 Internet: http://www.yaskawa.com.br
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach, Germany
Phone: 49-6196-569-300 Fax: 49-6196-888-301 Internet: http://www.yaskawa.de
MOTOMAN ROBOTICS AB
Box 504 S38525, Torsas, Sweden
Phone: 46-486-48800 Fax: 46-486-41410
MOTOMAN ROBOTEC GmbH
Kammerfeldstraβe 1, 85391 Allershausen, Germany
Phone: 49-8166-900 Fax: 49-8166-9039
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, Scotland, United Kingdom
Phone: 44-12-3673-5000 Fax: 44-12-3645-8182
YASKAWA ELECTRIC KOREA CORPORATION
Paik Nam Bldg. 901 188-3, 1-Ga Euljiro, Joong-Gu, Seoul, Korea
Phone: 82-2-776-7844 Fax: 82-2-753-2639
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
Head Office: 151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, SINGAPORE
Phone: 65-282-3003 Fax: 65-289-3003
TAIPEI OFFICE (AND YATEC ENGINEERING CORPORATION)
10F 146 Sung Chiang Road, Taipei, Taiwan
Phone: 886-2-2563-0010 Fax: 886-2-2567-4677
YASKAWA JASON (HK) COMPANY LIMITED
Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone: 852-2803-2385 Fax: 852-2547-5773
BEIJING OFFICE
Room No. 301 Office Building of Beijing International Club,
21 Jianguomanwai Avenue, Beijing 100020, China
Phone: 86-10-6532-1850 Fax: 86-10-6532-1851
SHANGHAI OFFICE
27 Hui He Road Shanghai 200437 China
Phone: 86-21-6553-6600 Fax: 86-21-6531-4242
SHANGHAI YASKAWA-TONJI M & E CO., LTD.
27 Hui He Road Shanghai 200437 China
Phone: 86-21-6533-2828 Fax: 86-21-6553-6677
BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO., LTD.
30 Xue Yuan Road, Haidian, Beijing 100083 China
Phone: 86-10-6232-9943 Fax: 86-10-6234-5002
SHOUGANG MOTOMAN ROBOT CO., LTD.
7, Yongchang-North Street, Beijing Economic & Technological Development Area,
Beijing 100076 China
Phone: 86-10-6788-0551 Fax: 86-10-6788-2878

Yaskawa Electric America, Inc., January 2001 YEA-SIA-S800-32.2B Printed In U.S.A.