AC Servo Drives

DC Power Input Σ -V Series

USER'S MANUAL
Design and Maintenance
Rotational Motor
MECHATROLINK-II Communications Reference
SGMMV Servomotor
SGDV SERVOPACK

Outline 1
SigmaWin+ 2
Wiring and Connection 3
Operation 4
Adjustments 5
Utility Functions (Fn†††) 6
Monitor Displays (Un†††) 7
Troubleshooting 8
Appendix 9

MANUAL NO. SIEP S800000 82A

Copyright © 2011 YASKAWA ELECTRIC CORPORATION

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system,
or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording,
or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed
with respect to the use of the information contained herein. Moreover, because Yaskawa is con-
stantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this
manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is
any liability assumed for damages resulting from the use of the information contained in this
publication.
About this Manual

This manual describes information required for designing, testing, adjusting, and maintaining DC Power Input
Σ-V Series SERVOPACKs.

Keep this manual in a location where it can be accessed for reference whenever required. Manuals outlined on
the following page must also be used as required by the application.

Description of Technical Terms

The following table shows the meanings of terms used in this manual.

Term Meaning
Servomotor Σ-Vmini Series SGMMV servomotor
SERVOPACK DC Power Input Σ-V Series SGDV servo amplifier
Servo Drive A set including a servomotor and SERVOPACK (i.e., a servo amplifier)
A servo control system that includes the combination of a servo drive
Servo System
with a host controller and peripheral devices
MECHATROLINK-II communications reference used for SERVOPACK
M-II Model
interface
Servo ON Power to motor ON
Servo OFF Power to motor OFF
Power supply to motor is turned OFF by shutting off the base current to
Base Block (BB)
the power transistor in the current amplifier.
A state in which the motor is stopped and is in position loop with a posi-
Servo Lock
tion reference of 0.
Cables which connect to the main circuit terminals, including power sup-
Main Circuit Cable
ply cables, servomotor main circuit cables, and others.

IMPORTANT Explanations
The following icon is displayed for explanations requiring special attention.

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

alarm displays, that do not involve potential damage to equipment.

iii
 Notation Used in this Manual
• Notation for Reverse Signals
The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the
signal name.

Notation Example
BK = /BK

• Notation for Parameters

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

• Parameters for Numeric Settings

Control methods for which the parameter applies.
Speed : Speed control Position : Position control Torque : Torque control

Emergency Stop Torque Speed Position Torque

Pn406 Classification
Setting Range Setting Unit Factory Setting When Enabled
0% to 800% 1% 800 After change Setup

Parameter
number Indicates the Indicates the Indicates when a
change to the Indicates the
minimum setting unit parameter setting parameter
Indicates the setting for the parameter. before shipment. parameter will be
effective. classification.
range for the parameter.


• Parameters for Selecting Functions

Parameter Meaning When Enabled Classification

n.0 Uses the absolute encoder as an
[Factory setting] absolute encoder.
Pn002 After restart Setup
n.1 Uses the absolute encoder as an
incremental encoder.

Parameter The notation “n.” indicates a parameter This section explains the
number for selecting functions. Each  corresponds to selections for the function.
the setting value of that digit. The notation shown
here means that the third digit is 1.

Notation Example

(Display Example for Pn002)

Digit Notation Setting Notation
㨚㧜㧜㧜㧜 Notation Meaning Notation Meaning
Indicates the value for the Pn002.0 = x Indicates that the value for the
1st digit Pn002.0 1st digit of parameter Pn002. or n.x 1st digit of parameter Pn002 is x.
Indicates the value for the Pn002.1 = x Indicates that the value for the
2nd digit Pn002.1 2nd digit of parameter Pn002. or n.x 2nd digit of parameter Pn002 is x.
Indicates the value for the Pn002.2 = x Indicates that the value for the
3rd digit Pn002.2
3rd digit of parameter Pn002. or n.x 3rd digit of parameter Pn002 is x.
Indicates the value for the Pn002.3 = x Indicates that the value for the
4th digit Pn002.3 4th digit of parameter Pn002. 4th digit of parameter Pn002 is x.
or n.x

iv
 Manuals Related to the DC Power Input Σ-V Series
Refer to the following manuals as required.

Selecting Trial
Maintenance
Models and Ratings and System Panels and Trial Operation
Name and
Peripheral Specifications Design Wiring Operation and Servo
Inspection
Devices Adjustment
DC Power Input Σ-V Series
User's Manual
Setup
Rotational Motor
(No.: SIEP S800000 80)
Σ-V Series
Product Catalog
(No.: KAEP S800000 42)
DC Power Input Σ-V Series
User's Manual
Design and Maintenance
Rotational Motor/
MECHATROLINK-II
Communications Reference
(this manual)
Σ-V Series
User's Manual
MECHATROLINK-II
Commands
(No.: SIEP S800000 54)
DC Power Input Σ-V Series
AC SERVOPACK SGDV
Safety Precautions
(No.: TOBP C710829 06)
AC SERVOMOTOR
Safety Precautions
(No.: TOBP C230200 00)

v
 Trademarks
MECHATROLINK is a trademark of the MECHATROLINK Members Association.

Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed precautions pro-
vided in this manual can result in serious or possibly even fatal injury or damage to the products or to related
equipment and systems.

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

WARNING life or serious injury.

Indicates precautions that, if not heeded, could result in relatively serious

CAUTION or minor injury, damage to the product, or faulty operation.
In some situations, the precautions indicated could have serious
consequences if not heeded.

Indicates prohibited actions that must not be performed. For example,

PROHIBITED this symbol would be used to indicate that fire is prohibited as follows:

Indicates compulsory actions that must be performed. For example, this

MANDATORY symbol would be used to indicate that grounding is compulsory as
follows:

vi
Safety Precautions

This section describes important precautions that must be followed during storage, transportation, installation,
wiring, operation, maintenance, inspection, and disposal. Be sure to always observe these precautions thor-
oughly.

WARNING
• Never touch any rotating servomotor parts during operation.
Failure to observe this warning may result in injury.
• Before starting operation with a machine connected, make sure that an emergency stop can be
applied at any time.
Failure to observe this warning may result in injury or damage to the equipment.
• Never touch the inside of the SERVOPACKs.
Failure to observe this warning may result in electric shock.
• Immediately after the power is turned OFF or after a voltage resistance test, do not touch terminals.
Residual voltage may cause electric shock.
• Follow the procedures and instructions provided in the manuals for the products being used in the
trial operation.
Failure to do so may result not only in faulty operation and damage to equipment, but also in personal injury.
• The multiturn limit value need not be changed except for special applications.
Changing it inappropriately or unintentionally can be dangerous.
• If the Multiturn Limit Disagreement alarm occurs, check the setting of parameter Pn205 in the SER-
VOPACK to be sure that it is correct.
If Fn013 is executed when an incorrect value is set in Pn205, an incorrect value will be set in the encoder. The
alarm will disappear even if an incorrect value is set, but incorrect positions will be detected, resulting in a
dangerous situation where the machine will move to unexpected positions.
• Do not remove the cables or connectors from the SERVOPACK while the power is ON.
Failure to observe this warning may result in electric shock.
• Do not damage, pull, exert excessive force on, or place heavy objects on the cables.
Failure to observe this warning may result in electric shock, stopping operation of the product, or fire.
• Do not modify the product.
Failure to observe this warning may result in injury, damage to the equipment, or fire.
• Provide appropriate braking devices on the machine side to ensure safety. The holding brake on a
servomotor with a brake is not a braking device for ensuring safety.
Failure to observe this warning may result in injury.
• Do not come close to the machine immediately after resetting an instantaneous power interruption
to avoid an unexpected restart. Take appropriate measures to ensure safety against an unexpected
restart.
Failure to observe this warning may result in injury.
• Connect the ground terminal according to local electrical codes (100 Ω or less).
Improper grounding may result in electric shock or fire.

• Installation, disassembly, or repair must be performed only by authorized personnel.

Failure to observe this warning may result in electric shock or injury.

vii
 Storage and Transportation

CAUTION
• Do not store or install the product in the following locations.
Failure to observe this caution may result in fire, electric shock, or damage to the equipment.
• Locations subject to direct sunlight
• Locations subject to temperatures outside the range specified in the storage/installation temperature condi-
tions
• Locations subject to humidity outside the range specified in the storage/installation humidity conditions
• Locations subject to condensation as the result of extreme changes in temperature
• Locations subject to corrosive or flammable gases
• Locations subject to dust, salts, or iron dust
• Locations subject to exposure to water, oil, or chemicals
• Locations subject to shock or vibration
• Do not hold the product by the cables, motor shaft, or encoder while transporting it.
Failure to observe this caution may result in injury or malfunction.
• Do not place any load exceeding the limit specified on the packing box.
Failure to observe this caution may result in injury or malfunction.
• If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pal-
lets, or plywood, the packing materials must be treated before the product is packaged, and meth-
ods other than fumigation must be used.
Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30
minutes or more.
If the electronic products, which include stand-alone products and products installed in machines, are packed
with fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes
resulting from the fumigation process. In particular, disinfectants containing halogen, which includes chlo-
rine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors.

Installation

CAUTION
• Never use the product in an environment subject to water, corrosive gases, flammable gases, or
combustibles.
Failure to observe this caution may result in electric shock or fire.
• Do not step on or place a heavy object on the product.
Failure to observe this caution may result in injury or malfunction.
• Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product.
Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.
• Be sure to install the product in the correct direction.
Failure to observe this caution may result in malfunction.
• Provide the specified clearances between the SERVOPACK and the control panel or with other
devices.
Failure to observe this caution may result in fire or malfunction.
• Do not apply any strong impact.
Failure to observe this caution may result in malfunction.

viii
Wiring

CAUTION
• Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
• Do not connect a commercial power supply to the U, V, or W terminals for the servomotor connec-
tion.
Failure to observe this caution may result in injury or fire.
• Securely connect the main circuit terminals.
Failure to observe this caution may result in fire.
• Do not bundle or run the servomotor main circuit cables together with the I/O signal cables or the
encoder cables in the same duct. Keep the servomotor main circuit cables separated from the I/O
signal cables and encoder cables by at least 30 cm.
Placing these cables too close to each other may result in malfunction.
• Use shielded twisted-pair cables or screened unshielded twisted-pair cables for I/O signal cables
and the encoder cables.
• The maximum wiring length is 3 m for I/O signal cables, 50 m for servomotor main circuit cables
and encoder cables, and 10 m for power supply cables.
• Install the battery in the battery unit of the encoder cable with a battery unit.
• Voltage remains in the SERVOPACK even after the power supply is turned OFF. To prevent electric
shock, do not touch the input terminals for the main circuit power supply or those for the control
power supply.
Before wiring or inspections, confirm that the SERVOPACK has completely discharged.
• Be sure to observe the following precautions when wiring the SERVOPACK main circuit terminal
blocks.
• Do not turn the SERVOPACK power ON until all wiring, including the main circuit terminal blocks, has
been completed.
• Remove detachable power supply input connectors or motor connectors from the SERVOPACK before
wiring.
• Make sure that the wiring for both the main circuit power supply and control power supply is correct.
Incorrect wiring may cause damage.
• Make sure that the polarity of the input power supply is correct.
Incorrect polarity may cause damage.
• Always use the specified power supply voltage.
An incorrect voltage may result in fire or malfunction.
• Take appropriate measures to ensure that the input power supply is supplied within the specified
voltage fluctuation range.
An incorrect power supply may result in damage to the equipment.
• Install external breakers or other safety devices against short-circuiting in external wiring.
Failure to observe this caution may result in fire.
• Take appropriate and sufficient countermeasures for each form of potential interference when
installing systems in the following locations.
• Locations subject to static electricity or other forms of noise
• Locations subject to strong electromagnetic fields and magnetic fields
• Locations subject to possible exposure to radioactivity
• Locations close to power supplies
Failure to observe this caution may result in damage to the equipment.
• Do not reverse the polarity of the battery when connecting it.
Failure to observe this caution may damage the battery, the SERVOPACK or servomotor, or cause an explo-
sion.
• Wiring or inspection must be performed by a technical expert.
• Use a 24-VDC or 48-VDC power supply with double insulation or reinforced insulation.
• Failures caused by incorrect wiring or wrong voltage application in the brake circuit may damage
the equipment or cause an accident resulting in death or injury. Follow the procedures and instruc-
tions for wiring and trial operation precisely as described in this manual.
• When using a detector or a breaker for leakage current, select the appropriate one by considering
the grounding conditions and the leakage current of noise filter. For details, contact the manufac-
turer of the noise filter.
• Incorrect wiring or incorrect voltage application to the output circuit may cause short-circuit.
The above failures will prevent the holding brake from working, which may damage the machine or cause an
accident resulting in death or injury.

ix
 CAUTION
• Inverting the polarity of the brake signal (/BK), i.e. positive logic, will prevent the holding brake from
working in case of its signal line disconnection.
If this setting is absolutely necessary, check the operation and confirm that there are no safety prob-
lems.
• Provide separate AC/DC power supplies for the main circuits and for controls.
Failure to observe this caution may result in malfunction.
• Do not connect devices (such as motors or solenoids) that greatly change the load or devices (such
as electromagnetic switches) that generate surge voltages to the controller power line.
Failure to observe this caution may result in deterioration of the internal elements or a blown fuse.

Operation

CAUTION
• Always use the servomotor and SERVOPACK in one of the specified combinations.
Failure to observe this caution may result in fire or malfunction.
• Conduct trial operation on the servomotor alone with the motor shaft disconnected from the
machine to avoid accidents.
Failure to observe this caution may result in injury.
• During trial operation, confirm that the holding brake works correctly. Furthermore, secure system
safety against problems such as signal line disconnection.
• Before starting operation with a machine connected, change the parameter settings to match the
parameters of the machine.
Starting operation without matching the proper settings may cause the machine to run out of control or mal-
function.
• Do not turn the power ON and OFF more than necessary.
Do not use the SERVOPACK for applications that require the power to turn ON and OFF frequently. Such
applications will cause elements in the SERVOPACK to deteriorate.
As a guideline, at least one hour should be allowed between the power being turned ON and OFF once actual
operation has been started.
• When carrying out JOG operation (Fn002), origin search (Fn003), or EasyFFT (Fn206), forcing
movable machine parts to stop does not work for forward overtravel or reverse overtravel. Take
necessary precautions.
Failure to observe this caution may result in damage to the equipment.
• When using the servomotor for a vertical axis, install safety devices to prevent workpieces from fall-
ing due to alarms or overtravels. Set the servomotor so that it will stop in the zero clamp state when
overtravel occurs.
Failure to observe this caution may cause workpieces to fall due to overtravel.
• When not using the tuning-less function, set the correct moment of inertia ratio (Pn103).
Setting an incorrect moment of inertia ratio may cause machine vibration.
• Do not touch the SERVOPACK heat sinks or servomotor while power is ON or soon after the power
is turned OFF.
Failure to observe this caution may result in burns due to high temperatures.
• Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury or damage to the equipment due to unstable operation.
• When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume
operation.
Failure to observe this caution may result in damage to the equipment, fire, or injury.
• Do not use the holding brake of the servomotor for braking.
Failure to observe this caution may result in malfunction.
• The servomotor will decelerate to a stop if the main-circuit or the control-circuit power supply turns
OFF during operation without turning servo OFF.
• An alarm or warning may occur if communications are performed with the host controller while the
SigmaWin+ is operating.
If an alarm or warning occurs, it may stop the current process and stop the system.

x
Maintenance and Inspection

CAUTION
• Do not disassemble the SERVOPACK and the servomotor.
Failure to observe this caution may result in electric shock or injury.
• Do not attempt to change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
• When replacing the SERVOPACK, resume operation only after copying the previous SERVOPACK
parameters to the new SERVOPACK.
Failure to observe this caution may result in damage to the equipment.

Disposal

CAUTION
• When disposing of the products, treat them as ordinary industrial waste.

General Precautions

Observe the following general precautions

to ensure safe application.
• The products shown in illustrations in this manual are sometimes shown without covers or protective guards.
Always replace the cover or protective guard as specified first, and then operate the products in accordance with
the manual.
• The drawings presented in this manual are typical examples and may not match the product you received.
• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the
offices listed on the back of this manual.

xi
 Warranty

(1) Details of Warranty

Warranty Period
The warranty period for a product that was purchased (hereinafter called “delivered product”) is one year from
the time of delivery to the location specified by the customer or 18 months from the time of shipment from the
Yaskawa factory, whichever is sooner.
Warranty Scope
Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs
during the warranty period above. This warranty does not cover defects caused by the delivered product reach-
ing the end of its service life and replacement of parts that require replacement or that have a limited service
life.
This warranty does not cover failures that result from any of the following causes.
1. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product cata-
logs or manuals, or in any separately agreed-upon specifications
2. Causes not attributable to the delivered product itself
3. Modifications or repairs not performed by Yaskawa
4. Abuse of the delivered product in a manner in which it was not originally intended
5. Causes that were not foreseeable with the scientific and technological understanding at the time of ship-
ment from Yaskawa
6. Events for which Yaskawa is not responsible, such as natural or human-made disasters
(2) Limitations of Liability
1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises
due to failure of the delivered product.
2. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program
execution of the programs provided by the user or by a third party for use with programmable Yaskawa
products.
3. The information described in product catalogs or manuals is provided for the purpose of the customer pur-
chasing the appropriate product for the intended application. The use thereof does not guarantee that there
are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties,
nor does it construe a license.
4. Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights
or other proprietary rights of third parties as a result of using the information described in catalogs or man-
uals.

xii
(3) Suitability for Use
1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that
apply if the Yaskawa product is used in combination with any other products.
2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment
used by the customer.
3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the
application is acceptable, use the product with extra allowance in ratings and specifications, and provide
safety measures to minimize hazards in the event of failure.
• Outdoor use, use involving potential chemical contamination or electrical interference, or use in condi-
tions or environments not described in product catalogs or manuals
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle sys-
tems, medical equipment, amusement machines, and installations subject to separate industry or gov-
ernment regulations
• Systems, machines, and equipment that may present a risk to life or property
• Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity, or
systems that operate continuously 24 hours a day
• Other systems that require a similar high degree of safety
4. Never use the product for an application involving serious risk to life or property without first ensuring that
the system is designed to secure the required level of safety with risk warnings and redundancy, and that the
Yaskawa product is properly rated and installed.
5. The circuit examples and other application examples described in product catalogs and manuals are for ref-
erence. Check the functionality and safety of the actual devices and equipment to be used before using the
product.
6. Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to
prevent accidental harm to third parties.
(4) Specifications Change
The names, specifications, appearance, and accessories of products in product catalogs and manuals may be
changed at any time based on improvements and other reasons. The next editions of the revised catalogs or
manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm
the actual specifications before purchasing a product.

xiii
 Harmonized Standards

North American Safety Standards (UL)

Model UL Standards
SERVOPACK SGDV UL508C
Servomotor SGMMV UL1004

European Directives

Model European Directives Harmonized Standards

EN 55011 /group 1, class A
EMC Directive
EN 61000-6-2
2004/108/EC
SERVOPACK SGDV EN 61800-3
Low Voltage Directive
EN 61800-5-1
2006/95/EC
EN 55011 /group 1, class A
EMC Directive
EN 61000-6-2
2004/108/EC
Servomotor SGMMV EN 61800-3
Low Voltage Directive EN 60034-1
2006/95/EC EN 60034-5

xiv
Contents
About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii
Warranty. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
Harmonized Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv

Chapter 1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1

1.1 DC Power Input Σ-V Series SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.2 Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.3 SERVOPACK Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.3.1 Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.3.2 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.3.3 MECHATROLINK-II Function Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1.4 SERVOPACK Internal Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1.4.1 MECHATROLINK-II Communications Reference (Model: SGDV- E11A) . . . . . . . . . 1-7
1.5 Examples of Servo System Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
1.6 SERVOPACK Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
1.7 Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10

Chapter 2 SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1

2.1 SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2 Preparing SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.3 Connecting a PC with SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.4 Starting and Operating the SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.5 Parameters (Pn ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.5.1 Parameter Classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.5.2 Notation for Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.5.3 Setting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

Chapter 3 Wiring and Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1

3.1 Main Circuit Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.1.1 Main Circuit Terminals (CN3, CN4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.1.2 Main Circuit Wires . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.1.3 Typical Main Circuit Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.1.4 Power Supply Capacities and Power Losses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.1.5 Input Power Supply, Molded-case Circuit Breaker, and Fuse . . . . . . . . . . . . . . . . . . . . . . 3-5
3.1.6 Using More Than One SERVOPACK. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.1.7 General Precautions for Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
3.2 I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.2.1 I/O Signal (CN1) Names and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.2.2 Example of I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3.3 I/O Signal Allocations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
3.3.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
3.3.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
3.4 Examples of Connection to Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
3.4.1 Sequence Input Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
3.4.2 Sequence Output Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
3.5 Wiring MECHATROLINK-II Communications . . . . . . . . . . . . . . . . . . . . . . . 3-22

xv
 3.6 Encoder Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.6.1 Encoder Signal (CN2) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.6.2 Encoder Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.7 Noise Control and Measures for Harmonic Suppression . . . . . . . . . . . . . . . 3-25
3.7.1 Wiring for Noise Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25
3.7.2 Precautions on Connecting Noise Filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27

Chapter 4 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1

4.1 MECHATROLINK-II Communications Settings . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.1.1 Setting Switches SW1 and SW2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.2 MECHATROLINK-II Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.3 Basic Functions Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.3.1 Servomotor Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.3.2 Overtravel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.3.3 Software Limit Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.3.4 Holding Brakes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence. . . . . . . . . . . . . . 4-15
4.3.6 Setting Motor Overload Detection Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
4.4 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
4.4.1 Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
4.4.2 Trial Operation via MECHATROLINK-II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
4.4.3 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
4.5 Test Without Motor Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
4.5.1 Motor Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
4.5.2 Motor Position and Speed Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23
4.5.3 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24
4.6 Limiting Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25
4.6.1 Internal Torque Limit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25
4.6.2 External Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26
4.6.3 Checking Output Torque Limiting during Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27
4.7 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-28
4.7.1 Connecting the Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-28
4.7.2 Absolute Data Request (SENS ON Command) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29
4.7.3 Battery Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30
4.7.4 Absolute Encoder Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-32
4.7.5 Multiturn Limit Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35
4.7.6 Multiturn Limit Disagreement Alarm (A.CC0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-36
4.7.7 Absolute Encoder Origin Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-39
4.8 Other Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-40
4.8.1 Servo Alarm Output Signal (ALM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-40
4.8.2 Warning Output Signal (/WARN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-40
4.8.3 Rotation Detection Output Signal (/TGON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-41
4.8.4 Servo Ready Output Signal (/S-RDY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-41
4.8.5 Speed Coincidence Output Signal (/V-CMP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-42
4.8.6 Positioning Completed Output Signal (/COIN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-43
4.8.7 Positioning Near Output Signal (/NEAR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-44
4.8.8 Speed Limit Detection Signal (/VLT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-44

Chapter 5 Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1

5.1 Type of Adjustments and Basic Adjustment Procedure . . . . . . . . . . . . . . . . . 5-3
5.1.1 Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.1.2 Basic Adjustment Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.1.3 Monitoring Operation during Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.1.4 Safety Precautions on Adjustment of Servo Gains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8

xvi
 5.2 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.2.1 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.2.2 Tuning-less Levels Setting (Fn200) Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
5.2.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
5.3 Advanced Autotuning (Fn201) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5.3.1 Advanced Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5.3.2 Advanced Autotuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21
5.3.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33
5.4 Advanced Autotuning by Reference (Fn202). . . . . . . . . . . . . . . . . . . . . . . . 5-34
5.4.1 Advanced Autotuning by Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-34
5.4.2 Advanced Autotuning by Reference Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-36
5.4.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-42
5.5 One-parameter Tuning (Fn203) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
5.5.1 One-parameter Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
5.5.2 One-parameter Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
5.5.3 One-parameter Tuning Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-52
5.5.4 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-53
5.6 Anti-Resonance Control Adjustment Function (Fn204) . . . . . . . . . . . . . . . . 5-54
5.6.1 Anti-Resonance Control Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-54
5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure . . . . . . . . . . . . . . . . 5-55
5.6.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63
5.7 Vibration Suppression Function (Fn205) . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-64
5.7.1 Vibration Suppression Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-64
5.7.2 Vibration Suppression Function Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-65
5.7.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-70
5.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71
5.8.1 Switching Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71
5.8.2 Manual Adjustment of Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-75
5.8.3 Current Control Mode Selection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-77
5.8.4 Current Gain Level Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-77
5.8.5 Speed Detection Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-77
5.8.6 Backlash Compensation Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-78
5.9 Compatible Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84
5.9.1 Feedforward Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84
5.9.2 Mode Switch (P/PI Switching) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-85
5.9.3 Torque Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-87
5.9.4 Position Integral . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-89

Chapter 6 Utility Functions (Fn ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1

6.1 List of Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6.2 Alarm History Display (Fn000) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.3 JOG Operation (Fn002) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.4 Origin Search (Fn003) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.5 Program JOG Operation (Fn004) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
6.6 Initializing Parameter Settings (Fn005) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16
6.7 Clearing Alarm History (Fn006) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19
6.8 Offset Adjustment of Analog Monitor Output (Fn00C) . . . . . . . . . . . . . . . . . 6-20
6.9 Gain Adjustment of Analog Monitor Output (Fn00D) . . . . . . . . . . . . . . . . . . 6-22
6.10 Automatic Offset-Signal Adjustment of the Motor Current Detection Signal
(Fn00E) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
6.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal
(Fn00F) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-26
6.12 Write Prohibited Setting (Fn010) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-28
6.13 Servomotor Model Display (Fn011) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30
6.14 Software Version Display (Fn012) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31

xvii
 6.15 Vibration Detection Level Initialization (Fn01B) . . . . . . . . . . . . . . . . . . . . . 6-32
6.16 Display of SERVOPACK and Servomotor ID (Fn01E) . . . . . . . . . . . . . . . . 6-35
6.17 Software Reset (Fn030) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-36
6.18 EasyFFT (Fn206) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-41
6.19 Online Vibration Monitor (Fn207) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-45

Chapter 7 Monitor Displays (Un ) . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1

7.1 List of Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.2 Viewing Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.2.1 System Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.2.2 Status Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7.2.3 Motion Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7.2.4 Input Signal Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
7.2.5 Output Signal Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

Chapter 8 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1

8.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.1.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.1.2 Troubleshooting of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5
8.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15
8.2.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15
8.2.2 Troubleshooting of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-16
8.3 Monitoring Communication Data on Occurrence of an Alarm or Warning . . 8-19
8.4 Troubleshooting Malfunction Based on Operation and
Conditions of the Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-20

Chapter 9 Appendix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-1

9.1 List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.1.1 Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.1.2 Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3
9.2 List of Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-30
9.3 Parameter Recording Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-31

Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index-1

Revision History

xviii
 1
Outline

1.1 DC Power Input Σ-V Series SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.2 Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.3 SERVOPACK Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.3.1 Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.3.2 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1.3.3 MECHATROLINK-II Function Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1.4 SERVOPACK Internal Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1.4.1 MECHATROLINK-II Communications Reference (Model: SGDV- E11A) . . . . . 1-7

1.5 Examples of Servo System Configurations . . . . . . . . . . . . . . . . . . . . . . . . 1-8

1.6 SERVOPACK Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
1.7 Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10

Outline
1

1-1
 1 Outline

1.1 DC Power Input Σ-V Series SERVOPACKs

The DC Power Input Σ-V Series SERVOPACKs are designed for applications that require frequent high-
speed, high-precision positioning. The SERVOPACK makes the most of machine performance in the
shortest time possible, thus contributing to improving productivity.

1.2 Part Names

This section describes the part names of SGDV SERVOPACK for MECHATROLINK-II communications ref-
erence.

M-II
SERVOPACK model
Refer to 1.6 SERVOPACK Model Designation.
CN6A/CN6B Connectors for MECHATROLINK-II
communications
Connects MECHATROLINK-II -supported devices.
Nameplate (Found on side of SERVOPACK.) Refer to 3.5 Wiring MECHATROLINK-II Communica-
Indicates the SERVOPACK model and ratings. tions.

CN1 Connector for I/O signal

Used for reference input signals and sequence I/O signals.
CN2 Connector for encoder Refer to 3.2 I/O Signal Connections.
Connects the encoder in the servomotor.
Refer to 3.6 Encoder Connection. LED indicator (COM, RDY, ALM)
COM (green): Lights during MECHATROLINK communications.
RDY (green): Lights when the SERVOPACK is
in Servo Ready status without alarm.
CN4 Connector for servomotor ALM (red): Lights when an alarm occurs.
Connects the main circuit cable for servomotor.
Refer to 3.1 Main Circuit Wiring. DIP switches (SW1 and SW2)
Used to set MECHATROLINK-II communications.
Refer to 4.1.1 Setting Switches SW1 and SW2.

CN7 Connector for personal computer (USB connector)

CN3 Connector for power supply Communicates with a personal computer.
Used for main circuit or control power supply input. Use the connection cable (model: JZSP-CVS06-02-E).
Refer to 3.1 Main Circuit Wiring. When not in use, cover this connector.

CN5 Connector for external monitor

Used for Connection cable (model: JZSP-CF1S06-A3-E) connected
to the analog monitor unit serving as a hub (model:
JUSP-PC001-E) to which a cable specially for the actual
analog monitor is connected.
When not in use, cover this connector.
Refer to 1.5 Examples of Servo System Configura-
tions.

1-2
 1.3 SERVOPACK Ratings and Specifications

1.3 SERVOPACK Ratings and Specifications

This section describes the ratings and specifications of SERVOPACKs.

1.3.1 Ratings
Ratings of SERVOPACKs are as shown below.

SGDV 1R7 2R9

Continuous Output Current [Arms] 1.7 2.9
Instantaneous Max. Output Current [Arms] 4.1 8.6
24 VDC 48 VDC 24 VDC 48 VDC
Main Circuit Power Supply
±15% ±15% ±15% ±15%
Control Power Supply 24 VDC ±15%
Overvoltage Category I

∗ You can use either 24 or 48 VDC for the main circuit power supply. If using a 24-VDC input, the torque-motor speed
characteristics of the servomotor will be less than the characteristics of a 48-VDC input. For details, refer to Torque-
Motor Speed Characteristics of the SGMMV servomotor in Σ-V Series Product Catalog (Catalog No.: KAEP
S800000 42).

Outline
1

1-3
 1 Outline
1.3.2 Basic Specifications

1.3.2 Basic Specifications

Basic specifications of SERVOPACKs are shown below.

Drive Method Sine-wave current drive with PWM control

Feedback Encoder: 17-bit (incremental/absolute)
Surrounding Air
0°C to +55°C
Temperature
Storage Temperature -20°C to +85°C
Ambient Humidity 90% RH or less
With no freezing or condensation
Storage Humidity 90% RH or less
Vibration Resistance 4.9 m/s2
Operating Shock Resistance 19.6 m/s2
Conditions
Protection Class IP10 An environment that satisfies the following conditions.
• Free of corrosive or flammable gases
• Free of exposure to water, oil, or chemicals
Pollution Degree 2 • Free of dust, salts, or iron dust

Altitude 1000 m or less

Free of static electricity, strong electromagnetic fields, magnetic fields or
Others
exposure to radioactivity
UL508C
Harmonized Standards
EN 55011/group 1, class A, EN 61000-6-2, EN 61800-3, EN 61800-5-1
Mounting Base-mounted
1:5000 (The lower limit of the speed control range must be lower than the
Speed Control Range
point at which the rated torque does not cause the servomotor to stop.)
Load
0% to 100% load: ±0.01% max. (at rated speed)
Regulation
Speed
Regu- Voltage
Rated voltage ±10%: 0% (at rated speed)
Regulation
Perfor- lation*1
mance Temperature
25 ± 25 °C: ±0.1% max. (at rated speed)
Regulation
Torque Control
Tolerance ±1%
(Repeatability)
Soft Start Time
0 to 10 s (Can be set individually for acceleration and deceleration.)
Setting*2

1-4
 1.3 SERVOPACK Ratings and Specifications

(cont’d)
Number of
3 ch
Channels
• Homing deceleration switch (/DEC)
Input • External latch (/EXT 1)
Sequence Signals • Forward run prohibited (P-OT), reverse run prohibited
Input which can (N-OT)
be allocated Functions
• Forward external torque limit (/P-CL), reverse external
torque limit (/N-CL)
Signal allocations can be performed, and positive and
negative logic can be changed.
Fixed Output Servo alarm (ALM)
I/O Number of
Signals 3 ch
Channels
• Positioning completion (/COIN)
• Speed coincidence detection (/V-CMP)
• Rotation detection (/TGON)
Sequence Output • Servo ready (/S-RDY)
Output Signals
which can • Torque limit detection (/CLT)
be allocated Functions • Speed limit detection (/VLT)
• Brake (/BK)
• Warning (/WARN)
• Near (/NEAR)
Signal allocations can be performed, and positive and
negative logic can be changed.
Communi- Supports SigmaWin+.
Personal Computer
cations
Communications (USB) Based on the USB 1.1 standard (12 Mbps).
Function
LED Display ALM (red), RDY (green), COM (green)
MECHATROLINK-II DIP Switch
Number of pins: four pins × 2 switches (Refer to 4.1.1)
Communications Setting Switches (SW1, SW2)
Number of points: 2
Output voltage: ± 10 VDC (linearity effective range ± 8 V)
Analog Monitor Output through the analog monitor unit (model: JUSP-PC001-E), the connec-
tion cable (model: JZSP-CF1S06-A3-E), and the analog monitor cable
(model: JZSP-CA01-E).
Dynamic Brake (DB) Not supported.

Outline
Regenerative Processing Not supported.
Overtravel Prevention (OT) Deceleration to a stop or free run to a stop at P-OT or N-OT
Protective Function Overcurrent, overvoltage, overload, and so on.
Utility Function Gain adjustment, alarm history, JOG operation, origin search, and so on.
1
∗1. Speed regulation by load regulation is defined as follows:

Speed regulation =
No-load motor speed - Total load motor speed
× 100% M-II
Rated motor speed
∗2. Refer to 4.2.10 Velocity Control (VEL CTRL: 3CH) of Σ-V Series User’s Manual MECHATROLINK-II Commands
(Manual No.: SIEP S800000 54) for details on the soft start function.

1-5
 1 Outline
1.3.3 MECHATROLINK-II Function Specifications

1.3.3 MECHATROLINK-II Function Specifications

The following table shows the specifications of MECHATROLINK-II.

Function Specifications
Communication
MECHATROLINK-II
Protocol
41H to 5FH (Max. number of stations: 30)
Station Address Can be selected by the combination of the DIP switch
(SW1, SW2).
MECHATROLINK-II 10 Mbps, 4 Mbps
Communication Baud Rate
Can be selected by the DIP switch (SW2).
250 μs，0.5 ms to 4.0 ms (Multiples of 0.5 ms)
Transmission Cycle
Can be selected by the DIP switch (SW2).
Number of 17 bytes per station or 32 bytes per station
Transmission Bytes Can be selected by the DIP switch (SW2).
Position, speed, or torque control with MECHATROLINK-
Control Method
II communication
Reference Method MECHATROLINK-I, MECHATROLINK-II commands
Reference Input (sequence, motion, data setting/reference, monitoring, or
adjustment)

1-6
 1.4 SERVOPACK Internal Block Diagrams

1.4 SERVOPACK Internal Block Diagrams

1.4.1 MECHATROLINK-II Communications Reference (Model: SGDV- E11A)
M-II
CN3 CN4 Servomotor
L1 U
Main circuit
+ V
power supply
L2
M
W
DC/DC +12.5 V
converter
Voltage (non
sensor -isolated) +5 V Gate drive Current CN2
overcurrent protector sensor
ENC

C1 +5 V
DC/DC
Control power + converter ASIC
supply (non +3.3 V (PWM control, etc.)
C2
-isolated)

CN1
CPU I/O I/O signal
COM RDY ALM
(Position/speed CN6A
calculation, etc.) MECHATROLINK-II
I/F communications
CN6B
CN5 CN7

External monitor Personal

computer

Outline
1

1-7
 1 Outline

1.5 Examples of Servo System Configurations

This section describes examples of basic servo system configuration.

Connect to the
MECHATROLINK-II
SGDV-E11A
SERVOPACK M-II

Power supply
Single-phase 100/200 VAC
R T

Molded-case
circuit breaker
(MCCB)
Protects the power
Host controller
line by shutting the I/O signal cable
circuit OFF when
overcurrent is Encoder cable
detected.

Noise filter Non-isolated

Eliminates AC/DC converter
external noise from
the power line. for control power supply
Battery case
(when an absolute
encoder is used.)
Servomotor Personal
Magnetic main circuit Connection cable computer
contactor cable for personal
Turns the servo computer
ON and OFF.
Install a surge
absorber.
Power supply
cable Analog
Grounding Cable for
100/200 VAC wire for Connection cable monitor
analog
power for analog monitor unit
Non-isolated monitor
AC/DC converter supply unit
for main circuit power
supply
Brake power supply∗
Used for a servomotor
with a brake.

Magnetic contactor
Turns the brake power supply
ON and OFF.
Install a surge absorber.

SGMMV Servomotor
∗ Use a 24-VDC power supply. (Not included.)

1-8
 1.6 SERVOPACK Model Designation

1.6 SERVOPACK Model Designation

This section shows SERVOPACK model designation.

1st + 2nd + 4th 5th + 6th 7th 8th + 9th + 11th + 12th 13th
3rd digits digit digits digit 10th digits digits digit

SGDV – 2R9 E 11 A 000 00 0

Series 7th digit: Design
SGDV Σ-V Series Revision Order

1st + 2nd + 3rd digits: Current 4th digit: Voltage

Allowable Motor Current Code Voltage
Code (Arms) 13th digit: Parameter Specification
E 48 VDC* Code Specification
1R7 1.7
2R9 2.9 0 Standard

5th + 6th digits: Interface Specifications

Code Interface
Analog voltage reference, rotational 11th + 12th digits: Software
S1 Specification
servomotor
Pulse train reference, rotational Code Specification
P1 servomotor 00 Standard
11 MECHATROLINK-II communications
reference, rotational servomotor
MECHATROLINK-III communications
21
reference, rotational servomotor

8th + 9th + 10th digits: Hardware Specifications

Code Specifications
000 Standard

Outline
∗ 24 VDC for the main circuit power supply also can be used.
Note: If the option codes digits 8 to 13 are all zeros, they are omitted.

1-9
 1 Outline

1.7 Inspection and Maintenance

This section describes the inspection and maintenance of SERVOPACK.

(1) SERVOPACK Inspection

For inspection and maintenance of the SERVOPACK, follow the inspection procedures in the following table
at least once every year. Other routine inspections are not required.

Item Frequency Procedure Comments

Check for dust, dirt, and oil
Exterior Clean with compressed air.
on the surfaces.
At least once a year
Check for loose connector
Loose Screws Tighten any loose screws.
screws.

(2) SERVOPACK’s Parts Replacement Schedule

The electric or electronic parts are subject to deterioration over time. To avoid failure, replace these parts at
the frequency indicated.

Refer to the standard replacement period in the following table and contact your Yaskawa representative.
After an examination of the part in question, we will determine whether the parts should be replaced or not.

The parameters of any SERVOPACKs overhauled by Yaskawa are reset to the factory
settings before shipping. Be sure to confirm that the parameters are properly set before
starting operation.

Standard Replacement
Part Operating Conditions
Period
• Surrounding Air Temperature: Annual average of
Smoothing Capacitor 30°C
(Aluminum Electrolytic 7 to 8 years
• Load Factor: 80% max.
Capacitor)
• Operation Rate: 20 hours/day max.

Note: If the above operating conditions are not used, replacement may be required sooner than the standard replacement
period. To extend the life of the parts, reduce the ambient temperature. Contact your Yaskawa representative if you
require more-detailed information.

1-10
 2
SigmaWin+

2.1 SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.2 Preparing SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.3 Connecting a PC with SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.4 Starting and Operating the SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.5 Parameters (Pn ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.5.1 Parameter Classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.5.2 Notation for Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.5.3 Setting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

SigmaWin+

2-1
 2 SigmaWin+

2.1 SigmaWin+
SigmaWin+ is a software application that can be used to view SERVOPACK status, set parameters, and per-
form setup tuning.

2.2 Preparing SigmaWin+

Install SigmaWin+ after downloading the software application from the following Yaskawa website.
http://www.e-mechatronics.com.

2.3 Connecting a PC with SigmaWin+

A PC with SigmaWin+ installed can be connected to SERVOPACKs by one of two methods.

Connection Method Description

Use a communications cable to connect one PC with SigmaWin+ installed
to one SERVOPACK.
Conventional
To use SigmaWin+ with a different SERVOPACK, disconnect the cable
and reconnect the PC to the other SERVOPACK.
Use a communications cable to connect one PC with SigmaWin+ installed
to one controller and then connect the controller to one SERVOPACK.
With a Controller
If using this method, several SERVOPACKs can be connected to the con-
troller at the same time.

For more information on how to connect a PC with SigmaWin+, refer to the SigmaWin+ Online Manual. To
view the online manual, use the following procedure.

1. Turn on the computer.

2. Double click YE_Applications icon.
3. Double click MANUAL icon.
4. Double click SigmaWin+ English Edition Online Manual.

2-2
 2.4 Starting and Operating the SigmaWin+

2.4 Starting and Operating the SigmaWin+

Use the following procedure to display the main window of the SigmaWin+.

1. Connect a SERVOPACK to a computer which has SigmaWin+ installed.

For details, refer to the figure provided in 1.5 Examples of Servo System Configurations.

2. Turn on the SERVOPACK.

3. Turn on the computer.
4. Double click the YE_Applications icon.
5. Double click the SigmaWin+ English Edition icon.
The SigmaWin+ startup window will appear. When the startup of SigmaWin+ has been completed, the
Connect window will appear.

Setup Window Connect Window

6. Click Search.
The Search Condition Setting box will appear.

SigmaWin+

Search Condition Setting box

Note: Use the offline mode when running SigmaWin+ without connecting to the SERVOPACK.
7. Select the ΣV.

2-3
 2 SigmaWin+

8. Click Search.
A message will appear first to indicate that a search is being carried out, and then the search results will
be shown in the Connect window.

MECHA

Note: If the message, "SERVOPACK not found", is shown, refer to the online manual. To view the online manual,
refer to 2.3 Connecting a PC with SigmaWin+.
9. Select the SERVOPACK to be connected.
10. Click Connect.
The SigmaWin+ main window will appear.

Note: For details on how to operate SigmaWin+, refer to the online manual for SigmaWin+. Refer to 2.3 Connecting a PC
with SigmaWin+ for the procedure to access the Online Manual.

2-4
 2.5 Parameters (Pn )

2.5 Parameters (Pn )

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

2.5.1 Parameter Classification

Parameters of the Σ-V Series SERVOPACK are classified into two types of parameters. One type of parame-
ters is required for setting up the basic conditions for operation and the other type is required for tuning param-
eters that are required to adjust servomotor characteristics.

Classification Meaning Display Method Setting Method

Parameters required for Always displayed (Factory Set each parameter individu-
Setup Parameters
setup. setting: Pn00B.0 = 0) ally.
Parameters for tuning con-
There is no need to set each
Tuning Parameters trol gain and other parame- Set Pn00B.0 to 1.
parameter individually.
ters.

There are two types of notation used for parameters, one for parameter that requires a value setting (parameter
for numeric settings) and one for parameter that requires the selection of a function (parameter for selecting
functions).

The notation and settings for both types of parameters are described next.

2.5.2 Notation for Parameters

(1) Parameters for Numeric Settings

The control methods for which the parameters applies.

Speed : Speed control Position : Position control Torque : Torque control

Emergency Stop Torque Speed Position Torque

Pn406 Setting Range Setting Unit Factory Setting When Enabled Classification
0% to 800% 1% 800 After change Setup

Parameter

SigmaWin+
number Indicates the Indicates the Indicates when a
change to the Indicates the
minimum setting unit parameter setting parameter
Indicates the setting for the parameter. before shipment. parameter will be
effective. classification.
range for the parameter.


(2) Parameters for Selecting Functions
2
Parameter Meaning When Enabled Classification
n.0 Uses the absolute encoder as an
[Factory setting] absolute encoder.
Pn002 After restart Setup
n.1 Uses the absolute encoder as an
incremental encoder.

Parameter The notation “n.” indicates a parameter This section explains the
number for selecting functions. Each  corresponds to selections for the function.
the setting value of that digit. The notation
shown here means that the third digit is 1.

2-5
 2 SigmaWin+
2.5.3 Setting Parameters

2.5.3 Setting Parameters

There are two ways to set parameters. These are as follows:
• Using the Parameter Editing dialog box
• Using the Online Parameter Editing dialog box
These methods are described below.

(1) Using the Parameter Editing Dialog Box

1. In the SigmaWin+ main window, click Parameters - Edit Parameters.
The Parameter Editing dialog box will appear.
MECH
A

2. Select a parameter to edit.

If the parameter cannot be seen in the Parameter Editing dialog box, click the arrows to view the param-
eter.
MECH
A

2-6
 2.5 Parameters (Pn )

3. Click Edit.
The Edit box for the selected parameter will appear.

4. Change the value of the parameter.

<For parameters for numeric settings>
Enter the value to be set.

<For parameters for selecting functions>

Click the arrow to open the setting list for each digit and select one item in each list.

5. Click OK.
6. Click Write.
The new parameter settings will be saved in the SERVOPACK.

This completes the editing of the parameter. If the following window appears, go to step 7.

MECHA

SigmaWin+
7. Click OK.
8. To enable the change in the setting, restart the SERVOPACK.

2-7
 2 SigmaWin+
2.5.3 Setting Parameters

(2) Using the Online Parameter Editing Dialog Box

• Values edited in the Online Parameter Editing dialog box are immediately changed in
the SERVOPACK.
• If the power to the SERVOPACK is turned OFF or the communication between the
SERVOPACK and the SigmaWin+ is interrupted while editing parameters online, the
edited values will not be saved in the SERVOPACK.

1. In the SigmaWin+ main window, click Parameters - Edit Online Parameters.

The Online Parameter Editing dialog box will appears.

MECHA

2. Click Setup.
The Set Parameters box will appear.

MECHA

2-8
 2.5 Parameters (Pn )

3. Click one of the Set buttons located on the right of the parameter list.
The Parameters list box will appear.

MECHA

4. Select a parameter to edit, and then click OK.

The Set Parameters box will appear again.

5. Click OK.
The Online Parameter Editing dialog box will appear again.

6. Click the setting arrows to change the value of the setting.

If an allowable range is specified, set the value within that range.
The value of the parameter in the SERVOPACK will immediately change to the new value.

SigmaWin+

2-9
 3
Wiring and Connection

3.1 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3.1.1 Main Circuit Terminals (CN3, CN4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.1.2 Main Circuit Wires . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.1.3 Typical Main Circuit Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.1.4 Power Supply Capacities and Power Losses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3.1.5 Input Power Supply, Molded-case Circuit Breaker, and Fuse . . . . . . . . . . . . . . . . . . . 3-5
3.1.6 Using More Than One SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.1.7 General Precautions for Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
3.2 I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.2.1 I/O Signal (CN1) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
3.2.2 Example of I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3.3 I/O Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
3.3.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
3.3.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16

Wiring and Connection

3.4 Examples of Connection to Host Controller . . . . . . . . . . . . . . . . . . . . . . 3-20
3.4.1 Sequence Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
3.4.2 Sequence Output Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
3.5 Wiring MECHATROLINK-II Communications . . . . . . . . . . . . . . . . . . . . . 3-22
3.6 Encoder Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.6.1 Encoder Signal (CN2) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.6.2 Encoder Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.7 Noise Control and Measures for Harmonic Suppression . . . . . . . . . . . . 3-25 3
3.7.1 Wiring for Noise Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25
3.7.2 Precautions on Connecting Noise Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27

3-1
 3 Wiring and Connection
3.1.1 Main Circuit Terminals (CN3, CN4)

3.1 Main Circuit Wiring

The names and specifications of the main circuit terminals are given below.

Also this section describes the general precautions for wiring and precautions under special environments.

3.1.1 Main Circuit Terminals (CN3, CN4)

M-II

: Main circuit terminals

Connector Terminal Pin

Name Specification
Number Symbol Number
L1 6 Main circuit power input terminal (+)
24 VDC ±15% or 48 VDC ±15%
L2 3 Main circuit power input terminal (-)
C1 5 Control power input terminal (+)
CN3 24 VDC ±15%
C2 4 Control power input terminal (-)
Use for connecting the power supply
1, 2 Ground terminals
ground terminal.
Servomotor connection terminal
U 1
(phase U)
Servomotor connection terminal
V 2 Use for connecting to the servomotor.
(phase V)
CN4
Servomotor connection terminal
W 3
(phase W)
Use for connecting the servomotor
4 Ground terminals
ground terminal.

3-2
 3.1 Main Circuit Wiring

3.1.2 Main Circuit Wires

Use the following cables for main circuit. These cables are manufactured by YASKAWA Controls Co., Ltd.

Terminal SERVOPACK Model: SGDV-

Cable
Symbols 1R7E 2R9E
For power supply L1, L2, C1, C2, JZSP-CF1G00- -E
JZSP-CF1M00- -E (For servomotors without brakes)
For servomotor JZSP-CF1M10- -E (For servomotors with brakes)
U, V, W,
main circuit JZSP-CF1M20- -E (For servomotors without brakes, flexible type)
JZSP-CF1M30- -E (For servomotors with brakes, flexible type)

If you make cables by yourself, read the following items.

• Wire sizes are selected for three cables per bundle at 40°C surrounding air tempera-
ture with the rated current.
• Use the withstand voltage wires (for 100 V or more).
• Use the wires whose outside diameter of insulator is 1.85 mm or less.
• If cables are bundled in PVC or metal ducts, take into account the reduction of the
allowable current.
• Use a heat-resistant wire under high surrounding air or panel temperatures.
• The length of cables for power supply is 10 m max., and the length of cables for ser-
vomotor main circuit is 50 m max.

SERVOPACK Model: SGDV-

Cable Remarks
1R7E 2R9E
43025-0600 (Made by Molex
Connector 6 poles
Japan Co., Ltd.)
43030-0001 (Made by Molex
Contact –
Japan Co., Ltd.)
Rated voltage
CN3 for For main circuit power supply 300 V,
power supply (L1, L2, ) UL1007, AWG20
Rated temperature

Wiring and Connection

80°C
Rated voltage
For control circuit power supply 300 V,
UL1007, AWG20
(C1, C2, ) Rated temperature
80°C
Connector 43025-0400 (Made by Molex
4 poles
(SERVOPACK side) Japan Co., Ltd.)
Contact 43030-0001 (Made by Molex
–
(SERVOPACK side) Japan Co., Ltd.)

without brake
43020-0401 (Made by Molex
4 poles 3
CN4 for Connector Japan Co., Ltd.)
servomotor (servomotor side) 43020-0601 (Made by Molex
main with brake 6 poles
Japan Co., Ltd.)
circuit
Contact 43031-0001 (Made by Molex
–
(servomotor side) Japan Co., Ltd.)
Rated voltage
Power line for servomotor main cir-
300 V,
cuit UL1007, AWG20
Rated temperature
(U, V, W, brake power supply, )
80°C

3-3
 3 Wiring and Connection
3.1.3 Typical Main Circuit Wiring Examples

3.1.3 Typical Main Circuit Wiring Examples

Note the following points when designing the power ON sequence.

• Design the power ON sequence so that main power is turned OFF when a servo alarm signal (ALM) is output.
• The ALM signal is output for a maximum of five seconds when the control power is turned ON. Take this into consid-
eration when designing the power ON sequence. Design the sequence so the ALM signal is activated and the alarm
detection relay (1Ry) is turned OFF to stop the main circuit’s power supply to the SERVOPACK.

Control power supply 5.0 s max.

ALM signal

• Select the power supply specifications for the parts in accordance with the input power supply.

• When turning ON the control power supply and the main circuit power supply, turn
them ON at the same time or turn the main circuit power supply after the control
power supply. When turning OFF the power supplies, first turn the power for the main
circuit OFF and then turn OFF the control power supply.
• Provide separate AC/DC power supplies for the main circuits and for controls.
• Power supplies must have double or reinforced insulation that conforms to safety
standards.
• Do not connect devices (such as motors or solenoids) that greatly change the load or
devices (such as electromagnetic switches) that generate surge voltages to the con-
troller power line.
Failure to observe this caution may result in deterioration of the internal elements or a
blown fuse.

The typical main circuit wiring examples are shown below.

WARNING
• Voltage remains in the SERVOPACK even after the power supply is turned OFF. To prevent electric shock,
do not touch the input terminals for the main circuit power supply or those for the control power supply.
Before wiring or inspections, confirm that the SERVOPACK has completely discharged.

R T SERVOPACK MECHA
SGDV
1QF
Non-isolated AC/DC CN4
converter for main U
1FLT V M
1KM circuit power supply CN3
W
L1
L2
ENC
C1
C2
Non-isolated AC/DC
+24 V
converter for control CN1 1Ry
power supply 4 ALM
(For servo
1Ry alarm display)
COM_SG 1D
5
0V
1PL
Main power Main power
supply ON supply OFF
1Ry 1KM

1KM 1SA

1Ry : Relay
1QF : Molded-case circuit breaker 1PL : Indicator lamp
1FLT : Noise filter 1SA : Surge absorber
1KM : Magnetic contactor (for main circuit power supply) 1D : Flywheel diode

3-4
 3.1 Main Circuit Wiring

3.1.4 Power Supply Capacities and Power Losses

The following table shows the SERVOPACK’s power supply capacities and power losses.

Maximum Main
Main Power Supply Control
Applicable SERVOPACK Output Circuit Total
Circuit Capacity per Circuit
Servomotor Model Current Power Power
Power SERVOPACK Power
Capacity SGDV- [Arms] Loss Loss [W]
Supply [W] Loss [W]
[W] [W]
11 1R7E 169 1.7 3.4 10.6
24 VDC
30 2R9E 165 2.9 6.9 14.1
7.2
11 1R7E 169 1.7 3.4 10.6
48 VDC
30 2R9E 411 2.9 6.9 14.1

3.1.5 Input Power Supply, Molded-case Circuit Breaker, and Fuse

Use input power supplies that meet the following conditions.

• The main circuit power supply must be a 24-VDC or a 48-VDC power supply.
• The control circuit power supply must be a 24-VDC power supply.
• The main circuit power supply and the control power supply must be two separate input power supplies.
• Power supplies must have double or reinforced insulation that conforms to safety standards.
When choosing molded-case circuit breakers and fuses for input power supplies on the AC side, confirm the
specifications of the input power supplies and refer to this table.
Also, choose molded-case circuit breakers and fuses that meet the following cutoff characteristics.

Cutoff characteristics (25°C): ⋅300% of the rated load input current, five seconds min.
⋅Does not cut off at the inrush current value of the power supply.

Input Current Capacity Rated Voltage

Max. Power Supply Fuse MCCB
SERVOPACK Main Applicable Capacity per Main Circuit [V] [V]
Circuit Control
Model Power Servomotor SERVOPACK Circuit
SGDV- Capacity *1 Continuous Instantaneous 100 100
Supply [W] [W]
*2
V 400 V 400
Rated Max. [A] 200 V 200 V
[A] [A]
V V
24 VDC 2.0 8.5

Wiring and Connection

1R7E 11 169
48 VDC 1.0 4.5
0.3 250 600 240 480
24 VDC 165 3.5 8.5
2R9E 30
48 VDC 411 2.0 10.5

∗1. Values with instantaneous maximum load.

∗2. Values with rated load.

3-5
 3 Wiring and Connection
3.1.6 Using More Than One SERVOPACK

3.1.6 Using More Than One SERVOPACK

This section shows an example of the wiring and the precautions when more than one SERVOPACK is used.

(1) Wiring Example

The alarm output (ALM) of each SERVOPACK operates a separate alarm detection relay (1Ry, 2Ry or 3Ry).
When the alarm occurs, the ALM output signal transistor is turned OFF.

R T
MECHA
1QF

1FLT

Non-isolated AC/DC converter

for main circuit power supply
1KM

Relay
CN3 SERVOPACK
terminal Servomotor
L1
Relay M
L2
terminal
Non-isolated AC/DC converter
for control power supply C1 +24V
CN1 1Ry
C2 4 ALM

(For servo alarm display)

1Ry 5 COM_SG 1D
Relay
2Ry 1PL terminal 0V
CN3 SERVOPACK
Servomotor
3Ry L1
Relay M
terminal L2
Main power Main power
supply ON supply OFF 1KM C1 +24V
CN1 2Ry
1Ry 2Ry 3Ry
C2 4 ALM

1SA 2D
1KM 5 COM_SG

0V
CN3 SERVOPACK Servomotor
L1
L2 M

1QF : Molded-case circuit breaker +24V

C1 CN1
1FLT : Noise filter 3Ry
C2 4 ALM
1KM : Magnetic contactor (for main circuit power supply)
1Ry : Relay
2Ry : Relay 5 COM_SG 3D
3Ry : Relay
1PL : Indicator lamp 0V
1SA : Surge absorber
1D : Flywheel diode
2D : Flywheel diode
3D : Flywheel diode

(2) Precautions
• Multiple SERVOPACKs can share a single molded-case circuit breaker (1QF) or noise filter. Always select
a molded-case circuit breaker or noise filter that has enough capacity for the total power supply capacity
(load conditions) of the SERVOPACKs.
• The same ground, COM_SG, is used for all four sequence output signals for a Σ-series SERVOPACK with a
DC power input. If the alarm outputs from the SERVOPACKs are connected in series, it will not be possible
to receive the output signals normally when an alarm occurs.

3-6
 3.1 Main Circuit Wiring

3.1.7 General Precautions for Wiring

• Always use a molded-case circuit breaker (1QF) or a fuse to protect the servo system
from intersystem faults.
• Install a ground fault detector.
The SERVOPACK does not have a built-in protective circuit for grounding.
To configure a safer system, install a ground fault detector against overloads and
short-circuiting, or install a ground fault detector combined with a molded-case circuit
breaker.
• Do not turn the power ON and OFF more than necessary.
• Do not use the SERVOPACK for applications that require the power to turn ON and
OFF frequently. Such applications will cause elements in the SERVOPACK to dete-
riorate.
• As a guideline, at least one hour should be allowed between the power being
turned ON and OFF once actual operation has been started.

To ensure safe, stable application of the servo system, observe the following precautions when wiring.

• Use the connection cables specified in Σ-V Series Product Catalog (Catalog No.: KAEP S800000 42).
Design and arrange the system so that each cable will be as short as possible.
• Use shielded twisted-pair cables or screened unshielded twisted-pair cables for I/O signal cables and
encoder cables.
• The maximum wiring length is 3 m for I/O signal cables, 50 m for servomotor main circuit cables and
encoder cables, and 10 m for power supply cables.
• Observe the following precautions when wiring the ground.
• Use a cable as thick as possible.
• Ground to a ground resistance of 100 Ω or less.
• Be sure to ground at only one point.
• Ground the servomotor directly if the servomotor is insulated from the machine.
• The signal cable conductors are as thin as 0.2 mm2 or 0.3 mm2. Do not impose excessive bending force or
tension.

Wiring and Connection

3-7
 3 Wiring and Connection
3.2.1 I/O Signal (CN1) Names and Functions

3.2 I/O Signal Connections

This section describes the names and functions of I/O signals (CN1). Also connection examples by control
method are shown.

3.2.1 I/O Signal (CN1) Names and Functions

The following table shows the names and functions of I/O signals (CN1).

(1) Input Signals

Refer-
Signal Pin No. Name Function ence
Section
Homing deceleration
/DEC 7 Connects the deceleration limit switch for homing. −
switch signal
Forward run
P-OT 3 prohibited, With overtravel prevention: Stops servomotor when movable
4.3.1
N-OT 8 Reverse run part travels beyond the allowable range of motion.
prohibited
Connects the external signals that latch the current feedback
Can be
/EXT 1 External latch signal 1 pulse counter. −
allocated
Note: To use this signal, allocate it to CN1-7.
Control power supply input for sequence signals
Control power supply
+24VIN 2 Allowable voltage fluctuation range: 11 to 25 V 3.4.1
for sequence signal
Note: The 24 VDC power supply is not included.
Note 1. The functions allocated to /DEC, P-OT, and N-OT input signals can be changed by using the parameters. For
details, refer to 3.3.1 Input Signal Allocations.
2. To use /EXT1, allocate it to CN1-7. For details, refer to 3.3.1 Input Signal Allocations.
3. If the Forward run prohibited/ Reverse run prohibited function is used, the SERVOPACK is stopped by software
controls, not by electrical or mechanical means. If the application does not satisfy the safety requirements, add an
external circuit for safety reasons as required.

(2) Output Signals

Refer-
Signal Pin No. Name Function ence
Section
Servo alarm output
ALM 4 Turns OFF when an error is detected. −
signal
Controls the brake. The brake is released when the signal
/BK turns ON.
11 Brake interlock signal 4.3.2
(/SO1) Allocation can be changed to general-purpose output signals
(/SO1).
/SO2 10 General-purpose Used for general-purpose output.
−
/SO3 9 output signal Note: Set the parameter to allocate a function.
Positioning comple-
/COIN tion
/V-CMP Speed coincidence
/TGON detection
/S-RDY Can be Rotation detection The allocation of an output signal to a pin can be changed in
Servo ready −
/CLT allocated accordance with the function required.
/VLT Torque limit
/WARN Speed limit detection
/NEAR Warning
Near
Common output Common output ground for the output signals (/SO1 to /
COM_SG 5 −
ground SO3).
FG 1 Frame ground Connects the shielded wire from the I/O signal cable. −
Note: The functions allocated to /SO1 to /SO3 output signals can be changed by using the parameters. For details, refer to
3.3.2 Output Signal Allocations.

3-8
 3.2 I/O Signal Connections

3.2.2 Example of I/O Signal Connections

The following diagram shows a typical connection example.

Photocoupler output
Max. operating voltage: 30 VDC
Max. output current: 50 mA DC
SERVOPACK
CN1
MECHA
Control power supply
+24V∗ +24VIN 3.3 kΩ 4 ALM
for sequence signal 2 Servo alarm output
(OFF for an alarm)
P-OT 3
Forward run prohibited
(Prohibited when OFF) 11 /BK (SO1)
Brake
Reverse run prohibited N-OT 8 (Brake released when ON)
(Prohibited when OFF) 10 /SO2
Homing deceleration /DEC 7
switch
(Decelerated when ON) 9 /SO3
5 COM_SG

1 FG

∗ The 24-VDC power supply is not included. Use a 24-VDC power supply with double insulation or reinforced insula-
tion.
Note: The functions allocated to the input signals /DEC, P-OT, N-OT and the output signals /SO1, /SO2, and /SO3 can be
changed by using the parameters. Refer to 3.3.1 Input Signal Allocations and 3.3.2 Output Signal Allocations.

Wiring and Connection

3-9
 3 Wiring and Connection
3.3.1 Input Signal Allocations

3.3 I/O Signal Allocations

This section describes the I/O signal allocations.

3.3.1 Input Signal Allocations

• Inverting the polarity of the forward run prohibited and reverse run prohibited signals
from the factory setting will prevent the overtravel function from working in case of sig-
nal line disconnections or other failures.
If this setting is absolutely necessary, check the operation and confirm that there are
no safety problems.
• When two or more signals are allocated to the same input circuit, input signal level is
valid for all allocated signals, resulting in an unexpected machine operation.

Input signals are allocated as shown in the following table.

Refer to the Interpreting the Input Signal Allocation Tables and change the allocations accordingly.

<Interpreting the Input Signal Allocation Tables>

The parameter set values to be used are shown.

Signals are allocated to CN1 pins according to the
selected set values.
Level at which input signal Values in cells in bold lines are the factory settings.
allocations are valid.

Connection Not
Required
CN1 Pin Numbers (SERVOPACK
Input Signal Names Validity Input judges the
and Parameters Level Signal connection)
Always Always
7 3 8
ON OFF
Forward Run Prohibited H P-OT 0 1 2 to 6
7 8
Pn50A.3 L /P-OT 9 A B to F

If always ON (7) or always OFF (8) is set, signals

will be processed in the SERVOPACK, which will
eliminate the need for wiring changes.

Connection Not
Required
CN1 Pin Numbers
Input Signal Names and Validity Input (SERVOPACK judges
Parameters Level Signal the connection)
Always Always
7 3 8
ON OFF
Forward Run Prohibited H P-OT 0 1 2 to 6
7 8
Pn50A.3 L /P-OT 9 A B to F
Reverse Run Prohibited H N-OT 0 1 2 to 6
7 8
Pn50B.0 L /N-OT 9 A B to F
Forward External Torque L /P-CL 0 1 2 to 6
Limit 7 8
Pn50B.2 H P-CL 9 A B to F

3-10
 3.3 I/O Signal Allocations

Connection Not
Required
CN1 Pin Numbers
Input Signal Names and Validity Input (SERVOPACK judges
Parameters Level Signal the connection)
Always Always
7 3 8
ON OFF
Reserve External Torque L /N-CL 0 1 2 to 6
Limit 7 8
Pn50B.3 H N-CL 9 A B to F

Homing Deceleration LS L /DEC 0 1 2 to 6

7 8
Pn511.0 H DEC 9 A B to F
External Latch Signal 1 L /EXT1 0 to 6 – –
7 8
Pn511.1 H EXT1 9 to F – –

Example of Changing Input Signal Allocations

The procedure to set the forward run prohibited signal (P-OT) allocated CN1-3 to “enable forward drive” and
instead allocate the forward external torque limit signal (P-CL) to CN1-3 is shown below.

<Parameter Changes>
• Pn50A is changed from n.1881 to n.8881.
• Pn50B is changed from n.8882 to n.8182.

1. In the SigmaWin+ main window, click Parameters - Edit Parameters.

The Parameter Editing dialog box will appear.

MEC
HA

Wiring and Connection

3-11
 3 Wiring and Connection
3.3.1 Input Signal Allocations

2. Select Pn50A.
If Pn50A cannot be seen in the Parameter Editing dialog box, click the arrows button to view the
parameter.

MEC
HA

3. Click Edit.
The Edit box for Pn50A will appear.
MEC
HA

3-12
 3.3 I/O Signal Allocations

4. For the 3rd digit, select 8: Forward run allowed in the P-OT Signal Mapping list.
MEC
HA

5. Click OK.
The Edit box will close, and Parameter Editing dialog box will appear again.

6. Select Pn50B.
If Pn50B cannot be seen in the Parameter Editing dialog box, click the arrows button to view the
parameter.

MEC
HA

Wiring and Connection

3-13
 3 Wiring and Connection
3.3.1 Input Signal Allocations

7. Click Edit.
The Edit box for Pn50B will appear.
MEC
HA

8. For the 2nd digit, select 1: ON when CN1-3 input signal is ON (L-level) in the /P-CL Signal
Mapping list.
MEC
HA

3-14
 3.3 I/O Signal Allocations

9. Click OK.
The Edit box will close, and the Parameter Editing dialog box will appear again.

MEC
HA

10. Click Write.

The following window will appear after the new parameter setting has been saved in the SERVOPACK.
MEC
HA

Wiring and Connection

11. Click OK.

12. To enable the change in the setting, restart the SERVOPACK.

3-15
 3 Wiring and Connection
3.3.2 Output Signal Allocations

3.3.2 Output Signal Allocations

• The signals not detected are considered as "Invalid." For example, Positioning Com-
pletion (/COIN) signal in speed control is "Invalid."
• Inverting the polarity of the brake signal (/BK), i.e. positive logic, will prevent the hold-
ing brake from working in case of its signal line disconnection.
If this setting is absolutely necessary, check the operation and confirm that there are
no safety problems.
• When two or more signals are allocated to the same output circuit, a signal is output
with OR logic circuit.

Output signals are allocated as shown in the following table.

Refer to the Interpreting the Output Signal Allocation Tables and change the allocations accordingly.

<Interpreting the Output Signal Allocation Tables>

The parameter set values to be used are shown.

MECHA Signals are allocated to CN1 pins according to the
selected set values.
Values in cells in bold lines are the factory settings.

Output Signal Names CN1 Pin Numbers Invalid

Output Signal
and Parameters 11 10 9 㧔not use㧕
Brake
/BK 1 2 3 0
Pn50F.2

Output Signal Names CN1 Pin Numbers Invalid

Output Signal
and Parameters 11 10 9 (not use)
Positioning Completion
/COIN 1 2 3 0
Pn50E.0
Speed Coincidence
Detection /V-CMP 1 2 3 0
Pn50E.1
Rotation Detection
/TGON 1 2 3 0
Pn50E.2
Servo Ready
/S-RDY 1 2 3 0
Pn50E.3
Torque Limit Detection
/CLT 1 2 3 0
Pn50F.0
Speed Limit Detection
/VLT 1 2 3 0
Pn50F.1
Brake
/BK 1 2 3 0
Pn50F.2
Warning
/WARN 1 2 3 0
Pn50F.3
Near
/NEAR 1 2 3 0
Pn510.0
Pn512.0=1 Polarity inversion of CN1-11 0
Pn512.1=1 Polarity inversion of CN1-10 (Not invert at
Pn512.2=1 Polarity inversion of CN1-9 factory setting)

3-16
 3.3 I/O Signal Allocations

Example of Changing Output Signal Allocations

The procedure to set the position completion signal (/COIN) that was previously disabled is allocated to CN1-
10 is shown below.

<Parameter Changes>
• Pn50E is changed from n.0000 to n.0002.

1. In the SigmaWin+ main window, click Parameters - Edit Parameters.

The Parameter Editing dialog box will appear.

MEC
HA

Wiring and Connection

3-17
 3 Wiring and Connection
3.3.2 Output Signal Allocations

2. Select Pn50E.
If Pn50E cannot be seen in the Parameter Editing dialog box, click the arrows button to view the param-
eter.

MEC
HA

3. Click Edit.
The Edit box for Pn50E will appear.
MEC
HA

3-18
 3.3 I/O Signal Allocations

4. For the zero digit, select 2: Outputs the signal from CN1-10 output terminal in the
Positioning Completion Signal Mapping (/COIN) list.
MEC
HA

5. Click OK.
The Edit box will close, and the Parameter Editing dialog box will appear again.

6. Click Write.
The following window will appear after the new parameter setting has been saved in the SERVOPACK.
MEC
HA

Wiring and Connection

3
7. Click OK.
8. To enable the change in the setting, restart the SERVOPACK.

3-19
 3 Wiring and Connection
3.4.1 Sequence Input Circuit

3.4 Examples of Connection to Host Controller

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

3.4.1 Sequence Input Circuit

(1) Photocoupler Input Circuit
CN1 connector terminals 2, 3, 7, 8 are explained below.

The sequence input circuit interface is connected through a relay or open-collector transistor circuit. When
connecting through a relay, use a low-current relay. If a low-current relay is not used, a faulty contact may
result.

Relay Circuit Example Open-collector Circuit Example

SERVOPACK SERVOPACK

24 VDC +24 VIN 3.3 kΩ 24 VDC +24 VIN 3.3 kΩ

/DEC, etc. /DEC, etc.

Note: The 24 VDC external power supply capacity must be 50 mA minimum.

The SERVOPACK’s input circuit uses bidirectional photocoupler. Select either the sink circuit or the source
circuit according to the specifications required for each machine.

Note: • The connection example in 3.2.2 shows sink circuits.

• The ON/OFF polarity differs between when a sink circuit is connected and when a source circuit is connected.

Sink Circuit Source Circuit

24 V 24 V
− SERVOPACK input SERVOPACK input
+ + −

Input Signal Polarities Input Signal Polarities

Voltage Voltage
Signal Level Contact Signal Level Contact
Level Level
Low (L) High (H)
ON 0V Close ON 24 V Close
level level
High (H) Low (L)
OFF 24 V Open OFF 0V Open
level level

3-20
 3.4 Examples of Connection to Host Controller

3.4.2 Sequence Output Circuit

The signal output circuit from the SERVOPACK is described below.

Incorrect wiring or incorrect voltage application to the output circuit may cause short-cir-
cuit.
If a short-circuit occurs as a result of any of these causes, the holding brake will not
work. This could damage the machine or cause an accident resulting in death or injury.

(1) Photocoupler Output Circuit

Photocoupler output circuits are used for servo alarm (ALM) and other sequence output signal circuits. Con-
nect a photocoupler output circuit through a relay or line receiver circuit.

Relay Circuit Example Line Receiver Circuit Example

SERVOPACK 5 to 24 VDC
SERVOPACK 5 to 12 VDC
Relay

0V

Note: The maximum allowable voltage and the allowable range of current capacity for photocoupler output circuits are as
follows.
• Voltage: 30 VDC
• Current: 5 to 50 mA DC

Wiring and Connection

3-21
 3 Wiring and Connection

3.5 Wiring MECHATROLINK-II Communications

The following diagram shows an example of connections between a host controller and a SERVOPACK using
MECHATROLINK-II communications cables (CN6A, CN6B).

MP2300 218IF-01
YASKAWA RDY RUN RUN ERR

ALM ERR STRX COL

M-II
TX BAT TX RX

STOP Option

Option
SUP INIT
INT TEST
CNFG OFF ON
MON
TEST ‫ ޓ‬SW1
PORT
OFF‫ޓ‬ON

M-I/II

L1
BATTERY

CPU‫ޓ‬
I/O

DC24V 10Base-T

DC 0V
L2 Ln

Terminator

Note 1. The length of the cable between stations (L1, L2 ... Ln) must be 0.5 m or more.
2. The total cable length must be L1 + L2 ... + Ln ≤ 50 m.
3. When multiple SERVOPACKs are connected by MECHATROLINK-II communications cable, a terminator must
be installed at the final SERVOPACK.

3-22
 3.6 Encoder Connection

3.6 Encoder Connection

This section describes the encoder signal (CN2) names, functions, and connection examples.

3.6.1 Encoder Signal (CN2) Names and Functions

The following table shows the names and functions of encoder signals (CN2).

Signal Name Pin No. Function

PG 5 V 1 Encoder power supply +5 V
PG 0 V 2 Encoder power supply 0 V
(BAT (+))* 3 Battery (+)
(BAT (-))* 4 Battery (-)
PS 5 Serial data (+)
/PS 6 Serial data (-)
Shield Shell –

∗ It is not necessary to connect these pins to the SERVOPACK.

3.6.2 Encoder Connection Examples

The following diagrams show connection examples of the encoder and the SERVOPACK.

(1) Using as an Incremental Encoder

SERVOPACK
MECHA

Incremental encoder
∗
CN2
PS 5
/PS 6

ENC

Wiring and Connection

PG5V 1
PG0V 2

Connector shell
(Shell) Shielded wire

3
∗ : represents shielded twisted-pair wires.

3-23
 3 Wiring and Connection
3.6.2 Encoder Connection Examples

(2) Using as an Absolute Encoder

SERVOPACK MECHA

Absolute encoder

∗1
CN2
PS 5
/PS 6

ENC Output line-driver SN75ALS174

or the equivalent

PG5 V 1
PG0 V 2

BAT
+∗2 3
BAT
- ∗2 4

Battery Connector
shell
(Shell)

∗1. : represents shielded twisted-pair wires.

∗2. When using an absolute encoder, provide power by installing an encoder cable with a JUSP-BA01-E Battery Case.

3-24
 3.7 Noise Control and Measures for Harmonic Suppression

3.7 Noise Control and Measures for Harmonic Suppression

This section describes the wiring for noise control and the DC reactor for harmonic suppression.

3.7.1 Wiring for Noise Control

• Because the SERVOPACK is designed as an industrial device, it provides no mecha-
nism to prevent noise interference.
• The SERVOPACK uses high-speed switching elements in the main circuit. Therefore
peripheral devices may receive switching noise. If the equipment is to be used near
private houses or if radio interference is a problem, take countermeasures against
noise.
• If installation conditions by the EMC directive must be met, refer to DC Power Input Σ-
V Series User's Manual Setup Rotational Motor (Manual No.: SIEP S800000 80).

The SERVOPACK uses microprocessors. Therefore it may receive switching noise from peripheral devices.

To prevent the noise from the SERVOPACK or the peripheral devices from causing a malfunction of any one
of these devices, take the following precautions against noise as required.

• Position the input reference device and noise filter as close to the SERVOPACK as possible.
• Always install a surge absorber in the relay, solenoid and electromagnetic contactor coils.
• Do not bundle or run the servomotor main circuit cables together with the I/O signal cables or the encoder
cables in the same duct. Keep the servomotor main circuit cables separated from the I/O signal cables and
encoder cables by at least 30 cm.
• Do not share the power supply with an electric welder or electrical discharge machine. When the SERVO-
PACK is placed near a high-frequency generator, install a noise filter on the input side of the power supply
cables. As for the wiring of noise filter, refer to (1) Noise Filter shown below.
• Take the grounding measures correctly. As for the grounding, refer to (2) Correct Grounding.

Wiring and Connection

3-25
 3 Wiring and Connection
3.7.1 Wiring for Noise Control

(1) Noise Filter

The SERVOPACK has a built-in microprocessor (CPU), so protect it from external noise as much as possible
by installing a noise filter in the appropriate place.

The following is an example of wiring for noise control.

*3 Non-isolated AC/DC converter SERVOPACK

Noise filter for main circuit power supply CN3 CN4
L1 U
AC power
supply
L2 V
M
2.0 mm2 Non-isolated AC/DC converter (FG)
min. W
for control power supply
C1

C2
CN2
2.0 mm2 2.0 mm2
min. min. ENC

CN1

Operation relay sequence

Signal generation
*2 Noise filter *3 AC/DC converter circuit (not included)
*2 *2

2.0 mm2 0.5 mm2

min.

(Ground plate)
*1

Ground: Ground to an independent ground

∗1. For ground wires connected to the ground plate, use a thick wire (preferably, plain stitch cooper wire).

∗2. should be twisted-pair wires.

∗3. When using a noise filter, follow the precautions in 3.7.2 Precautions on Connecting Noise Filter.

(2) Correct Grounding

Take the following grounding measures to prevent the malfunction due to noise.

Grounding the Motor Frame

Always connect servomotor frame terminal FG to the SERVOPACK ground terminal . Also be sure to
ground the ground terminal .

If the servomotor is grounded via the machine, a switching noise current will flow from the SERVOPACK
main circuit through servomotor stray capacitance. The above grounding is required to prevent the adverse
effects of switching noise.

Noise on the I/O Signal Cable

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

3-26
 3.7 Noise Control and Measures for Harmonic Suppression

3.7.2 Precautions on Connecting Noise Filter

This section describes the precautions on installing a noise filter.

(1) Noise Filter Brake Power Supply

If using a servomotor with a holding brake, use the following noise filter on the brake power supply input.

Model: FN2070-6/07 (Manufactured by SCHAFFNER Electronic.)

(2) Precautions on Using Noise Filters

Always observe the following installation and wiring instructions.

Some noise filters have large leakage currents. The grounding measures taken also
affects the extent of the leakage current. If necessary, select an appropriate leakage cur-
rent detector or leakage current breaker taking into account the grounding measures that
are used and leakage current from the noise filter. Contact the manufacturer of the noise
filter for details.

Do not put the input and output lines in the same duct or bundle them together.
Incorrect Correct

Noise Noise
Filter Filter

Ground plate Ground plate

Noise Noise
Filter Filter

Wiring and Connection

Ground plate Ground plate

Separate these circuits.

Separate the noise filter ground wire from the output lines.
Do not accommodate the noise filter ground wire, output lines and other signal lines in the same
duct or bundle them together.
Correct
Incorrect
3

Noise Noise
Filter Filter

The ground wire

can be close to
input lines.

Ground plate Ground plate

3-27
 3 Wiring and Connection
3.7.2 Precautions on Connecting Noise Filter

Connect the noise filter ground wire directly to the ground plate.
Do not connect the noise filter ground wire to other ground wires.
Incorrect Correct

Noise Noise
Filter Filter

SERVOPACK SERVOPACK SERVOPACK SERVOPACK

Shielded
ground wire

Ground plate Ground plate

If a noise filter is located inside a control panel, first connect the noise filter ground wire and the
ground wires from other devices inside the control panel to the ground plate for the control panel,
then ground the plates.

Control Panel
AC/DC SERVOPACK
converter
Noise
Filter

SERVOPACK

Ground

Ground plate

3-28
 4
Operation

4.1 MECHATROLINK-II Communications Settings . . . . . . . . . . . . . . . . . . . . 4-3

4.1.1 Setting Switches SW1 and SW2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.2 MECHATROLINK-II Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4.3 Basic Functions Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.3.1 Servomotor Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.3.2 Overtravel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.3.3 Software Limit Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.3.4 Holding Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence . . . . . . . . . . 4-15
4.3.6 Setting Motor Overload Detection Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16

4.4 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18

4.4.1 Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
4.4.2 Trial Operation via MECHATROLINK-II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
4.4.3 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20

4.5 Test Without Motor Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22

4.5.1 Motor Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
4.5.2 Motor Position and Speed Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23
4.5.3 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24 Operation

4.6 Limiting Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25

4.6.1 Internal Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25
4.6.2 External Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26
4.6.3 Checking Output Torque Limiting during Operation . . . . . . . . . . . . . . . . . . . . . . . . . 4-27

4.7 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-28 4

4.7.1 Connecting the Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-28
4.7.2 Absolute Data Request (SENS ON Command) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29
4.7.3 Battery Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30
4.7.4 Absolute Encoder Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-32
4.7.5 Multiturn Limit Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35
4.7.6 Multiturn Limit Disagreement Alarm (A.CC0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-36
4.7.7 Absolute Encoder Origin Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-39

4-1
 4 Operation

4.8 Other Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-40

4.8.1 Servo Alarm Output Signal (ALM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-40
4.8.2 Warning Output Signal (/WARN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-40
4.8.3 Rotation Detection Output Signal (/TGON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-41
4.8.4 Servo Ready Output Signal (/S-RDY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-41
4.8.5 Speed Coincidence Output Signal (/V-CMP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-42
4.8.6 Positioning Completed Output Signal (/COIN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-43
4.8.7 Positioning Near Output Signal (/NEAR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-44
4.8.8 Speed Limit Detection Signal (/VLT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-44

4-2
 4.1 MECHATROLINK-II Communications Settings

4.1 MECHATROLINK-II Communications Settings

This section describes the switch settings necessary for MECHATROLINK-II communications.

4.1.1 Setting Switches SW1 and SW2

The SW2 DIP switch is used to make the settings for MECHATROLINK-II communications.

The station address is set using the DIP switches (SW1, SW2).

OFF OFF
M-II
ON ON

1 2 3 4 1 2 3 4
SW1 (factory settings) SW2 (factory settings)

(1) Settings for the SW2 DIP Switch

The following table shows the settings of the DIP switch (SW2).

SW2 Function Setting Description Factory setting

OFF 4 Mbps (MECHATROLINK-I)
Pin 1 Sets the baud rate. ON
ON 10 Mbps (MECHATROLINK-II)
Sets the number of OFF 17 bytes
Pin 2 ON
transmission bytes. ON 32 bytes
OFF Station address = 40H + SW1
Pin 3 Sets the station address. OFF
ON Station address = 50H + SW1
Pin 4 Reserved. (Do not change.) OFF − OFF

• When connecting to a MECHATROLINK-I network, turn OFF pins 1 and 2.

• When using a MECHATROLINK-I network (Baud rate: 4 Mbps), the settings for the num-
ber of transmission bytes is disabled and the number of transmission bytes is always 17.

Operation

4-3
 4 Operation
4.1.1 Setting Switches SW1 and SW2

(2) Setting the Station Address

The following table lists the possible settings of the DIP switches (SW1, SW2) that can be combined to form a
station address.

The factory setting for the station address is 41H (Bit 3 of SW2 = OFF, Bit 1 of SW1 = ON, Bit 2 of SW1 =
OFF, Bit 3 of SW1 = OFF, Bit 4 of SW1 = OFF).

Setting
Station Address
Bit 3 of SW2 Bit 1 of SW1 Bit 2 of SW1 Bit 3 of SW1 Bit 4 of SW1
OFF OFF OFF OFF OFF Disabled
OFF ON OFF OFF OFF 41H
OFF OFF ON OFF OFF 42H
OFF ON ON OFF OFF 43H
OFF OFF OFF ON OFF 44H
OFF ON OFF ON OFF 45H
OFF OFF ON ON OFF 46H
OFF ON ON ON OFF 47H
OFF OFF OFF OFF ON 48H
OFF ON OFF OFF ON 49H
OFF OFF ON OFF ON 4AH
OFF ON ON OFF ON 4BH
OFF OFF OFF ON ON 4CH
OFF ON OFF ON ON 4DH
OFF OFF ON ON ON 4EH
OFF ON ON ON ON 4FH
ON OFF OFF OFF OFF 50H
ON ON OFF OFF OFF 51H
ON OFF ON OFF OFF 52H
ON ON ON OFF OFF 53H
ON OFF OFF ON OFF 54H
ON ON OFF ON OFF 55H
ON OFF ON ON OFF 56H
ON ON ON ON OFF 57H
ON OFF OFF OFF ON 58H
ON ON OFF OFF ON 59H
ON OFF ON OFF ON 5AH
ON ON ON OFF ON 5BH
ON OFF OFF ON ON 5CH
ON ON OFF ON ON 5DH
ON OFF ON ON ON 5EH
ON ON ON ON ON 5FH

• To enable the change in the setting, restart the SERVOPACK.

4-4
 4.2 MECHATROLINK-II Commands

4.2 MECHATROLINK-II Commands

For information on the MECHATROLINK-II commands, refer to Σ-V Series User’s Manual MECHA-
TROLINK-II Commands (Manual No.: SIEP S800000 54).

4.3 Basic Functions Settings

This section describes how to set the basic functions for operation.

4.3.1 Servomotor Rotation Direction

The servomotor rotation direction can be reversed with parameter Pn000.0 without changing the polarity of
the speed/position reference.

The standard setting for forward rotation is counterclockwise (CCW) as viewed from the load end of the ser-
vomotor.

Forward/
Applicable
Parameter Reverse Direction of Motor Rotation
Overtravel (OT)
Reference
Motor speed
+ Torque reference
Forward
P-OT
Reference Time
n. 0 CCW
Motor speed
Sets CCW as
forward direction.
+ Motor speed
[Factory setting] Torque reference
Reverse Time N-OT
Reference

Motor speed
CW
Pn000
Motor speed
+ Torque reference
Forward
P-OT
Reference Time
n. 1
CW
Sets CW as Motor speed
forward direction.
(Reverse Rotation +
Motor speed
Mode) Torque reference
Reverse
N-OT
Reference Time
Operation

CCW
Motor speed

Note: SigmaWin+ trace waveforms are shown in the above table.

4-5
 4 Operation
4.3.2 Overtravel

4.3.2 Overtravel
The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of
motion and turn ON a limit switch.
For rotating application such as disc table and conveyor, overtravel function is not necessary. In such a case,
no wiring for overtravel input signals is required.

CAUTION
• Installing limit switches
For machines that move using linear motion, connect limit switches to P-OT and N-OT of CN1 as shown below to
prevent machine damage. To prevent a contact fault or disconnection from causing accidents, make sure that the limit
switches are normally closed.
Forward direction

SERVOPACK
MECHA
Servomotor
Limit Limit CN1
switch switch N-OT 8

P-OT
3

• Axes to which external force is applied in overtravel

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

(1) Signal Setting

Connector
Type Name Setting Meaning
Pin Number
Forward run allowed.
ON
P-OT CN1-3 Normal operation status.
Input OFF Forward run prohibited. Forward overtravel.
ON Reverse run allowed. Normal operation status.
N-OT CN1-8
OFF Reverse run prohibited. Reverse overtravel.

Rotation in the opposite direction is possible during overtravel by inputting the reference.

4-6
 4.3 Basic Functions Settings

(2) Overtravel Function Setting

Parameters Pn50A and Pn50B can be set to enable or disable the overtravel function.
If the overtravel function is not used, no wiring for overtravel input signals will be required.
When
Parameter Meaning Classification
Enabled
n.1 Inputs the Forward Run Prohibited (P-OT) signal from
[Factory setting] CN1-3.
Pn50A
Disables the Forward Run Prohibited (P-OT) signal.
n.8
Allows constant forward rotation.
After restart Setup
n. 2 Inputs the Reverse Run Prohibited (N-OT) signal from
[Factory setting] CN1-8.
Pn50B
Disables the Reverse Run Prohibited (N-OT) signal.
n. 8
Allows constant reverse rotation.

A parameter can be used to re-allocate input connector number for the P-OT and N-OT signals. Refer to 3.3.1
Input Signal Allocations for details.

(3) Servomotor Stopping Method When Overtravel is Used

There are two servomotor stopping methods when an overtravel is used.
• Decelerate to a stop
Stops by using emergency stop torque.
• Coast to a stop
Stops naturally, with no control, by using the friction resistance of the servomotor in operation.

After servomotor stopping, there are two modes.

• Coast mode
Stopped naturally, with no control, by using the friction resistance of the servomotor in operation.
• Zero clamp mode
A mode forms a position loop by using the position reference zero.

The servomotor stopping method when an overtravel (P-OT, N-OT) signal is input while the servomotor is
operating can be set with parameter Pn001.

Mode After
Parameter Stop Method When Enabled Classification
Stopping
n. 02
Coast Coast
[Factory setting]
Pn001 After restart Setup
n. 1 Zero clamp
Deceleration to a stop
n. 2 Coast Operation

• A servomotor under torque control cannot be decelerated to a stop. Coast status is maintained after the ser-
vomotor coasts to a stop.
• For details on servomotor stopping methods after the SV_OFF command is received or an alarm occurs,
refer to 4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence.
When Servomotor Stopping Method is Set to Decelerate to Stop 4
Emergency stop torque can be set with Pn406.

Emergency Stop Torque 　 Speed 　 Position 　 Torque

Classification
Pn406 Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 800 Immediately Setup

• The setting unit is a percentage of the rated torque.

• The factory setting is 800% so that the setting is large enough a value to operate the servomotor at maximum
torque. The maximum value of emergency stop torque that is actually available, however, is limited to the
maximum torque of the servomotor.

4-7
 4 Operation
4.3.2 Overtravel

(4) Overtravel Warning Function

This function detects an overtravel warning (A.9A0) if overtravel occurs while the servomotor power is ON.
Using this function enables notifying the host controller when the SERVOPACK detects overtravel even if the
overtravel signal is ON only momentarily.

To use this function, perform the following settings.

• Set Pn00D = n.1 (overtravel warning function).
• Allocate one of the output signals to the warning signal.
Warning Output Timing

Command Motion command ALM_CLR command

Servomotor power OFF ON

MECHA
Overtravel input signal Disabled Enabled Disabled Enabled Disabled
㧔P-OT, N-OT signals㧕
Overtravel warning Normal operation Warning status Normal operation
㧔A.9A0㧕

Warning not detected.

<Notes>
• Warnings are detected for overtravel in the same direction as the reference.
• Warnings are not detected for overtravel in the reverse direction from the reference.
Example: A warning will not be output for a forward reference even if the N-OT signal (reverse run prohibited)
turns ON.
• A warning can be detected in either the forward or reverse direction, when there is no reference.
• A warning will not be detected when the servomotor power is OFF even if overtravel occurs.
• A warning will not be detected when the servomotor power changes from OFF to ON even if overtravel status
exists.
• To clear the overtravel warning, send a Clear Warning or Alarm command (ALM_CLR) regardless of the status of
the servomotor power and the overtravel signal. If the warning is cleared by this method during an overtravel
state, the occurrence of the warning will not be indicated until the overtravelling is corrected and reset.
• The overtravel warning will be detected when the software limit is in effect.

CAUTION
• The overtravel warning function only detects warnings. It does not affect on stopping for overtravel or
motion operations at the host controller. The next step (e.g., the next motion or other command) can be
executed even if an overtravel warning exists. However, depending on the processing specifications and
programming for warnings in the host controller, operation may be affected when an overtravel warning
occurs (e.g., motion may stop or not stop). Confirm the specifications and programming in the host control-
ler.
• When an overtravel occurs, the SERVOPACK will perform stop processing for overtravel. Therefore, when
an overtravel warning occurs, the servomotor may not reach the target position specified by the host con-
troller. Check the feedback position to make sure that the axis is stopped at a safe position.

Related Parameter
Parameter Meaning When Enabled Classification
n.0
Does not detect overtravel warning.
Pn00D [Factory setting] Immediately Setup
n.1 Detects overtravel warning.

4-8
 4.3 Basic Functions Settings

4.3.3 Software Limit Settings

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

(1) Software Limit Function

The software limit function can be enabled or disabled.

Use the parameter Pn801.0 to enable the software limit function.

The software limit function can be enabled under the following conditions. Under all other circumstances, the
software limits will not be enabled even if a software limit is exceeded.

• The ZRET command has been executed.

• REFE = 1 using the POS_SET command.

Enable or disable the software limits using one of the following settings.

Parameter Description When Enabled Classification

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

(2) Software Limit Check using References

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

Parameter Description When Enabled Classification

n. 0
[Factory No software limit check using references.
Pn801 setting] Immediately Setup
n. 1 Software limit check using references.

(3) Software Limit Setting

Operation

Set software limits value in the forward and reverse directions.

Because the limit zone is set according to the forward or reverse direction, the reverse limit must be less than
the forward limit.
4
Forward Software Limit Position
Classification
Pn804 Setting Range Setting Unit Factory Setting When Enabled
-1073741823 to
1 Reference Unit 819191808 Immediately Setup
1073741823

Reverse Software Limit Position

Classification
Pn806 Setting Range Setting Unit Factory Setting When Enabled
-1073741823 to
1 Reference Unit -819191808 Immediately Setup
1073741823

4-9
 4 Operation
4.3.4 Holding Brakes

4.3.4 Holding Brakes

A holding brake is a brake used to hold the position of the movable part of the machine when the SERVO-
PACK is turned OFF so that movable part does not move due to gravity or external forces. Holding brakes are
built into servomotors with brakes.

The holding brake is used in the following cases.

Vertical Shaft Shaft with External Force Applied

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

• The brake built into the servomotor with brakes is a de-energization brake, which is
used only to hold and cannot be used for braking. Use the holding brake only to hold
a stopped servomotor.

There is a delay in the braking operation. Set the following ON/OFF timing.

Servo ON command OFF ON OFF

(SV_ON)
OFF ON OFF
Servomotor power
*3 MECHA
OFF ON OFF
Brake signal (/BK)

Brake contact part Brake applied Brake release Brake applied

(lining) *1 *1

Position reference/ 0
Speed reference

Motor speed

*2

∗1. The delay time in brake operation is given in the following table. This is just example of the operation delay time for
switching with a direct current. Always evaluate performance on the actual equipment before actual operation.

Model Voltage Brake Release Time (ms) Brake Applied Time (ms)
SGMMV 24 VDC 40 100
∗2. After the SV_ON command has been sent and 50 ms has passed since the brake was released, output the reference
from the host controller to the SERVOPACK.
∗3. Use Pn506, Pn507, and Pn508 to set the timing of when the brake will be activated and when the servomotor power
will be turned OFF.

4-10
 4.3 Basic Functions Settings

(1) Wiring Example

Use the brake signal (/BK) and the brake power supply to form a brake ON/OFF circuit. The following dia-
gram shows a standard wiring example.

The timing can be easily set using the brake signal (/BK).

Servomotor
Non-isolated with holding
AC/DC converter SERVOPACK brake
for main power supply
Power supply CN3 CN4
L1 U
L2 V
M
W
C1
C2
Non-isolated CN2 ENC
AC/DC converter
for control
power supply BK
CN1 +24V
11 /BK BK-RY Surge
absorber

5 COM_SG 1D 0V

Brake power
supply BK-RY
MECHA

BK-RY: Brake control relay

Brake power supply for 24 VDC is not included.

• Always connect a surge absorber.

Recommended surge absorber: Z15D151 (manufactured by SEMITEC Corporation)
• After the surge absorber is connected, check the total time the brake is applied for the
system. Depending on the surge absorber, the total time the brake is applied can be
changed.
• Configure the relay circuit to apply the holding brake by the emergency stop.
Relay Circuit Example
SERVOPACK
5 to 24 VDC
Operation
Emergency stop

Photocoupler

0V
4

• The allocation of the /BK signal can be changed. Refer to (3) Brake Signal (/BK) Allo-
cation to set the parameter Pn50F.
• Always separate the 24-VDC power supply for the 24-V brake from other power sup-
plies, such as the control or I/O signal (CN1) power supplies. If the power supply is
shared, the I/O signals might malfunction.

4-11
 4 Operation
4.3.4 Holding Brakes

(2) Brake Signal (/BK) Setting

This output signal controls the brake. The allocation of the /BK signal can be changed. Refer to (3) Brake Sig-
nal (/BK) Allocation for allocation.

The /BK signal turns OFF (applies the brake) when an alarm is detected or the SV_OFF command is received.
The brake OFF timing can be adjusted with Pn506.

Connector
Type Name Setting Meaning
Pin Number
ON (closed) Releases the brake.
Output /BK CN1-11
OFF (open) Applies the brake.

The /BK signal is still ON during overtravel and the brake is still released.

(3) Brake Signal (/BK) Allocation

Use parameter Pn50F.2 to allocate the /BK signal.

Connector When Classifica-

Parameter Meaning
Pin Number Enabled tion
n. 0 – The /BK signal is not used.
n. 1
The /BK signal is output from output termi-
[Factory CN1-11
nal CN1-11.
setting]
Pn50F After restart Setup
The /BK signal is output from output termi-
n. 2 CN1-10
nal CN1-10.
The /BK signal is output from output termi-
n. 3 CN1-9
nal CN1-9.

When multiple signals are allocated to the same output terminal, the signals are output
with OR logic. For the /BK signal, do not use the output terminal that is already being
used for another signal.

4-12
 4.3 Basic Functions Settings

(4) Brake ON Timing after the Servomotor Stops

When the servomotor stops, the /BK signal turns OFF at the same time as the SV_OFF command is received.
Use parameter Pn506 to change the timing to turn OFF the servomotor power after the SV_OFF command has
been received.

Brake Reference-Servo OFF Delay Time 　 Speed 　 Position 　 Torque

Classification
Pn506 Setting Range Setting Unit Factory Setting When Enabled
0 to 50 10 ms 0 Immediately Setup

• When using the servomotor to control a vertical

SV_OFF
axis, the machine movable part may shift slightly command Servo ON Servo OFF
depending on the brake ON timing due to gravity or
an external force. To eliminate this slight shift, set /BK output Brake released Brake applied
parameter so that the power to the servomotor turns (ON) (OFF)

OFF after the brake is applied. Power to motor Power to motor No power to motor

• This parameter changes the brake ON timing while MECHA

the servomotor is stopped. Pn506

The servomotor will turn OFF immediately when an alarm occurs, regardless of the set-
ting of this parameter. The machine movable part may shift due to gravity or external
force before the brake operates.

Operation

4-13
 4 Operation
4.3.4 Holding Brakes

(5) Brake Signal (/BK) Output Timing during Servomotor Rotation

If an alarm occurs while the servomotor is rotating, the servomotor will come to a stop and the brake signal
(/BK) will be turned OFF. The timing of brake signal (/BK) output can be adjusted by setting the brake refer-
ence output speed level (Pn507) and the waiting time for brake signal when motor running (Pn508).

Note: If the servomotor is set so that it comes to a zero-speed stop for an alarm, follow the information in (4) Brake ON
Timing after the Servomotor Stops after the servomotor comes to a stop for a zero position reference.

Brake Reference Output Speed Level 　 Speed 　 Position 　 Torque

Classification
Pn507 Setting Range Setting Unit Factory Setting When Enabled
0 to 10000 1 min-1 100 Immediately Setup

Waiting Time for Brake Signal When Motor Running　 Speed 　 Position 　 Torque
Classification
Pn508 Setting Range Setting Unit Factory Setting When Enabled
10 to 100 10 ms 50 Immediately Setup

/BK Signal Output Conditions SV_OFF

When Servomotor Rotating command Servo ON Servo OFF
or alarm or
power OFF
The /BK signal goes to high level
(brake ON) when either of the fol-
lowing conditions is satisfied: Motor stopped by
Pn-507
Motor speed coasting
Pn001.0
• When the motor speed falls
below the level set in Pn507
after the power to the servomo-
Power to motor
tor is turned OFF. OFF
ON
• When the time set in Pn508 is
exceeded after the power to the
servomotor is turned OFF. /BK output
Brake
released Brake applied
(OFF)
(ON)
Pn508 MECHA

• The servomotor will be limited to its maximum speed even if the value set in Pn507 is
higher than the maximum speed.
• Do not allocate the rotation detection signal (/TGON) and the brake signal (/BK) to the
same terminal. The /TGON signal will otherwise be turned ON by the falling speed on
a vertical axis, and the brake may not operate.
For the /BK signal, do not use the terminal that is already being used for another
signal.

4-14
 4.3 Basic Functions Settings

4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence

The servomotor stopping method can be selected after the SV_OFF command is received or an alarm occurs.

• The elements in the SERVOPACK will deteriorate if turning the power supply ON and
OFF or starting and stopping the servomotor during the servo ON status while there is
a reference input. Use a speed reference or position reference to start and stop the
servomotor.
• If turning OFF the main circuit power supply or the control power supply during opera-
tion without turning OFF the servo, the servomotor will coast to a stop. In this case,
the stop method cannot be set in a parameter.
• To minimize the coasting distance of the servomotor to come to a stop when an alarm
occurs, the zero-speed stopping method is factory-set for alarms to which the zero-
speed stopping method is applicable. However, in some applications, coasting to a
stop may be more suitable than the zero-speed stopping method.
For example, for multiple shafts in coupled operation (e.g., a twin-drive operation),
machinery may damage due to differences in the stopping operation if a zero-speed
stop alarm occurs for one of the coupled shafts and the other coupled shaft coasts to
a stop. In such cases, change the stopping method so that the servomotor coasts to a
stop.

(1) Stopping Method for Servomotor after SV_OFF Command is Received

The servomotor coasts to a stop when the servo is turned OFF.

(2) Stopping Method for Servomotor When an Alarm Occurs

There are two types of alarms, Gr.1 and Gr.2, that vary in the stopping method when the alarm occurs.

When a Gr.1 alarm occurs, the servomotor coasts to a stop.

When a Gr.2 alarm occurs, the stopping method that is set in Pn00B.1 is used.

Refer to the information on alarm stopping methods in 8.1.1 List of Alarms.

Stopping Method for Servomotor for Gr.2 Alarms

Mode After When Classifica-
Parameter Stop Mode
Stopping Enabled tion
n. 0 Zero-speed stop-
[Factory setting] ping* After
Pn00B Coast Setup
restart
n. 1 Coast
∗ Zero-speed stopping: The speed reference is set to 0 to stop quickly.
Operation

Note: The setting of Pn00B.1 is effective for position control and speed control. The setting of Pn00B.1 is ignored for
torque control and the servomotor coasts to a stop.

4-15
 4 Operation
4.3.6 Setting Motor Overload Detection Level

4.3.6 Setting Motor Overload Detection Level

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

(1) Changing Detection Timing of Overload Warning (A.910)

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

Overload detection time

Detection curve of
Detection curve of overload alarm
overload warning when
Pn52B=50%

Detection curve of overload warning

when Pn52B=20% (factory setting)

100% 200% Torque reference [%]

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

Overload Warning Level Speed 　 Position 　 Torque

Classification
Pn52B Setting Range Setting Unit Factory Setting When Enabled
1 to 100 1% 20 Immediately Setup

4-16
 4.3 Basic Functions Settings

(2) Changing Detection Timing of Overload (Low Load) Alarm (A.720)

An overload (low load) alarm (A.720) can be detected earlier to protect the servomotor from overloading. The
time required to detect an overload alarm can be shortened by using the derated motor base current obtained
with the following equation.

Note: The detection level of the overload (high load) alarm (A.710) cannot be changed.

Motor base current × Derating of base current at detecting overload of motor (Pn52C)
= Derated motor base current

Motor base current: Threshold value of motor current to start calculation for overload alarm
Derating of base current at detecting overload of motor (Pn52C): Derating of motor base current

The following graph shows an example of the detection of an overload alarm when Pn52C is set to 50%. The
calculation for the overload of motors starts at 50% of the motor base current and then an overload alarm will
be detected earlier.
Changing the setting of Pn52C will change the detection timing of the overload alarm, so the time required to
detect the overload warning will also be changed.

Overload detection time

Detection curve of
overload alarm when
Pn52C=100% (factory setting)

Detection curve of
overload alarm
when Pn52C=50%

50% 100% 200% Torque reference [%]

As a guideline of motor heating conditions, the relationship between the heat sink sizes and deratings of base
current is shown in a graph in:
Servomotor Heating Conditions in Rotary Servomotors General Instruction in Σ-V Series Product Catalog
(Catalog No.: KAEP S800000 42).
Set Pn52C to a value in accordance with the heat sink size and derating shown in the graph, so that an over-
load alarm can be detected at the best timing to protect the servomotor from overloading.
Operation

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

Derating of Base Current at Detecting Overload of

Speed 　 Position 　 Torque
Motor Classification 4
Pn52C
Setting Range Setting Unit Factory Setting When Enabled
10 to 100 1% 100 After restart Setup

4-17
 4 Operation
4.4.1 Inspection and Checking before Trial Operation

4.4 Trial Operation

This section describes a trial operation using MECHATROLINK-II communications.

4.4.1 Inspection and Checking before Trial Operation

To ensure safe and correct trial operation, inspect and check the following items before starting trial operation.

(1) Servomotors
Inspect and check the following items, and take appropriate measures before performing trial operation if any
problem exists.

• Are all wiring and connections correct?

• Are all nuts and bolts securely tightened?
Note: When performing trial operation on a servomotor that has been stored for a long period of time, perform the inspec-
tion according to the procedures described in AC Servomotor Safety Precautions (Manual No.: TOBP C230200 00).

(2) SERVOPACKs
Inspect and check the following items, and take appropriate measures before performing trial operation if any
problem exists.

• Are all wiring and connections correct?

• Is the correct power supply voltage being supplied to the SERVOPACK?

4-18
 4.4 Trial Operation

4.4.2 Trial Operation via MECHATROLINK-II

The following table provides the procedures for trial operation via MECHATROLINK-II.

Step Description Reference

Confirm that the wiring is correct, and then connect the I/O signal con-
1 3 Wiring and Connection
nector (CN1 connector).
Turn ON the power to the SERVOPACK.
If the SERVOPACK is receiving power, the COM LED indicator on
the SERVOPACK will light up.
2 –
Note: If the COM LED does not turn ON, recheck the settings of
MECHATROLINK-II setting switches (SW1, SW2) and then
restart the SERVOPACK.
Send the CONNECT command.
In the response data from the SERVOPACK, the alarm code "00" is
3 cleared to show normal operation.
The response data from the SERVOPACK may be confirmed with the Σ-V Series User’s Manual
SMON command. MECHATROLINK-II Commands
(Manual No.: SIEP S800000 54)
Check the product type using an ID_RD command.
4 A reply showing the product type, such as SGDV-2R9E11A, is received
from the SERVOPACK.
Set the following items to the necessary settings for a trial operation.
4.4.3 Electronic Gear
• Electronic gear settings
5 4.3.2 Overtravel
• Rotational direction of servomotor
4.3.2 Overtravel
• Overtravel
Save these settings (step 5).
If saving the settings in the controller, use the PRM_WR command.
6
If saving the settings in the SERVOPACK, use the PPRM_WR com- Σ-V Series User’s Manual
mand. MECHATROLINK-II Commands
Send the SV_ON command. (Manual No.: SIEP S800000 54)
7 A reply showing that the servomotor has switched to Drive status and
that SVON=1 (servomotor power is ON) is received.
Run the servomotor at low speed.
<Example using a positioning command>
Command used: POSING
8 –
Command setting: Option = 0, Positioning position =10000 (If using
the absolute encoder, add 10000 to the present position), rapid traverse
speed= 400
Check the following points while running the servomotor at low speed
(step 8).
• Confirm that the rotational direction of the servomotor correctly coin-
cides with the forward rotation or reverse rotation reference. If they do 4.3.1 Servomotor Rotation Direction
not coincide, reset the direction. 8.4 Troubleshooting Malfunction
9
• Confirm that no unusual vibrations, noises, or temperature rises occur. Based on Operation and Conditions
Operation

If any abnormalities are seen, correct the conditions. of the Servomotor

Note: Because the running-in of the load machine is not sufficient at the
time of the trial operation, the servomotor may become over-
loaded.

4-19
 4 Operation
4.4.3 Electronic Gear

4.4.3 Electronic Gear

The electronic gear enables the workpiece travel distance per reference unit input from the host controller. The
minimum unit of the position data moving a load is called a reference unit.

The section indicates the difference between using and not using an electronic gear when a
workpiece is moved 10 mm in the following configuration.
Workpiece

Encoder resolution (17 bit) 131072

Ball screw pitch: 6 mm

When the Electronic Gear is Not Used:

1 Calculate the revolutions.
1 revolution is 6 mm. Therefore, 10/6 revolutions.

2 Calculate the required reference units.

131072 reference units is 1 revolution. Therefore, 10/6 × 131072 = 218453.33 reference units.

3 Input 218453 references as reference units.

Reference units must be calculated per reference. → complicated

When the Electronic Gear is Used:

The reference unit is 1 μm. Therefore, to move the workpiece 10 mm (10000 μm),
1 reference unit = 1 μm, so 10000 ÷ 1 = 10000 reference units.
Input 10000 pulses as reference units.

Calculation of reference units per reference is not required. → simplified

4-20
 4.4 Trial Operation

(1) Electronic Gear Ratio

Set the electronic gear ratio using Pn20E and Pn210.

Electronic Gear Ratio (Numerator) Position

Classification
Pn20E Setting Range Setting Unit Factory Setting When Enabled
1 to 1073741824 1 4 After restart Setup
Electronic Gear Ratio (Denominator) Position
Classification
Pn210 Setting Range Setting Unit Factory Setting When Enabled
1 to 1073741824 1 1 After restart Setup

If the gear ratio of the servomotor and the load shaft is given as n/m where m is the rotation of the servomotor
and n is the rotation of the load shaft,
B Pn20E Encoder resolution m
Electronic gear ratio: = = ×
A Pn210 Travel distance per load n
shaft revolution (reference units)

Encoder Resolution
Encoder resolution can be checked with servomotor model designation.
SGMMV

Symbol Specification Encoder Resolutions

2 17-bit absolute 131072

Electronic gear ratio setting range: 0.001 ≤ Electronic gear ratio (B/A) ≤ 4000
If the electronic gear ratio is outside this range, a parameter setting error 1 (A.040) will
be output.

(2) Electronic Gear Ratio Setting Examples

The following examples show electronic gear ratio settings for different load configurations.

Load Configuration
Ball Screw Disc Table Belt and Pulley

Reference unit: 0.001 mm Reference unit: 0.005 mm

Reference unit: 0.01°
Step Operation Load shaft Load shaft
Gear ratio:
Gear ratio
1/100 1/50
17-bit encoder Ball screw Pulley diameter:
pitch: 6 mm 100 mm
Operation
Load shaft
17-bit encoder 17-bit encoder

Pulley diameter: 100 mm

Rotation angle per revolu-
Check machine specifica- Ball screw pitch: 6 mm (pulley circumference: 314
1 tion: 360°
tions. Gear ratio: 1/1 mm)
Gear ratio: 1/100
• Gear ratio: 1/50
Check the encoder reso-
4
2 131072 (17-bit) 131072 (17-bit) 131072 (17-bit)
lution.
Determine the reference Reference unit: 0.001 mm Reference unit: 0.005 mm
3 Reference unit: 0.01°
unit used. (1 μm) (5 μm)
Calculate the travel dis-
4 tance per load shaft revo- 6 mm/0.001 mm=6000 360°/0.01°=36000 314 mm/0.005 mm=62800
lution. (Reference unit)

Calculate the electronic B 131072 1 B 131072 100 B 131072 50

5
gear ratio. = ˜ = ˜ = ˜
A 6000 1 A 36000 1 A 62800 1
Pn20E: 131072 Pn20E: 13107200 Pn20E: 6553600
6 Set parameters.
Pn210: 6000 Pn210: 36000 Pn210: 62800

4-21
 4 Operation
4.5.1 Motor Information

4.5 Test Without Motor Function

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

SERVOPACK
Reference Reference Simulates the operation
without motor.
Host controller

Response Response
M-II

Use Pn00C.0 to enable or disable the test without a motor.

When
Parameter Meaning Classification
Enabled
n. 0
Disables the test without a motor.
Pn00C [Factory setting] After restart Setup
n. 1 Enables the test without a motor.

4.5.1 Motor Information

The motor information that is used for a test without a motor is given below.

(1) Motor Connected

If a motor is connected, the information from the connected motor is used for the motor and encoder informa-
tion. The set values of Pn00C.1 and Pn00C.2 are not used.

(2) Motor Not Connected

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

Encoder Resolution
The encoder information for the motor is set in Pn00C.1.

When
Parameter Meaning Classification
Enabled
n. 0 Sets 13 bits as encoder resolution for the test without a
[Factory setting] motor.
Pn00C After restart Setup
Sets 20 bits as encoder resolution for the test without a
n. 1 motor.

Encoder Type
The encoder information for the motor is set in Pn00C.2.

When
Parameter Meaning Classification
Enabled
n. 0 Sets an incremental encoder as encoder type for the test
[Factory setting] without a motor.
Pn00C After restart Setup
Sets an absolute encoder as encoder type for the test
n. 1 without a motor.

4-22
 4.5 Test Without Motor Function

4.5.2 Motor Position and Speed Responses

For the test without a motor, the following responses are simulated for references from the host controller
according to the gain settings for position or speed control.
• Servomotor position
• Servomotor speed
However, the load model will be a rigid system with the moment of inertia ratio that is set in Pn103.

Operation

4-23
 4 Operation
4.5.3 Limitations

4.5.3 Limitations
The following functions cannot be used during the test without a motor.

• Brake output signal (The brake output signal can be checked with the I/O signal monitor function of the Sig-
maWin+.)
• Items marked with "×" in the following utility function table.

Can be
used or not
Fn No. Contents
Motor not Motor
connected connected
Fn000 Alarm history display
Fn002 JOG operation
Fn003 Origin search
Fn004 Program JOG operation
Fn005 Initializing parameter settings
Fn006 Clearing alarm history
Fn008 Absolute encoder multiturn reset and encoder alarm reset ×
Fn00C Offset adjustment of analog monitor output
Fn00D Gain adjustment of analog monitor output
Fn00E Automatic offset-signal adjustment of the motor current detection signal ×
Fn00F Manual offset-signal adjustment of the motor current detection signal ×
Fn010 Write prohibited setting
Fn011 Servomotor model display
Fn012 Software version display
Multiturn limit value setting change when a multiturn limit disagreement alarm
Fn013 ×
occurs
Fn01B Vibration detection level initialization × ×
Fn01E Display of SERVOPACK and servomotor ID
Fn030 Software reset
Fn200 Tuning-less levels setting × ×
Fn201 Advanced autotuning × ×
Fn202 Advanced autotuning by reference × ×
Fn203 One-parameter tuning × ×
Fn204 Anti-resonance control adjustment function × ×
Fn205 Vibration suppression function × ×
Fn206 EasyFFT × ×
Fn207 Online vibration monitor × ×
Note: : Can be used
× : Cannot be used

4-24
 4.6 Limiting Torque

4.6 Limiting Torque

The SERVOPACK provides the following four methods for limiting output torque to protect the machine.

Limiting Method Reference

Description
Section
Internal torque limit Always limits torque by setting the parameter. 4.6.1

External torque limit Limits torque by input signal from the host controller. 4.6.2

Torque limit with P_TLIM,

Limits torque by using the P_TLIM and N_TLIM commands. –
N_TLIM commands *

Torque limit with P_CL/

N_CL signals of OPTION Combines torque limit methods by using an external input and
–
Field and P_TLIM/N_TLIM P_TLIM and N_TLIM commands.
commands *

∗ For details, refer to Σ-V Series User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).
Note: The maximum torque of the servomotor is used when the set value exceeds the maximum torque.

4.6.1 Internal Torque Limit

This function always limits maximum output torque by setting values of following parameters.

Forward Torque Limit 　 Speed 　 Position 　 Torque

Classification
Pn402 Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 800 Immediately Setup

Reverse Torque Limit 　 Speed 　 Position 　 Torque

Classification
Pn403 Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 800 Immediately Setup

The setting unit is a percentage of the rated torque.

Note: If the settings of Pn402 and Pn403 are too low, the torque may be insufficient for acceleration or deceleration of the
servomotor.
Torque waveform

No Internal Torque Limit

Internal Torque Limit
(Maximum torque can be output)

Limiting torque
Operation
Maximum torque
Speed Speed
Pn402

t t
Pn403
4

4-25
 4 Operation
4.6.2 External Torque Limit

4.6.2 External Torque Limit

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

(1) Input Signals

Use the following input signals to limit a torque by external torque limit.

Signal Connector
Type Setting Meaning Limit value
Name Pin Number
ON The smaller value of these set-
Forward external torque limit ON
(closed) tings: Pn402 or Pn404
Input /P-CL Must be allocated
OFF Forward external torque limit
Pn402
(open) OFF
ON The smaller value of these set-
Reverse external torque limit ON
(closed) tings: Pn403 or Pn405
Input /N-CL Must be allocated
OFF Reverse external torque limit
Pn403
(open) OFF

Note: Use parameter Pn50B.2 and Pn50B.3 to allocate the /P-CL signal and the /N-CL signal for use. For details, refer to
3.3.1 Input Signal Allocations.

(2) Related Parameters

Set the following parameters for external torque limit.

Forward Torque Limit Speed 　 Position 　 Torque

Classification
Pn402 Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 800 Immediately Setup

Reverse Torque Limit Speed 　 Position 　 Torque

Classification
Pn403 Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 800 Immediately Setup

Forward External Torque Limit Speed 　 Position 　 Torque

Classification
Pn404 Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 100 Immediately Setup

Reverse External Torque Limit Speed 　 Position 　 Torque

Classification
Pn405 Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 100 Immediately Setup

The setting unit is a percentage of the rated torque.

Note: If the settings of Pn402, Pn403, Pn404, and Pn405 are too low, the torque may be insufficient for acceleration or
deceleration of the servomotor.

4-26
 4.6 Limiting Torque

(3) Changes in Output Torque during External Torque Limiting

The following diagrams show the change in output torque when the internal torque limit is set to 800%.

In this example, the servomotor rotation direction is Pn000.0 = 0 (Sets CCW as forward direction).

/P-CL
OFF ON

Pn402 Pn402
Speed Speed
Pn404

OFF 0 0

Torque Torque

Pn403 Pn403
/N-CL
Pn402 Pn402
Speed Speed
Pn404

ON 0 0

Pn405 Pn405
Torque Torque

Pn403 Pn403

4.6.3 Checking Output Torque Limiting during Operation

The following signal can be output to indicate that the servomotor output torque is being limited.

Connector
Type Signal Name Setting Meaning
Pin Number
Servomotor output torque is being lim-
ON (closed)
ited.
Output /CLT Must be allocated
Servomotor output torque is not being
OFF (open)
limited.

Note: Use parameter Pn50F.0 to allocate the /CLT signal for use. For details, refer to 3.3.2 Output Signal Allocations.

Operation

4-27
 4 Operation
4.7.1 Connecting the Absolute Encoder

4.7 Absolute Encoders

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

A battery case is required to save position data in the absolute encoder.

The battery is attached to the battery case of the encoder cable.

Set Pn002.2 to 0 (factory setting) to use the absolute encoder.

When
Parameter Meaning Classification
Enabled
n. 0
Uses the absolute encoder as an absolute encoder.
Pn002 [Factory setting] After restart Setup
n. 1 Uses the absolute encoder as an incremental encoder.

The SEN signal and battery are not required when using the absolute encoder as an incremental encoder.

4.7.1 Connecting the Absolute Encoder

The following diagram shows the connection between a servomotor with an absolute encoder, the SERVO-
PACK, and the host controller.

SERVOPACK
MEC
HA
Absolute encoder

∗1
CN2
PS 5
/PS 6
SN75ALS174
ENC output line driver or
the equivalent

PG5 V 1
PG0 V 2

BAT (+)∗2 3
BAT (-) ∗2 4

Connector
Battery shell

(Shell)

∗1. : represents shielded twisted-pair wires.

∗2. When using an absolute encoder, provide power by installing an encoder cable with a JUSP-BA01-E Battery Case or
install a battery on the host controller.

4-28
 4.7 Absolute Encoders

4.7.2 Absolute Data Request (SENS ON Command)

The Turn Encoder Power Supply ON command (SENS_ON) must be sent to obtain absolute data as an output
from the SERVOPACK.

The SENS_ON command is sent at the following timing.

ON
M-II
SERVOPACK control *
power supply OFF 5 seconds max. OFF

ON (Normal status)
ALM signal OFF
(Alarm status) OFF OFF
SENS_ON ON
(Turn Encoder Power
Supply ON) OFF OFF
ON

Servomotor power OFF OFF

Approx. 560 ms max.

The servomotor will not be turned ON even if the SV_ON command is received during this interval.
∗ Send the SENS_OFF command to turn OFF the control power supply.

Operation

4-29
 4 Operation
4.7.3 Battery Replacement

4.7.3 Battery Replacement

If the battery voltage drops to approximately 2.7 V or less, an absolute encoder battery error alarm (A.830) or
an absolute encoder battery error warning (A.930) will be displayed.

If this alarm or warning is displayed, replace the batteries using the following procedure.

Use Pn008.0 to set either an alarm (A.830) or a warning (A.930).

When
Parameter Meaning Classification
Enabled
n. 0 Outputs the alarm A.830 when the battery voltage
[Factory setting] drops.
Pn008 After restart Setup
Outputs the warning A.930 when the battery voltage
n. 1
drops.

• If Pn008.0 is set to 0, alarm detection will be enabled for 4 seconds after the ALM signal outputs max. 5 sec-
onds when the control power is turned ON.
No battery-related alarm will be displayed even if the battery voltage drops below the specified value after
these 4 seconds.
• If Pn008.0 is set to 1, alarm detection will be always enabled after the ALM signal outputs max. 5 seconds
when the control power supply is turned ON.
ON

Control power OFF

ALM
Alarm status Normal status
5 s max. 4s

Battery
Alarm A.830 voltage being
(Pn008.0 = 0) monitored

Warning A.930 Battery voltage

(Pn008.0 = 1) being monitored

4-30
 4.7 Absolute Encoders

(1) Battery Replacement Procedure

1. Turn ON the control power supply of the SERVOPACK only.
2. Open the battery case cover.

Open the cover.

3. Remove the old battery and mount the new JZSP-BA01 battery as shown below.
To the SERVOPACK

Encoder Cable

Mount the JZSP-BA01 battery.

4. Close the battery case cover.

Close the cover.

Operation

5. After replacing the battery, turn OFF the control power supply to clear the absolute encoder battery error
alarm (A.830).
6. Turn ON the control power supply again. 4
7. Check that the alarm display has been cleared and that the SERVOPACK operates normally.

If the SERVOPACK control power supply is turned OFF and the battery is disconnected
(which includes disconnecting the encoder cable), the absolute encoder data will be
deleted.

4-31
 4 Operation
4.7.4 Absolute Encoder Setup

4.7.4 Absolute Encoder Setup

CAUTION
• The rotational data will be a value between -2 and +2 rotations when the absolute encoder setup is exe-
cuted. The reference position of the machine system will change. Set the reference position of the host
controller to the position after setup.
If the machine is started without adjusting the position of the host controller, unexpected operation may
cause injury or damage to the machine. Take sufficient care when operating the machine.

Setting up the absolute encoder is necessary in the following cases.

• When starting the machine for the first time

• When an encoder backup error alarm (A.810) is generated
• When an encoder checksum error alarm (A.820) is generated
• When initializing the rotational serial data of the absolute encoder

(1) Precautions on Setup

• If the following absolute encoder alarms are displayed, cancel the alarm by using the same method as the
absolute encoder setup. They cannot be canceled with the SERVOPACK Clear Warning or Alarm command
(ALM_CLR).
• Encoder backup error alarm (A.810)
• Encoder checksum error alarm (A.820)
• Any other alarms (A.8 ) that monitor the inside of the encoder should be canceled by turning OFF the
power.
(2) Preparation
The following conditions must be met to setup the absolute encoder.
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• The servomotor power must be OFF.
(3) Operating Procedure
Use the following procedure.
This setting can be performed using the adjustment command (ADJ). For details, refer to Σ-V Series User’s
Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).
1. Make sure that the motor power is OFF.
2. In the SigmaWin+ main window, click Setup – Set Absolute Encoder – Reset Absolute
Encoder.
A warning message will appear confirming if you want to continue the processing.
MEC
HA

Click Cancel to return to the main window without resetting the absolute encoder.

4-32
 4.7 Absolute Encoders

3. Click Continue.
The Absolute encoder Setup box will appear.
MEC
HA

The Alarm Name box displays the code and name of the alarm that is occurring now.

4. Click Execute setting.

A verification message will appear confirming if you want to continue although the coordinate system
will change.
MECHA

Click Cancel to return to the previous window without resetting the absolute encoder.

5. Click Continue to set up the encoder.

<If Setup is Unsuccessful>
If setting up is attempted with the servo ON, a reset conditions error occurs, and the processing is
aborted.
MECHA
Operation

Click OK to return to the main window.

<If Setup Completes Normally>

MECHA 4

If the encoder is set up successfully, a warning message will appear reminding you that the coordinate
system has changed and must also be reset.

4-33
 4 Operation
4.7.4 Absolute Encoder Setup

6. Click OK to return to the main window.

7. To perform an origin search, restart the SERVOPACK.

4-34
 4.7 Absolute Encoders

4.7.5 Multiturn Limit Setting

The multiturn limit setting is used in position control applications for a turntable or other rotating device. For
example, consider a machine that moves the turntable in the following diagram in only one direction.
Turntable

Gear

Servomotor

Because the turntable moves in only one direction, the upper limit for revolutions that can be counted by an
absolute encoder will eventually be exceeded. The multiturn limit setting is used in cases like this to prevent
fractions from being produced by the integral ratio of the motor revolutions and turntable revolutions.

For a machine with a gear ratio of n:m, as shown above, the value of m minus 1 will be the setting for the mul-
titurn limit setting (Pn205).

Multiturn limit setting (Pn205) = m-1

The case in which the relationship between the turntable revolutions and motor revolutions is m = 100 and n =
3 is shown in the following graph.

Pn205 is set to 99.

Pn205 = 100 − 1 = 99
9
8
7 Table rotations
6
Table 5 Rotational
rotations 4 Set value of Pn205 = 99 serial data
Rotational data
3 100
2
50
1
0
100 200 300 0
Motor rotations

Multiturn Limit Setting Speed Position Torque

Classification
Pn205 Setting Range Setting Unit Factory Setting When Enabled
Operation

0 to 65535 1 Rev 65535 After restart Setup

Note: This parameter is valid when the absolute encoder is used.

The range of the data will vary when this parameter is set to anything other than the factory setting. 4
1. When the motor rotates in the reverse direction with the rotational data at 0, the rotational data will change
to the setting of Pn205.
2. When the motor rotates in the forward direction with the rotational data at the Pn205 setting, the rotational
data will change to 0.

4-35
 4 Operation
4.7.6 Multiturn Limit Disagreement Alarm (A.CC0)

Set the value, the desired rotational amount -1, to Pn205.

Factory Setting (= 65535) Other Setting (≠65535)

+32767 Reverse
Pn205 setting value Forward
Forward Reverse

Rotational 0
data Rotational
data 0
Motor rotations
-32768 Motor rotations

4.7.6 Multiturn Limit Disagreement Alarm (A.CC0)

When the multiturn limit set value is changed with parameter Pn205, a multiturn limit disagreement alarm
(A.CC0) will be displayed because the value differs from that of the encoder.

Alarm
Alarm Name Alarm Output Meaning
Display
Different multiturn limits have been set in the
A.CC0 Multiturn Limit Disagreement OFF (H)
encoder and SERVOPACK.
If this alarm is displayed, perform the procedure given in (2) Operating Procedure to change the multiturn
limit value in the encoder to the value set in Pn205.

(1) Preparation
The following condition must be met to clear the alarm and change the multiturn limit value.
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).

(2) Operating Procedure

Use the following procedure.

This setting can be performed with the adjustment command (ADJ).

For information the adjustment command (ADJ), refer to Σ-V Series User’s Manual MECHATROLINK-II
Commands (Manual No.: SIEP S800000 54).
1. In the SigmaWin+ main window, click Setup – Set Absolute Encoder – Multi-Turn Limit
Setting.
A verification message will appear confirming if you want to continue although the position data will
change.
MEC
HA

Click Cancel to return to the main window without setting the multi-turn limit.

4-36
 4.7 Absolute Encoders

2. Click Continue.
The Multi-Turn Limit Setting box will appear.
MEC
HA

3. Change the setting to the desired number of revolutions.

MEC
HA

4. To save the settings, click Writing into the Servopack.

A warning message will appear.
MEC
HA

Operation

5. Click OK and the settings are changed to the new ones. 4

6. Restart the SERVOPACK.
Because only the settings for the SERVOPACK were made, the settings for the servomotor are still
incomplete and an alarm occurs.

4-37
 4 Operation
4.7.6 Multiturn Limit Disagreement Alarm (A.CC0)

7. Return to the SigmaWin+ main window. To make the settings for the servomotor, click Setup –
Multi-Turn Limit Setting again.
A verification message will appear confirming if you want to continue although the position data will
change.
MEC
HA

8. Click Continue.
The Multi-Turn Limit Setting box will appear. To change the settings, click Re-Change.
MEC
HA

9. To save the settings, click Writing into the Motor.

A warning message will appear.
MEC
HA

10. Click OK.

4-38
 4.7 Absolute Encoders

4.7.7 Absolute Encoder Origin Offset

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

Absolute Encoder Origin Offset Position 　

Classification
Pn808 Setting Range Setting Unit Factory Setting When Enabled
-1073741823 to
1 reference unit 0 Immediately Setup
1073741823
<Example>
If the encoder position (X) is set at the origin of the machine coordinate system (0), Pn808 = X.

Origin MECHA

Machine coordinate
system position
(APOS)
Pn808 Encoder position
Encoder position

Encoder position: Origin

Operation

4-39
 4 Operation
4.8.1 Servo Alarm Output Signal (ALM)

4.8 Other Output Signals

This section explains other output signals.

Use these signals according to the application needs, e.g., for machine protection.

4.8.1 Servo Alarm Output Signal (ALM)

This section describes signals that are output when the SERVOPACK detects errors and resetting methods.

(1) Servo Alarm Output Signal (ALM)

This signal is output when the SERVOPACK detects an error.

Configure an external circuit so that this alarm output turns OFF the main circuit power
supply for the SERVOPACK whenever an error occurs.

Signal Connector
Type Setting Meaning
Name Pin Number
ON (closed) Normal SERVOPACK status
Output ALM CN1-4
OFF (open) SERVOPACK alarm status

(2) Alarm Reset Method

If a servo alarm (ALM) occurs, use one of the following methods to reset the alarm after eliminating the cause
of the alarm.

Be sure to eliminate the cause of the alarm before resetting it.

If the alarm is reset and operation continued without eliminating the cause of the alarm, it
may result in damage to the equipment or fire.

Resetting Alarms by Sending Clear Warning or Alarm Command (ALM_CLR)

For details, refer to Σ-V Series User’s Manual, MECHATROLINK-II Commands (Manual No.: SIEP S800000
54).

4.8.2 Warning Output Signal (/WARN)

This signal is for a warning issued before the occurrence of an alarm.
Refer to 8.2.1 List of Warnings.

Signal Specifications
Signal Connector Pin
Type Setting Meaning
Name Number
ON (closed) Warning status
Output /WARN Must be allocated
OFF (open) Normal status

Note: Use parameter Pn50F.3 to allocate the /WARN signal for use. For details, refer to 3.3.2 Output Signal Alloca-
tions.

4-40
 4.8 Other Output Signals

4.8.3 Rotation Detection Output Signal (/TGON)

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

(1) Signal Specifications

Signal Connector Pin
Type Setting Meaning
Name Number
Servomotor is rotating with the motor speed above
ON (closed)
the setting in Pn502.
Output /TGON Must be allocated
Servomotor is rotating with the motor speed below
OFF (open)
the setting in Pn502.

Note: Use parameter Pn50E.2 to allocate the /TGON signal for use. For details, refer to 3.3.2 Output Signal Alloca-
tions.
(2) Related Parameter
Set the range in which the /TGON signal is output using the following parameter.

Rotation Detection Level 　 Speed 　 Position 　 Torque

Classification
Pn502 Setting Range Setting Unit Factory Setting When Enabled
1 to 10000 1 min-1 20 Immediately Setup

4.8.4 Servo Ready Output Signal (/S-RDY)

This signal is turned ON when the SERVOPACK is ready to accept the servo ON (SV_ON) command.

The /S-RDY signal is turned ON under the following conditions.

• The main circuit power supply is ON.

• No servo alarms
• The Turn Encoder Power Supply ON (SENS_ON) command is received. (When an absolute encoder is
used.)
• If an absolute encoder is used, the output of absolute data to the host controller must have been completed
when the SENS_ON command is received.

(1) Signal Specifications

Signal Connector Pin
Type Setting Meaning
Name Number
The SERVOPACK is ready to accept the SV_ON
ON (closed)
command.
Output /S-RDY Must be allocated
The SERVOPACK is not ready to accept the
Operation

OFF (open)
SV_ON command.

Note: Use parameter Pn50E.3 to allocate the /S-RDY signal for use. For details, refer to 3.3.2 Output Signal Allocations.

4-41
 4 Operation
4.8.5 Speed Coincidence Output Signal (/V-CMP)

4.8.5 Speed Coincidence Output Signal (/V-CMP)

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

Signal Connector Pin

Type Setting Meaning
Name Number
ON (closed) Speed coincides.
Output /V-CMP Must be allocated
OFF (open) Speed does not coincide.

Note: Use parameter Pn50E.1 to allocate the /V-CMP signal for use. Refer to 3.3.2 Output Signal Allocations for details.

Speed Coincidence Signal Output Width Speed

Classification
Pn503 Setting Range Setting Unit Factory Setting When Enabled
0 to 100 1 min-1 10 Immediately Setup

The /V-CMP signal is output when the difference between the reference speed and actual motor speed is below
this setting.

Motor speed

Pn503

Reference speed

/V-CMP is output in
this range.

<Example>
The /V-CMP signal is output at 1900 to 2100 min-1 if the Pn503 is set to 100 and the reference speed is 2000
min-1.

4-42
 4.8 Other Output Signals

4.8.6 Positioning Completed Output Signal (/COIN)

This signal indicates that servomotor movement has been completed during position control.

When the difference between the number of references output by the host controller and the travel distance of
the servomotor (position error) drops below the set value in the parameter, the positioning completion signal
will be output.

Use this signal to check the completion of positioning from the host controller.

Signal Connector
Type Setting Meaning
Name Pin Number
ON (closed) Positioning has been completed.
Output /COIN Must be allocated
OFF (open) Positioning is not completed.

Note: Use parameter Pn50E.0 to allocate the /COIN signal for use. Refer to 3.3.2 Output Signal Allocations for details.

Positioning Completed Width Position

Classification
Pn522 Setting Range Setting Unit Factory Setting When Enabled
0 to 1073741824 1 reference unit 7 Immediately Setup

The positioning completed width setting has no effect on final positioning accuracy.
Reference
Motor speed Motor speed

Time
Pn522
Position error

Time

/COIN Effective at ON (close).

Time

Note: If the parameter is set to a value that is too large, a positioning completed signal might be output if the position error
is low during a low speed operation. This will cause the positioning completed signal to be output continuously. If
this signal is output unexpectedly, reduce the set value until it is no longer output.

If the position error is kept to a minimum when the positioning completed width is small, use Pn207.3 to
change output timing for the /COIN signal.

When
Parameter Name Meaning Classification
Enabled
Operation

When the absolute value of the posi-

n.0
tion error is below the positioning
[Factory setting]
completed width (Pn522).
When the absolute value of the posi-
tion error is below the positioning
n.1 /COIN Output completed width (Pn522), and the ref-
Pn207
Timing erence after applying the position ref-
After restart Setup 4
erence filter is 0.
When the absolute value of the posi-
tion error is below the positioning
n.2
completed width (Pn522), and the
position reference input is 0.

4-43
 4 Operation
4.8.7 Positioning Near Output Signal (/NEAR)

4.8.7 Positioning Near Output Signal (/NEAR)

Before confirming that the positioning completed signal has been received, the host controller first receives a
positioning near signal and can prepare the operating sequence after positioning has been completed. The time
required for this sequence after positioning can be shortened.

This signal is generally used in combination with the positioning completed output signal.

Signal Connector
Type Setting Meaning
Name Pin Number
The servomotor has reached a point near to
ON (closed)
positioning completed.
Output /NEAR Must be allocated
The servomotor has not reached a point near
OFF (open)
to positioning completed.

Note: Use parameter Pn510.0 to allocate the /NEAR signal for use. Refer to 3.3.2 Output Signal Allocations for details.

NEAR Signal Width Position

Classification
Pn524 Setting Range Setting Unit Factory Setting When Enabled
1 to 1073741824 1 reference unit 1073741824 Immediately Setup
The positioning near signal (/NEAR) is output when the difference between the number of references output
by the host controller and the travel distance of the servomotor (position error) is less than the set value.
Motor speed Reference
Motor speed

Position error Pn524 Pn522 Time

0
Time

/NEAR Effective at ON (close).

Time
/COIN Effective at ON (close).
Time

Note: Normally, the value of Pn524 should be larger than that for the positioning completed width (Pn522).

4.8.8 Speed Limit Detection Signal (/VLT)

This function limits the speed of the servomotor to protect the machine.

A servomotor in torque control is controlled to output the specified torque, but the motor speed is not con-
trolled. Therefore, if an excessive reference torque is set for the load torque on the machinery side, the speed
of the servomotor may increase greatly. If that may occur, use this function to limit the speed.

Note: The actual limit value of motor speed depends on the load conditions of the servomotor.

With No Speed Limit With Speed Limit

Danger of damage due to Motor speed

Motor speed critical speed.
Maximum speed Safe operation with
speed limit.
Limiting speed

Time Time

Refer to the following parameters for speed limit.

4-44
 4.8 Other Output Signals

(1) Signals Output during Servomotor Speed Limit

The following signal is output when the motor speed reaches the limit speed.

Signal Connector
Type Setting Meaning
Name Pin Number
ON (closed) Servomotor speed limit being applied.
Output /VLT Must be allocated
OFF (open) Servomotor speed limit not being applied.
Note: Use parameter Pn50F.1 to allocate the /VLT signal for use. For details, refer to 3.3.2 Output Signal Allocations.

(2) Speed Limit Setting

Select the speed limit mode with Pn002.1.

When
Parameter Meaning Classification
Enabled
VLIM (the speed limit value during torque control) is
n. 0
not available. Uses the value set in Pn407 as the speed
[Factory setting]
Pn002 limit (internal speed limit function). After restart Setup
VLIM operates as the speed limit value (external speed
n. 1
limit function).

Internal Speed Limit Function

If the internal speed limit function is selected in Pn002.1, set the limit of the maximum speed of the servomo-
tor in Pn407. The limit of the speed in Pn408.1 can be either the maximum speed of the servomotor or the
overspeed alarm detection speed. Select the overspeed alarm detection speed to limit the speed to the maxi-
mum speed of the servomotor or the equivalent.

Speed Limit During Torque Control Torque

Classification
Pn407 Setting Range Setting Unit Factory Setting When Enabled
0 to 10000 1 min-1 10000 Immediately Setup

Note: The servomotor’s maximum speed or the overspeed alarm detection speed will be used when the setting in this
parameter exceeds the maximum speed of the servomotor used.

When
Parameter Meaning Classification
Enabled
n. 0 Uses the smaller value of the maximum motor speed
[Factory setting] and the value of Pn407 as the speed limit value.
Pn408 After restart Setup
Uses the smaller value of the overspeed alarm detec-
n. 1
tion speed and the value of Pn407 as speed limit value.

External Speed Limit Function

Operation

If the external speed limit function is selected in Pn002.1, the motor speed is controlled by the speed limit
value (VLIM). For details, refer to Σ-V Series User’s Manual, MECHATROLINK-II Commands (Manual No.:
SIEP S800000 54).

4-45
 5
Adjustments

5.1 Type of Adjustments and Basic Adjustment Procedure . . . . . . . . . . . . . . 5-3

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

5.2 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11

5.2.1 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.2.2 Tuning-less Levels Setting (Fn200) Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
5.2.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17

5.3 Advanced Autotuning (Fn201) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18

5.3.1 Advanced Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
5.3.2 Advanced Autotuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21
5.3.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33

5.4 Advanced Autotuning by Reference (Fn202) . . . . . . . . . . . . . . . . . . . . . 5-34

5.4.1 Advanced Autotuning by Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-34
5.4.2 Advanced Autotuning by Reference Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-36
5.4.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-42

5.5 One-parameter Tuning (Fn203) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43

5.5.1 One-parameter Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
5.5.2 One-parameter Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
Adjustments

5.5.3 One-parameter Tuning Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-52

5.5.4 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-53

5.6 Anti-Resonance Control Adjustment Function (Fn204) . . . . . . . . . . . . . 5-54

5.6.1 Anti-Resonance Control Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-54
5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure . . . . . . . . . . . . 5-55
5.6.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63 5
5.7 Vibration Suppression Function (Fn205) . . . . . . . . . . . . . . . . . . . . . . . . 5-64
5.7.1 Vibration Suppression Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-64
5.7.2 Vibration Suppression Function Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . 5-65
5.7.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-70

5-1
 5 Adjustments

5.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71

5.8.1 Switching Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71
5.8.2 Manual Adjustment of Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-75
5.8.3 Current Control Mode Selection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-77
5.8.4 Current Gain Level Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-77
5.8.5 Speed Detection Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-77
5.8.6 Backlash Compensation Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-78

5.9 Compatible Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84

5.9.1 Feedforward Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84
5.9.2 Mode Switch (P/PI Switching) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-85
5.9.3 Torque Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-87
5.9.4 Position Integral . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-89

5-2
 5.1 Type of Adjustments and Basic Adjustment Procedure

5.1 Type of Adjustments and Basic Adjustment Procedure

This section describes type of adjustments and the basic adjustment procedure.

5.1.1 Adjustments
Adjustments (tuning) are performed to optimize the responsiveness of the SERVOPACK.

The responsiveness is determined by the servo gain that is set in the SERVOPACK.

The servo gain is set using a combination of parameters, such as speed loop gain, position loop gain, filters,
friction compensation, and moment of inertia ratio. These parameters influence each other. Therefore, the
servo gain must be set considering the balance between the set values.

Generally, the responsiveness of a machine with high rigidity can be improved by increasing the servo gain. If
the servo gain of a machine with low rigidity is increased, however, the machine will vibrate and the respon-
siveness may not be improved. In such case, it is possible to suppress the vibration with a variety of vibration
suppression functions in the SERVOPACK.

The servo gains are factory-set to appropriate values for stable operation. The following utility function can be
used to adjust the servo gain to increase the responsiveness of the machine in accordance with the actual con-
ditions. With this function, parameters related to adjustment above will be adjusted automatically and the need
to adjust them individually will be eliminated.

This section describes the following utility adjustment functions. The SigmaWin+ is required to make adjust-
ments.

Utility Function for Applicable Control

Outline
Adjustment Method
Tuning-less This function is enabled when the factory settings are used. This
Levels Setting function can be used to obtain a stable response regardless of the Speed and Position
(Fn200) type of machine or changes in the load.
The following parameters are automatically adjusted using inter-
nal references in the SERVOPACK during automatic operation.
• Moment of inertia ratio
Advanced Autotuning • Gains (position loop gain, speed loop gain, etc.)
Speed and Position
(Fn201) • Filters (torque reference filter, notch filter)
• Friction compensation
• Anti-resonance control adjustment function
• Vibration suppression function
The following parameters are automatically adjusted with the
position reference input from the host controller while the
machine is in operation.
Advanced Autotuning by • Gains (position loop gain, speed loop gain, etc.)
Position
Reference (Fn202) • Filters (torque reference filter, notch filter)
• Friction compensation
Adjustments

• Anti-resonance control adjustment function

• Vibration suppression function
The following parameters are manually adjusted with the position
or speed reference input from the host controller while the
machine is in operation.
One-parameter Tuning • Gains (position loop gain, speed loop gain, etc.) Speed and Position
(Fn203)
• Filters (torque reference filter, notch filter) 5
• Friction compensation
• Anti-resonance control adjustment function
Anti-Resonance Control
Adjustment Function This function effectively suppresses continuous vibration. Speed and Position
(Fn204)
Vibration Suppression This function effectively suppresses residual vibration if it occurs
Position
Function (Fn205) when positioning.

5-3
 5 Adjustments
5.1.2 Basic Adjustment Procedure

5.1.2 Basic Adjustment Procedure

The basic adjustment procedure is shown in the following flowchart. Make suitable adjustments considering
the conditions and operating requirements of the machine.
Start adjusting servo gain.

(1) Adjust using Tuning-less Function.

Runs the servomotor without any adjustments.
Refer to 5.2 Tuning-less Function.

Yes
Results OK? Completed.

No

(2) Adjust using Advanced Autotuning.

Automatically adjusts the moment of inertia ratio, gains, and filters
with internal references in the SERVOPACK.
Refer to 5.3 Advanced Autotuning (Fn201).

Yes
Results OK? Completed.

No

(3) Adjust using Advanced Autotuning by Reference.

Automatically adjusts gains and filters with user reference inputs.
Refer to 5.4 Advanced Autotuning by Reference (Fn202).

Yes
Results OK? Completed.

No
(4) Adjust using One-parameter Tuning.
Manually adjusts gains and filters.
Position loop gain, speed loop gain, filters, and friction compensation
adjustments are available.
Refer to 5.5 One-parameter Tuning (Fn203).

Yes
Results OK? Completed.

No

Continuous vibration occurs.

Reduce the vibration using Anti-resonance Control Adjustment Function.
Refer to 5.6 Anti-Resonance Control Adjustment Function (Fn204).
Residual vibration occurs at positioning.
Reduce the vibration using Vibration Suppression Function.
Refer to 5.7 Vibration Suppression Function (Fn205).

No
Results OK?

Yes

Completed.

5-4
 5.1 Type of Adjustments and Basic Adjustment Procedure

5.1.3 Monitoring Operation during Adjustment

While adjusting the servo gain, always monitor the operating status of the machine and the signal waveform.
Connect a measurement instrument, such as a memory recorder, to the SERVOPACK to monitor the signal
waveform.

The settings and parameters that are related to monitoring the analog signal are described in the following sec-
tions.

(1) Connecting the Measurement Instrument

Use the external monitor connector (CN5) on the SERVOPACK to connect the measurement instrument. The
devices and cables that are required for connection are listed below.
• Analog monitor unit (model: JUSP-PC001-E)
• Analog monitor unit connection cable (model: JZSP-CF1S06-A3-E)
• Analog monitor cable (model: JZSP-CA01-E)
Connection examples are shown below.

M-II
Analog Measuring probe
Connection monitor White
cable for analog unit Cable for
Black
monitor unit analog monitor Measuring
Probe GND instrument*
Red Measuring probe

Black
Probe GND
∗ Measuring instrument is not included.
Line Color Signal Name Factory Setting
White Analog monitor 1 Torque reference: 1 V/100% rated torque
Red Analog monitor 2 Motor speed: 1 V/1000 min-1
Black (2 lines) GND Analog monitor GND: 0 V

(2) Monitor Signal

The shaded parts in the following diagram indicate analog output signals that can be monitored.

SERVOPACK
MECHA
Torque CN6A/CN6B Speed feedforward Torque feedforward
reference
Speed
Adjustments

Position reference speed Speed reference

reference

Speed Position Torque

Active gain reference
conversion amplifier error

Position loop CN4

Position
reference + + + + +
Electronic Backlash Error Speed Current
gear compensation counter
Kp loop loop M Load
5
- -
(U/V/W)
+ 1
+ Motor rotational CN2
Electronic
- gear speed
Speed ENC
Error conversion
counter

Position error
Positioning completed
Completion of position reference

5-5
 5 Adjustments
5.1.3 Monitoring Operation during Adjustment

The following signals can be monitored by selecting functions with parameters Pn006 and Pn007.
Pn006 is used for analog monitor 1 and Pn007 is used for analog monitor 2.

Description
Parameter
Monitor Signal Unit Remarks
n. 00
[Pn007
Factory
Motor rotating speed 1 V/1000 min-1 −
Setting]
n. 01 Speed reference 1 V/1000 min-1 −
n. 02
[Pn006
Torque reference 1 V/100% rated torque −
Factory
Setting]
n. 03 Position error 0.05 V/1 reference unit 0 V at speed/torque control
0.05 V/1 encoder pulse Position error after electronic
n. 04 Position amplifier error
unit gear conversion
n. 05 Position reference speed 1 V/1000 min-1 −
Pn006
Pn007 n. 06
Reserved (Do not change.) − −
n. 07
Positioning completed:
5V Completion indicated by out-
n. 08 Positioning completed
Positioning not com- put voltage.
pleted: 0 V
n. 09 Speed feedforward 1 V/1000 min-1 −
n. 0A Torque feedforward 1 V/100% rated torque −
1st gain: 1 V Gain type indicated by output
n. 0B Active gain * 2nd gain: 2 V voltage.
Completed: 5 V Completion indicated by out-
n. 0C Completion of position reference
Not completed: 0 V put voltage.
n. 0D Reserved (Do not change.) − −

∗ Refer to 5.8.1 Switching Gain Settings for details.

5-6
 5.1 Type of Adjustments and Basic Adjustment Procedure

(3) Setting Monitor Factor

The output voltages on analog monitors 1 and 2 are calculated by the following equations.

Analog monitor 1 output voltage = (-1) × Signal selection × Multiplier + Offset voltage [V]
(Pn006=n.00‫)غغ‬ (Pn552) (Pn550)
Analog monitor 2 output voltage = (-1) × Signal selection × Multiplier + Offset voltage [V]
(Pn007=n.00‫)غغ‬ (Pn553) (Pn551)

<Example>
Analog monitor output at n. 00 (motor rotating speed setting)

When multiplier is set to × 1: When multiplier is set to × 10:

Analog monitor Analog monitor
output voltage [V] output voltage [V]
+10 V (approx.)
+8 V
+6 V
+6 V

+6000 Motor speed +600 +800 Motor speed

-6000 [min-1] -800 -600 [min-1]

-6 V -6 V
-8 V
-10 V (approx.)

Note: Linear effective range: within ± 8 V

Output resolution: 16-bit

(4) Related Parameters

Use the following parameters to change the monitor factor and the offset.
Analog Monitor 1 Offset Voltage Speed 　 Position 　 Torque
Classification
Pn550 Setting Range Setting Unit Factory Setting When Enabled
-10000 to 10000 0.1 V 0 Immediately Setup
Analog Monitor 2 Offset Voltage Speed 　 Position 　 Torque
Classification
Pn551 Setting Range Setting Unit Factory Setting When Enabled
-10000 to 10000 0.1 V 0 Immediately Setup
Analog Monitor Magnification (× 1) Speed 　 Position 　 Torque
Classification
Pn552 Setting Range Setting Unit Factory Setting When Enabled
-10000 to 10000 × 0.01 100 Immediately Setup
Adjustments

Analog Monitor Magnification (× 2) Speed 　 Position 　 Torque

Classification
Pn553 Setting Range Setting Unit Factory Setting When Enabled
-10000 to 10000 × 0.01 100 Immediately Setup

5-7
 5 Adjustments
5.1.4 Safety Precautions on Adjustment of Servo Gains

5.1.4 Safety Precautions on Adjustment of Servo Gains

CAUTION
• If adjusting the servo gains, observe the following precautions.
• Do not touch the rotating section of the servomotor while power is being supplied to the motor.
• Before starting the servomotor, make sure that the SERVOPACK can come to an emergency stop at any time.
• Make sure that a trial operation has been performed without any trouble.
• Install a safety brake on the machine.

Set the following protective functions of the SERVOPACK to the correct settings before starting to adjust the
servo gains.

(1) Overtravel Function

Set the overtravel function. For details on how to set the overtravel function, refer to 4.3.2 Overtravel.

(2) Torque Limit

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

(3) Excessive Position Error Alarm Level

The excessive position error alarm is a protective function that will be enabled when the SERVOPACK is used
in position control.

If this alarm level is set to a suitable value, the SERVOPACK will detect an excessive position error and will
stop the servomotor if the servomotor does not operate according to the reference. The position error indicates
the difference between the position reference value and the actual motor position.
The position error can be calculated from the position loop gain (Pn102) and the motor speed with the follow-
ing equation.

Motor Speed [min-1] Encoder Resolution*1 Pn210

Position Error [reference unit] = ˜ ˜
60 Pn102 [0.1/s]/10*2 Pn20E
• Excessive Position Error Alarm Level (Pn520 [1 reference unit])

Max. Motor Speed [min-1] Encoder Resolution*1 Pn210

Pn520 > × × × (1.2 to 2)
60 Pn102 [0.1/s]/10*2 Pn20E
∗1. Refer to 4.4.3 Electronic Gear.
∗2. To check the Pn102 setting, change the parameter display setting to display all parameters (Pn00B.0 = 1).
At the end of the equation, a coefficient is shown as "× (1.2 to 2)." This coefficient is used to add a margin that
prevents a position error overflow alarm (A.d00) from occurring in actual operation of the servomotor.

Set the level to a value that satisfies these equations, and no position error overflow alarm (A.d00) will be gen-
erated during normal operation. The servomotor will be stopped, however, if it does not operate according to
the reference and the SERVOPACK detects an excessive position error.

The following example outlines how the maximum limit for position deviation is calculated. These conditions
apply.
• Maximum speed = 6000
• Encoder resolution = 131072 (17 bits)
• Pn102 = 400
Pn210 1
• Pn20E = 1

5-8
 5.1 Type of Adjustments and Basic Adjustment Procedure

Under these conditions, the following equation is used to calculate the maximum limit (Pn520).

6000 131072 1
Pn520 = × × ×2
60 400/10 1
= 327680 × 2

= 655360
If the acceleration/deceleration of the position reference exceeds the capacity of the servomotor, the servomo-
tor cannot perform at the requested speed, and the allowable level for position error will be increased as not to
satisfy these equations. If so, lower the level of the acceleration/deceleration for the position reference so that
the servomotor can perform at the requested speed or increase the excessive position error alarm level
(Pn520).

Related Parameter
Excessive Position Error Alarm Level Position
Classification
Pn520 Setting Range Setting Unit Factory Setting When Enabled
1 to 1073741823 1 reference unit 5242880 Immediately Setup

Related Alarm
Alarm
Alarm Name Meaning
Display
A.d00 Position Error Overflow Position errors exceeded parameter Pn520.

(4) Vibration Detection Function

Set the vibration detection function to an appropriate value with the vibration detection level initialization
(Fn01B). For details on how to set the vibration detection function, refer to 6.15 Vibration Detection Level
Initialization (Fn01B).

(5) Excessive Position Error Alarm Level at Servo ON

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

Related Parameters
Excessive Position Error Alarm Level at Servo ON Position
Classification
Pn526 Setting Range Setting Unit Factory Setting When Enabled
1 to 1073741823 1 reference unit 5242880 Immediately Setup
Adjustments

Excessive Position Error Warning Level at Servo ON Position

Classification
Pn528 Setting Range Setting Unit Factory Setting When Enabled
10 to 100 1% 100 Immediately Setup

Speed Limit Level at Servo ON Position 5

Classification
Pn529 Setting Range Setting Unit Factory Setting When Enabled
0 to 10000 1 min-1 10000 Immediately Setup

5-9
 5 Adjustments
5.1.4 Safety Precautions on Adjustment of Servo Gains

Related Alarms
Alarm
Alarm Name Meaning
Display
This alarm occurs if the servomotor power is turned ON when the position
Position Error Overflow
A.d01 error is greater than the set value of Pn526 while the servomotor power is
Alarm at Servo ON
OFF.
When the position errors remain in the error counter, Pn529 limits the speed
Position Error Overflow if the servomotor power is turned ON. If Pn529 limits the speed in such a
A.d02 Alarm by Speed Limit at state, this alarm occurs when position references are input and the number of
Servo ON position errors exceeds the value set for the excessive position error alarm
level (Pn520).

When an alarm occurs, refer to 8 Troubleshooting and take the corrective actions.

5-10
 5.2 Tuning-less Function

5.2 Tuning-less Function

The tuning-less function is enabled in the factory settings. If resonance is generated or excessive vibration
occurs, refer to 5.2.2 Tuning-less Levels Setting (Fn200) Procedure and change the set value of Pn170.2 for
the rigidity level and the set value in Pn170.3 for the load level.

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

5.2.1 Tuning-less Function

The tuning-less function obtains a stable response without manual adjustment regardless of the type of
machine or changes in the load.

(1) Enabling/Disabling Tuning-less Function

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

Parameter Meaning When Enabled Classification

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

(2) Application Restrictions

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

Function Availability Remarks

Vibration detection level initialization
Available –
(Fn01B)
• This function can be used when the
moment of inertia is calculated.
Adjustments

Available • While this function is being used, the tun-

Advanced autotuning (Fn201)
(Some conditions apply) ing-less function cannot be used. After
completion of the autotuning, it can be
used again.
Advanced autotuning by reference (Fn202) Not available –
One-parameter tuning (Fn203) Not available –
5
Anti-resonance control adjustment
Not available –
function (Fn204)
Vibration suppression function (Fn205) Not available –
While this function is being used, the tuning-
EasyFFT (Fn206) Available less function cannot be used. After comple-
tion of the EasyFFT, it can be used again.
Friction compensation Not available –
Gain switching Not available –

5-11
 5 Adjustments
5.2.1 Tuning-less Function

(cont’d)
Function Availability Remarks
Disable the tuning-less function by setting
Offline moment of inertia calculation * Not available
Pn170.0 to 0 before executing this function.
While this function is being used, the tuning-
Mechanical analysis* Available less function cannot be used. After comple-
tion of the analysis, it can be used again.

∗ Operate using SigmaWin+.

(3) Automatically Setting the Notch Filter

Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.)
If this function is set to Auto Setting, vibration will be detected automatically and the notch filter will be set
when the tuning-less function is enabled.

Set this function to Not Auto Setting only if you do not change the notch filter setting before executing tuning-
less function.

Parameter Meaning When Enabled Classification

Does not set the 2nd notch filter automatically with
n. 0
utility function.
Pn460 Immediately Tuning
n. 1 Set the 2nd notch filter automatically with utility
[Factory setting] function.

(4) Tuning-less Level Settings

Two tuning-less levels are available: the rigidity level and load level. Both levels can be set in the Pn170
parameter.

Rigidity Level
Parameter Meaning When Enabled Classification
n. 0 Rigidity level 0 (Level 0)
n. 1 Rigidity level 1 (Level 1)
n. 2 Rigidity level 2 (Level 2)
Pn170 Immediately Setup
n. 3 Rigidity level 3 (Level 3)
n. 4
Rigidity level 4 (Level 4)
[Factory setting]

Load Level
Parameter Meaning When Enabled Classification
n.0 Load level : Low (Mode 0)
n.1
Pn170 Load level : Medium (Mode 1) Immediately Setup
[Factory setting]
n.2 Load level : High (Mode 2)

5-12
 5.2 Tuning-less Function

5.2.2 Tuning-less Levels Setting (Fn200) Procedure

CAUTION
• To ensure safety, perform the tuning-less function in a state where the SERVOPACK can come to an
emergency stop at any time.

The procedure to use the tuning-less function is given below.

The SigmaWin+ is required to execute this function.

(1) Preparation
The following conditions must be met to perform the tuning-less function.

• The tuning-less function must be enabled (Pn170.0 = 1).

• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• The test without a motor function must be disabled. (Pn00C.0 = 0).
(2) Operating Procedure
Use the following procedure.
1. In the SigmaWin+ main window, click Parameters - Edit Parameters.
The Parameter Editing dialog box will appear.

MEC
HA

Adjustments

5-13
 5 Adjustments
5.2.2 Tuning-less Levels Setting (Fn200) Procedure

2. Select Pn170 in the Parameter Editing dialog box.

If Pn170 cannot be seen in the Parameter Editing dialog box, click the arrows to view the parameter.

MEC
HA

3. Click Edit.
The Edit box for Pn170 will appear.
MEC
HA

5-14
 5.2 Tuning-less Function

4. For 3rd digit, select one of the load levels in the Tuning-less Load Level list.
• If the response waveform results in overshooting or if the load moment of inertia exceeds the allowable
level, select 2: Tuning-less Load Level 2. (If any damage caused when the load moment of inertia
exceeds the allowable level, these conditions are regarded as being outside the scope of the warranty.)
• If a high-frequency noise is heard, select 0: Tuning-less Load Level 0.
MEC
HA

5. For 2nd digit, select one of the tuning-less levels in the Tuning-less Level list.
The higher the value of the level is, the higher the gain will be. A higher gain means better response.
Note 1. If the tuning-less level is too high, vibration might occur. Lower the level if vibration occurs.
2. If the tuning-less level is changed, the automatically set notch filter will be canceled (disabled). If any
vibration occurs, the notch filter will automatically be set again.
MEC
HA

Adjustments

6. Click OK.
7. To enable the change in the setting, restart the SERVOPACK.
5

5-15
 5 Adjustments
5.2.2 Tuning-less Levels Setting (Fn200) Procedure

(3) Alarm and Corrective Actions

The autotuning alarm (A.521) will occur if resonance sound is generated or excessive vibration occurs during
position control. In such case, take the following actions.

• Increase the setting of Pn170.3 or reduce the setting of Pn170.2.

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

Parameters Disabled by Tuning-less Function Related Functions and Parameters*

Mechanical
Torque Easy Analysis
Item Name Pn Number
Control FFT (Vertical Axis
Mode)
Speed Loop Gain Pn100
2nd Speed Loop Gain Pn104
Speed Loop Integral Time Constant Pn101
×
Gain 2nd Speed Loop Integral Time Constant Pn105
Position Loop Gain Pn102
×
2nd Position Loop Gain Pn106
Moment of Inertia Ratio Pn103
Friction Compensation Function Selec-
tion
Pn408.3 × × ×
Advanced
Control Anti-resonance Control Adjustment
Selection
Pn160.0 × × ×
Gain
Switching
Gain Switching Selection Switch Pn139.0 × × ×

∗ : Parameter enabled
×: Parameter disabled
(5) Tuning-less Function Type
The following table shows the types of tuning-less functions.
Parameter Meaning When Enabled Classification
n. 0 Tuning-less type 1

Pn14F Tuning-less type 2 After restart Tuning

n. 1
[Factory setting] (The level of noise produced is lower than that of
Type 1.)

5-16
 5.2 Tuning-less Function

5.2.3 Related Parameters

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

• Parameters related to this function

These are parameters that are used or referenced when executing this function.

• Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.
No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

• Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.
No : Parameter set values are not automatically set or adjusted after execution of this function.

Mid-execution Automatic
Parameter Name
changes changes
Pn170 Tuning-less Function Related Switch No Yes
Pn401 Torque Reference Filter Time Constant No Yes
Pn40C 2nd Notch Filter Frequency No Yes
Pn40D 2nd Notch Filter Q Value No Yes

Adjustments

5-17
 5 Adjustments
5.3.1 Advanced Autotuning

5.3 Advanced Autotuning (Fn201)

This section describes the adjustment using advanced autotuning.

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

5.3.1 Advanced Autotuning

Advanced autotuning automatically operates the servo system (in reciprocating movement in the forward and
reverse directions) within set limits and adjust the SERVOPACK automatically according to the mechanical
characteristics while the servo system is operating.

Advanced autotuning can be performed without connecting the host controller.

The following automatic operation specifications apply.

• Maximum speed: Rated motor speed × 2/3

• Acceleration torque: Approximately 100% of rated motor torque
The acceleration torque varies with the influence of the moment of inertia ratio
(Pn103), machine friction, and external disturbance.
• Travel distance: The travel distance can be set freely. The distance is factory-set to a value equivalent to 3
motor rotations.

Movement
Speed M-II Rated motor
speed × 2/3

Travel t: time
Reference distanc
e
Rated motor
Response speed × 2/3

Execute advanced autotuning Rated motor

after a JOG operation to
torque
Approx. 100%
move the position to ensure a
SERVOPACK suitable movement range. t: time
Rated motor
torque
Approx. 100% Automatic operation

5-18
 5.3 Advanced Autotuning (Fn201)

Advanced autotuning performs the following adjustments.

• Moment of inertia ratio

• Gains (e.g., position loop gain and speed loop gain)
• Filters (torque reference filter and notch filter)
• Friction compensation
• Anti-resonance control
• Vibration suppression (Mode = 2 or 3)
Refer to 5.3.3 Related Parameters for parameters used for adjustments.

CAUTION
• Because advanced autotuning adjusts the SERVOPACK during automatic operation, vibration or over-
shooting may occur. To ensure safety, perform advanced autotuning in a state where the SERVOPACK
can come to an emergency stop at any time.

(1) Preparation
The following conditions must be met to perform advanced autotuning.

• The main circuit power supply must be ON.

• There must be no overtravel.
• The servomotor power must be OFF.
• The control method must not be set to torque control.
• The gain selection switch must be in manual switching mode (Pn139.0 = 0).
• Gain setting 1 must be selected.
• The test without a motor function must be disabled (Pn00C.0 = 0).
• All alarms and warning must be cleared.
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• Jcalc must be set to ON to calculate the load moment of inertia when the tuning-less function is enabled
(Pn170.0 = 1: factory setting) or the tuning-less function must be disabled (Pn170.0 = 0).
Note:
• If advanced autotuning is started while the SERVOPACK is in speed control, the mode will change to position
control automatically to perform advanced autotuning. The mode will return to speed control after completing the
adjustment. To perform advanced autotuning in speed control, set the mode to 1 (Mode = 1).

(2) When Advanced Autotuning Cannot Be Performed

Advanced autotuning cannot be performed normally under the following conditions. Refer to 5.4 Advanced
Autotuning by Reference (Fn202) and 5.5 One-parameter Tuning (Fn203) for details.

• The machine system can work only in a single direction.

• The operating range is within 0.5 rotation.
Adjustments

5-19
 5 Adjustments
5.3.1 Advanced Autotuning

(3) When Advanced Autotuning Cannot Be Performed Successfully

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

• The operating range is not applicable.

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

• Advanced autotuning makes adjustments by referring to the positioning completed

width (Pn522). If the SERVOPACK is operated in position control (Pn000.1=1), set the
electronic gear ratio (Pn20E/Pn210) and positioning completed width (Pn522) to the
actual value during operation. If the SERVOPACK is operated in speed control
(Pn000.1=0), set Mode to 1 to perform advanced autotuning.

Change only the overshoot detection level (Pn561) to finely adjust the amount of overshooting without chang-
ing the positioning completed width (Pn522). Because Pn561 is set by default to 100%, the allowable amount
of overshooting is the same amount as that for the positioning completed width.
When Pn561 is set to 0%, the amount of overshooting can be adjusted to prevent overshooting the positioning
completed width. If the setting of Pn561 is changed, however, the positioning time may be extended.

Overshoot Detection Level Speed 　 Position 　 Torque

Classification
Pn561 Setting Range Setting Unit Factory Setting When Enabled
0 to 100 1% 100 Immediately Setup

5-20
 5.3 Advanced Autotuning (Fn201)

5.3.2 Advanced Autotuning Procedure

The following procedure is used for advanced autotuning.

The SigmaWin+ is required to execute this function.

CAUTION
• When using the SERVOPACK with Jcalc = OFF (load moment of inertia is not calculated), be sure to set a
suitable value for the moment of inertia ratio (Pn103). If the setting greatly differs from the actual moment
of inertia ratio, normal control of the SERVOPACK may not be possible, and vibration may result.
• When using the MP2000 Series with phase control, select the mode = 1 (standard level). If 2 or 3 is
selected, phase control of the MP2000 Series may not be possible.

(1) Operating Procedure

Use the following procedure.

WARNING
Advanced autotuning involves motor operation, and it is therefore hazardous.
Refer to the SigmaWin+ Operation Manual before performing autotuning without reference input.
Be particularly careful of the following point.
• Ensure safety near all moving parts.
Vibration may occur during autotuning. Provide an emergency stop means to shut OFF the power supply during
implementation. The motor will move in both directions within the movement range. Check the movement range
and direction, and provide overtravel prevention means and other safety measures as required.

CAUTION
Two methods are available to stop advanced autotuning while the motor is running, and the motor will stop according
to the method selected. Make sure to select the best method for the situation.
• If the SERVO OFF button is used, the motor will stop according to the stopping method after servo off specified
by the parameters.
• If the CANCEL button is used, the motor will decelerate to a stop and then enter a zero clamp state.
Note: The CANCEL button may be invalid in some SERVOPACKs.

Adjustments

5-21
 5 Adjustments
5.3.2 Advanced Autotuning Procedure

1. In the SigmaWin+ main window, click Tuning – Tuning.

MECHA

Click Cancel to return to the SigmaWin+ main window without executing tuning.

2. Click Execute.
The following window will appear.
MECHA

5-22
 5.3 Advanced Autotuning (Fn201)

3. Click Execute.
The following window will appear.

MECHA

Speed Loop Setting

Set the speed loop gain and integral time constant.
If the response of the speed loop is poor, the moment of inertia (mass) ratio cannot be measured accu-
rately.
The speed loop setting to get the required response for the moment of inertia (mass) setting is already
set to the default setting. Normally, this setting does not have to be changed.
If this speed loop gain is too high, and is causing excitation in the mechanism, lower the setting. How-
ever, do not set it to a value that is higher than the default setting.
Identification Start Level
Set the moment of inertia (mass) identification start level.
With a heavy load or low-rigidity machine, torque limit may be applied and the moment of inertia iden-
tification may fail.
In this case, double the identification start level and execute identification again.
Edit
Click Edit to view the Speed Loop-Related Setting Change box or the Identification Start Level Setting
Change box.
Help
Click Help to open the window for guidelines on the reference condition settings.
Adjustments

•Run the motor to measure the load's inertial moment (mass) of the machine to compare it with the
rotor's inertial moment of the motor in the moment of inertia (mass) ratio.
•Set the driving mode, reference pattern (maximum acceleration, maximum speed, and maximum mov-
ing distance), and parameters related to the speed loop.
•Accurate measurement of the moment of inertia (mass) ratio depends on the settings. See the measure-
ment results to determine the proper settings.
Reference Selection 5
Select a reference pattern from the Reference Selection box or create the reference pattern by directly
entering the values.
As the setting for maximum acceleration increases, the accuracy of the inertia identification tends to
improve.
Consider the pulley diameter or the speed reduction ratio such as the ball screw pitches, and set the
maximum acceleration within the operable range.

5-23
 5 Adjustments
5.3.2 Advanced Autotuning Procedure

Confirm
Click Confirm to view the driving pattern.
MECHA

Detailed Setting
Create the reference pattern for setting the moment of inertia (mass) by changing the values with the
slider or by directly entering the values.
Next
Click Next to view the Reference Transmission box.
Cancel
Click Cancel to return to the main window without changing the conditions.

CAUTION
• The amount of movement is the value for each operation (a forward run or a reverse run). After several opera-
tions, the operation starting position may have moved in either direction. Confirm the operable range before each
measurement and operation.
• Certain settings for the parameters or inertia size of the mechanism may result in overshooting or undershooting,
and cause the speed to temporarily exceed the maximum speed. Allow a margin when making the settings.

<If the moment of inertia (mass) ratio cannot be measured accurately>

If the torque (force) is limited, the moment of inertia (mass) ratio identification cannot be made correctly. Adjust the
setting of the limit or decrease the acceleration in Reference Selection so that the torque (force) will not be limited.

4. Click Next.
The following window will appear.
MECHA

Start
Click to Start to transfer the reference conditions to the SERVOPACK. A progress bar displays the
progress status of the transfer.
Cancel
The Cancel button is available only during the transfer to the SERVOPACK. After the transmission is
finished, it is unavailable and cannot be selected.
Back
Click Back to return to the Condition Setting box. The Back button is unavailable during a data trans-
fer.

5-24
 5.3 Advanced Autotuning (Fn201)

Next
The Next button is available if the data is transferred successfully. If an error occurs or if the transmis-
sion is interrupted, it is unavailable and cannot be selected.
Click Next to view the Operation/Measurement box.
Cancel
Click Cancel to stop processing and return to the main window.

5. Click Start to transfer the reference conditions to the SERVOPACK.

6. Click Next.
The following window will appear.
MECHA

7. Click Servo On.

8. Click Forward to take measurements by turning (moving) the motor forward.
After the measurements and the data transmission are finished, the following window will appear.
MECHA

9. Click Reverse to take measurements by turning (moving) the motor in reverse.

After the measurements and the data transmission are finished, the following window will appear.
Adjustments

MECHA

5-25
 5 Adjustments
5.3.2 Advanced Autotuning Procedure

10. Repeat steps 7 through 9 until all the measurements have been taken.
Measurements will be made from two to seven times and then verification will be performed. The actual
number of times the measurements have been taken is displayed in the upper left part on the screen. The
progress bar displays the percentage of data that has been transferred.

11. After the measurement has been successfully completed, click Servo ON to turn to the servo
OFF status.
12. Click Next.
The following window will appear.

MECHA

Identified Moment of Inertia (Mass) Ratio

Displays the moment of inertia (mass) ratio calculated in the operation/measurement.
Writing Results
Click Writing Results to assign the value displayed in the identified moment of inertia (mass) ratio to
SERVOPACK parameter Pn103.
Pn103: Moment of Inertia (Mass) Ratio
Displays the value assigned to the parameter.
Click Writing Results, and the new ratio calculated from the operation/measurement will be displayed.
Back
The Back button is unavailable.
Cancel
Click Cancel to return to the main window.

<Supplement>
When Next is clicked without turning to the servo OFF status, the following message appears. Click OK
to turn to the servo OFF status.
MECHA

13. Click Writing Results to set the moment of inertia (mass) ratio calculated in the operation/
measurement to the parameters.

5-26
 5.3 Advanced Autotuning (Fn201)

14. After confirming that the value displayed in the identified moment of inertia (mass) ratio and the
value displayed in the Pn103: Moment of Inertia Ratio are the same, click Finish.
The following window will appear.
MECHA

15. Click OK.

The following window will appear.

MECHA

16. Click Execute to save the change of Pn103 (Moment of Inertia (Mass) Ratio) to SERVOPACK.
After the saving is finished, the tuning main window will appear.

17. Select the No reference input option under Reference input from host controller in the
Tuning main window, and then click Autotuning.
The following window will appear.

MECHA

Adjustments

5-27
 5 Adjustments
5.3.2 Advanced Autotuning Procedure

18. Select whether or not to use the load moment of inertia (load mass) identification from the
Switching the load moment of inertia (load mass) identification box, the mode from the
Mode selection box, the mechanism from the Mechanism selection box, and enter the
moving distance. Then, click Next.
When the Start tuning using the default settings. check box is selected in the Autotuning-Setting Con-
ditions box, tuning will be executed using the tuning parameters set to the default values.
MECHA

19. Click Servo ON.

The following window will appear.
MECHA

20. Click Start tuning.

The following box will appear.
MECHA

5-28
 5.3 Advanced Autotuning (Fn201)

21. After confirming the safety of the area adjoining the drive unit, click Yes.
The motor will start rotating and tuning will start.

MECHA

Vibration generated during tuning is automatically detected, and the optimum setting for the detected
vibration will be made. When the setting is complete, the LED indicator lamps (bottom left of the box) of
the functions used for the setting will light up.

22. When tuning is completed, click Finish to return to the main window.
The results of tuning will be written in the parameters.

Adjustments

5-29
 5 Adjustments
5.3.2 Advanced Autotuning Procedure

(2) Failure in Operation

When Operation Cannot be Performed
Probable Cause Corrective Actions
The main circuit power supply was OFF. Turn ON the main circuit power supply.
An alarm or warning occurred. Remove the cause of the alarm or the warning.
Overtraveling occurred. Remove the cause of the overtravel.
Gain setting 2 was selected by gain switching. Disable the automatic gain switching.

When an Error Occurs

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

When an Error Occurs during Calculation of Moment of Inertia

The following table shows the probable causes of errors that may occur during the calculation of the moment
of inertia with the Jcalc set to ON, along with corrective actions for the errors.

Probable Cause Corrective Actions

The SERVOPACK started calculating the moment of • Increase the speed loop gain (Pn100).
inertia, but the calculation was not completed. • Increase the STROKE (travel distance).
The moment of inertia fluctuated greatly and did not Set the calculation value based on the machine specifications in
converge within 10 tries. Pn103 and execute the calculation with the Jcalc set to OFF.
Double the set value of the moment of inertia calculating start
Low-frequency vibration was detected.
level (Pn324).
• When using the torque limit, increase the torque limit.
The torque limit was reached. • Double the set value of the moment of inertia calculating start
level (Pn324).
While calculating the moment of inertia, the speed
Operate the SERVOPACK with PI control while calculating the
control was set to proportional control by setting 1 to
moment of inertia.
V_PPI in the OPTION field.

5-30
 5.3 Advanced Autotuning (Fn201)

(3) Related Functions on Advanced Autotuning

This section describes functions related to advanced tuning.

Notch Filter
Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.)
If this function is set to Auto Setting, vibration will be detected automatically during advanced autotuning and
the notch filter will be set.

Set this function to Not Auto Setting only if you do not change the notch filter setting before executing
advanced autotuning.

Parameter Function When Enabled Classification

Does not set the 1st notch filter automatically with
n. 0
the utility function.
n. 1 Sets the 1st notch filter automatically with the utility
[Factory setting] function.
Pn460 Immediately Tuning
Does not set the 2nd notch filter automatically with
n. 0
the utility function.
n. 1 Sets the 2nd notch filter automatically with the utility
[Factory setting] function.

Anti-Resonance Control Adjustment

This function reduces low vibration frequency, which the notch filter does not detect.

Usually, set this function to Auto Setting. (The anti-resonance control is factory-set to Auto Setting.)
When this function is set to Auto Setting, vibration will be automatically detected during advanced autotuning
and anti-resonance control will be automatically adjusted and set.
Parameter Function When Enabled Classification
Does not use the anti-resonance control automatically
n. 0
with the utility function.
Pn160 Immediately Tuning
n. 1 Uses the anti-resonance control automatically with
[Factory setting] the utility function.

Vibration Suppression
The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is
generated mainly when positioning if the machine stand vibrates.
Usually, set this function to Auto Setting. (The vibration suppression function is factory-set to Auto Setting.)
When this function is set to Auto Setting, vibration will be automatically detected during advanced autotuning
and vibration suppression will be automatically adjusted and set.
Set this function to Not Auto Setting only if you do not change the setting for vibration suppression before
executing advanced autotuning.
Adjustments

Note: This function uses model following control. Therefore, the function can be executed only if the mode is set to 2 or 3.
• Related Parameter
Parameter Function When Enabled Classification

n. 0
Does not use the vibration suppression function auto- 5
matically with the utility function.
Pn140 Immediately Tuning
n. 1 Uses the vibration suppression function automatically
[Factory setting] with the utility function.

5-31
 5 Adjustments
5.3.2 Advanced Autotuning Procedure

Friction Compensation
This function compensates for changes in the following conditions.
• Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine
• Changes in the friction resistance resulting from variations in the machine assembly
• Changes in the friction resistance due to aging

The conditions for applying friction compensation depend on the mode. The friction compensation setting in
Pn408.3 applies when the Mode is 1. The friction compensation function is always enabled regardless of the
friction compensation setting in Pn408.3 when the Mode is 2 or 3.

Mode
Friction Mode = 1 Mode = 2 Mode = 3
Compensation
Selecting
n.0 Adjusted without the friction
[Factory setting] compensation function Adjusted with the friction Adjusted with the friction
Pn408
Adjusted with the friction compensation function compensation function
n.1
compensation function

Feedforward
If Pn140 is set to the factory setting and the mode setting is changed to 2 or 3, the feedforward gain (Pn109),
speed feedforward (VFF) input, and torque feedforward (TFF) input will be disabled.

Set Pn140.3 to 1 if model following control is used together with the speed feedforward (VFF) input and
torque feedforward (TFF) input from the host controller.

Parameter Function When Enabled Classification

n.0 Model following control is not used together with the
[Factory setting] speed/torque feedforward input.
Pn140 Immediately Tuning
Model following control is used together with the
n.1
speed/torque feedforward input.

Refer to Σ-V Series User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54) for
details.

• Model following control is used to make optimum feedforward settings in the SERVO-
PACK when model following control is used with the feedforward function. Therefore,
model following control is not normally used together with either the speed feedfor-
ward (VFF) input or torque feedforward (TFF) input from the host controller. However,
model following control can be used with the speed feedforward (VFF) input or torque
feedforward (TFF) input if required. An improper feedforward input may result in over-
shooting.

5-32
 5.3 Advanced Autotuning (Fn201)

5.3.3 Related Parameters

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

• Parameters related to this function

These are parameters that are used or referenced when executing this function.

• Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.
No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

• Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.
No : Parameter set values are not automatically set or adjusted after execution of this function.

Mid-execution Automatic
Parameter Name
changes changes
Pn100 Speed Loop Gain No Yes
Pn101 Speed Loop Integral Time Constant No Yes
Pn102 Position Loop Gain No Yes
Pn103 Moment of Inertia Ratio No No
Pn121 Friction Compensation Gain No Yes
Pn123 Friction Compensation Coefficient No Yes
Pn124 Friction Compensation Frequency Correction No No
Pn125 Friction Compensation Gain Correction No Yes
Pn401 Torque Reference Filter Time Constant No Yes
Pn408 Torque Related Function Switch Yes Yes
Pn409 1st Notch Filter Frequency No Yes
Pn40A 1st Notch Filter Q Value No Yes
Pn40C 2nd Notch Filter Frequency No Yes
Pn40D 2nd Notch Filter Q Value No Yes
Pn140 Model Following Control Related Switch Yes Yes
Pn141 Model Following Control Gain No Yes
Pn142 Model Following Control Gain Compensation No Yes
Pn143 Model Following Control Bias (Forward Direction) No Yes
Pn144 Model Following Control Bias (Reverse Direction) No Yes
Pn145 Vibration Suppression 1 Frequency A No Yes
Pn146 Vibration Suppression 1 Frequency B No Yes
Adjustments

Pn147 Model Following Control Speed Feedforward Compensation No Yes

Pn160 Anti-Resonance Control Related Switch Yes Yes
Pn161 Anti-Resonance Frequency No Yes
Pn163 Anti-Resonance Damping Gain No Yes
Pn531 Program JOG Movement Distance No No 5
Pn533 Program JOG Movement Speed No No
Pn534 Program JOG Acceleration/Deceleration Time No No
Pn535 Program JOG Waiting Time No No
Pn536 Number of Times of Program JOG Movement No No

5-33
 5 Adjustments
5.4.1 Advanced Autotuning by Reference

5.4 Advanced Autotuning by Reference (Fn202)

Adjustments with advanced autotuning by reference are described below.

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

5.4.1 Advanced Autotuning by Reference

Advanced autotuning by reference is used to automatically achieve optimum tuning of the SERVOPACK in
response to the user reference inputs from the host controller.

Advanced autotuning by reference is performed generally to fine-tune the SERVOPACK after advanced auto-
tuning of the SERVOPACK has been performed.

If the moment of inertia ratio is correctly set to Pn103, advanced autotuning by reference can be performed
without performing advanced autotuning.

Movement M-II
speed
Reference Travel
Reference d istance

Response

Host controller

SERVOPACK
Advanced autotuning by reference performs the following adjustments.

• Gains (e.g., position loop gain and speed loop gain)

• Filters (torque reference filter and notch filter)
• Friction compensation
• Anti-resonance control
• Vibration suppression
Refer to 5.4.3 Related Parameters for parameters used for adjustments.

CAUTION
• Because advanced autotuning by reference adjusts the SERVOPACK during automatic operation, vibra-
tion or overshooting may occur. To ensure safety, perform advanced autotuning by reference in a state
where the SERVOPACK can come to an emergency stop at any time.

5-34
 5.4 Advanced Autotuning by Reference (Fn202)

(1) Preparation
The following conditions must be met to perform advanced autotuning by reference.

• The SERVOPACK must be in Servo Ready status (Refer to 4.8.4).

• There must be no overtravel.
• The servomotor power must be OFF.
• The position control must be selected when the servomotor power is ON.
• The gain selection switch must be in manual switching mode (Pn139.0 = 0).
• Gain setting 1 must be selected.
• The test without a motor function must be disabled. (Pn00C.0 = 0).
• All warnings must be cleared.
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• The tuning-less function must be disabled (Pn170.0 = 0).
(2) When Advanced Autotuning by Reference Cannot Be Performed Successfully
Advanced autotuning by reference cannot be performed successfully under the following conditions. If the
result of autotuning is not satisfactory, perform one-parameter tuning (Fn203). Refer to 5.5 One-parameter
Tuning (Fn203) for details.

• The travel distance in response to references from the host controller is smaller than the set positioning com-
pleted width (Pn522).
• The motor speed in response to references from the host controller is smaller than the set rotation detection
level (Pn502).
• The stopping time, i.e., the period while the positioning completed /COIN signal is OFF, is 10 ms or less.
• The rigidity of the machine is low and vibration occurs when positioning is performed.
• The position integration function is used.
• P control operation (proportional control) is performed.
• The mode switch is used.
• The positioning completed width (Pn522) is too small.

• Advanced autotuning by reference starts adjustments based on the positioning com-

pleted width (Pn522). Set the electronic gear ratio (Pn20E/Pn210) and positioning
completed width (Pn522) to the actual value during operation.
• Unless the positioning completed signal (/COIN) is turned ON within approximately 3
seconds after positioning has been completed, "WAITING" will flash. Furthermore,
unless the positioning completed signal (/COIN) is turned ON within approximately 10
seconds, "Error" will flash for 2 seconds and tuning will be aborted.

Change only the overshoot detection level (Pn561) to finely adjust the amount of overshooting without chang-
ing the positioning completed width (Pn522). Because Pn561 is set by default to 100%, the allowable amount
of overshooting is the same amount as that for the positioning completed width.
When Pn561 is set to 0%, the amount of overshooting can be adjusted without any overshooting in the posi-
Adjustments

tioning completed width. If the setting of Pn561 is changed, however, the positioning time may be extended.

Overshoot Detection Level Speed 　 Position 　 Torque

Classification
Pn561 Setting Range Setting Unit Factory Setting When Enabled
0 to 100 1% 100 Immediately Setup
5

5-35
 5 Adjustments
5.4.2 Advanced Autotuning by Reference Procedure

5.4.2 Advanced Autotuning by Reference Procedure

The following procedure is used for advanced autotuning by reference.

The SigmaWin+ is required to execute this function.

CAUTION
• When using the MP2000 Series with phase control, select the mode = 1 (standard level). If 2 or 3 is
selected, phase control of the MP2000 Series may not be possible.

(1) Operating Procedure

Use the following procedure.
1. Confirm that the correct moment of inertia ratio in Pn103 is set by using the advanced
autotuning.
2. In the SigmaWin+ main window, click Tuning - Tuning.
MECHA

Click Cancel to return to the SigmaWin+ main window without executing tuning.

3. Click Execute.
The following window will appear.

MECHA

5-36
 5.4 Advanced Autotuning by Reference (Fn202)

4. Click OK.
The following window will appear.

MECHA

5. Select the Position reference input option under Reference input from host controller in
the Tuning main window, and then click Autotuning.
The following window will appear.

MECHA

Adjustments

5-37
 5 Adjustments
5.4.2 Advanced Autotuning by Reference Procedure

6. Select the mode from the Mode selection combo box and the mechanism from Mechanism
selection combo box, and then click Next.
When the Start tuning using the default settings. check box is selected in the Autotuning-Setting Con-
ditions box, tuning will be executed using tuning parameters set to the default value.
MECHA

7. Click Yes.
The following box will appear.

MECHA

8. Enter the correct moment of inertia ratio and then click Next.
The following window will appear.
MECHA

5-38
 5.4 Advanced Autotuning by Reference (Fn202)

9. Turn the servo on and then input the reference from the host controller. Click Start tuning.
MECHA

10. After confirming the safety of the area adjoining the drive unit, click Yes.
The motor will start rotating and tuning will start.

MECHA

Vibration generated during tuning is automatically detected, and the optimum setting for the detected
vibration will be made. When the setting is complete, the LED indicator lamps (bottom left of the box) of
the functions used for the setting will light up.

11. When tuning is completed, click Finish to return to the main window.
The results of tuning will be written in the parameters.
Adjustments

5-39
 5 Adjustments
5.4.2 Advanced Autotuning by Reference Procedure

(2) Failure in Operation

When Operation Cannot be Performed
Probable Cause Corrective Actions
The main circuit power supply was OFF. Turn ON the main circuit power supply.
An alarm or warning occurred. Remove the cause of the alarm or the warning.
Overtraveling occurred. Remove the cause of the overtravel.
Gain setting 2 was selected by gain switching. Disable the automatic gain switching.

When an Error Occurs

Error Probable Cause Corrective Actions
• Increase the set value for Pn522.
Machine vibration is occurring or the posi- • Change the mode from 2 to 3.
The gain adjustment
tioning completed signal (/COIN) is turning • If machine vibration occurs, suppress the
was not successfully
ON and OFF when the servomotor is vibration with the anti-resonance control
completed.
stopped. adjustment function and the vibration sup-
pression function.
The positioning
completed signal
(/COIN) did not turn ON The positioning completed width is too nar- • Increase the set value for Pn522.
within approximately 10 row or proportional control (P control) is
• Set 0 to V_PPI in the OPTION field.
seconds after being used.
positioning adjustment
was completed.

(3) Related Functions on Advanced Autotuning by Reference

This section describes functions related to advanced autotuning by reference.

Notch Filter
Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.)
If this function is set to Auto Setting, vibration will be detected automatically during advanced autotuning by
reference, and the notch filter will be set.

Set this function to Not Auto Setting only if you do not change the notch filter setting before executing
advanced autotuning by reference.

Parameter Function When Enabled Classification

Does not set the 1st notch filter automatically with
n. 0
the utility function.
n. 1 Sets the 1st notch filter automatically with the utility
[Factory setting] function.
Pn460 Immediately Tuning
Does not set the 2nd notch filter automatically with
n. 0
the utility function.
n. 1 Sets the 2nd notch filter automatically with the utility
[Factory setting] function.

Anti-Resonance Control Adjustment

This function reduces low vibration frequency, which the notch filter does not detect.

Usually, set this function to Auto Setting. (The anti-resonance control is factory-set to Auto Setting.)
When this function is set to Auto Setting, vibration will be automatically detected during advanced autotuning
by reference and anti-resonance control will be automatically adjusted and set.
Parameter Function When Enabled Classification
Does not use the anti-resonance control automatically
n. 0
with the utility function.
Pn160 Immediately Tuning
n. 1 Uses the anti-resonance control automatically with
[Factory setting] the utility function.

5-40
 5.4 Advanced Autotuning by Reference (Fn202)

Vibration Suppression
The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is
generated mainly when positioning if the machine stand vibrates.
Usually, set this function to Auto Setting. (The vibration suppression function is factory-set to Auto Setting.)
When this function is set to Auto Setting, vibration will be automatically detected during advanced autotuning
by reference and vibration suppression will be automatically adjusted and set.
Set this function to Not Auto Setting only if you do not change the setting for vibration suppression before
executing advanced autotuning by reference.
Note: This function uses model following control. Therefore, the function can be executed only if the mode is set to 2 or 3.
• Related Parameters
Parameter Function When Enabled Classification

n. 0 Does not use the vibration suppression function auto-

matically.
Pn140 Immediately Tuning
n. 1 Uses the vibration suppression function automati-
[Factory setting] cally.
Friction Compensation
This function compensates for changes in the following conditions.
• Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine
• Changes in the friction resistance resulting from variations in the machine assembly
• Changes in the friction resistance due to aging

Conditions to which friction compensation is applicable depend on the mode. The friction compensation set-
ting in Pn408.3 applies when the mode is 1. Mode = 2 and Mode = 3 are adjusted with the friction compensa-
tion function regardless of the friction compensation setting in P408.3.

Mode
Friction Mode = 1 Mode = 2 Mode = 3
Compensation
Selecting
n.0 Adjusted without the friction
[Factory setting] compensation function Adjusted with the friction Adjusted with the friction
Pn408
Adjusted with the friction compensation function compensation function
n.1
compensation function

Feedforward
If Pn140 is set to the factory setting and the mode setting is changed to 2 or 3, the feedforward gain (Pn109),
speed feedforward (VFF) input, and torque feedforward (TFF) input will be disabled.

Set Pn140.3 to 1 if model following control is used together with the speed feedforward (VFF) input and
torque feedforward (TFF) input from the host controller.
Adjustments

Parameter Function When Enabled Classification

n.0 Model following control is not used together with the
[Factory setting] speed/torque feedforward input.
Pn140 Immediately Tuning
Model following control is used together with the
n.1
speed/torque feedforward input.
5
Refer to Σ-V Series User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54) for
details.

• Model following control is used to make optimum feedforward settings in the SERVO-
PACK when model following control is used with the feedforward function. Therefore,
model following control is not normally used together with either the speed feedfor-
ward (VFF) input or torque feedforward (TFF) input from the host controller. However,
model following control can be used with the speed feedforward (VFF) input or torque
feedforward (TFF) input if required. An improper feedforward input may result in over-
shooting.

5-41
 5 Adjustments
5.4.3 Related Parameters

5.4.3 Related Parameters

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

• Parameters related to this function

These are parameters that are used or referenced when executing this function.

• Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.
No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

• Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.
No : Parameter set values are not automatically set or adjusted after execution of this function.

Mid-execution Automatic
Parameter Name
changes changes
Pn100 Speed Loop Gain No Yes
Pn101 Speed Loop Integral Time Constant No Yes
Pn102 Position Loop Gain No Yes
Pn103 Moment of Inertia Ratio No No
Pn121 Friction Compensation Gain No Yes
Pn123 Friction Compensation Coefficient No Yes
Pn124 Friction Compensation Frequency Correction No No
Pn125 Friction Compensation Gain Correction No Yes
Pn401 Torque Reference Filter Time Constant No Yes
Pn408 Torque Related Function Switch Yes Yes
Pn409 1st Notch Filter Frequency No Yes
Pn40A 1st Notch Filter Q Value No Yes
Pn40C 2nd Notch Filter Frequency No Yes
Pn40D 2nd Notch Filter Q Value No Yes
Pn140 Model Following Control Related Switch Yes Yes
Pn141 Model Following Control Gain No Yes
Pn142 Model Following Control Gain Compensation No Yes
Pn143 Model Following Control Bias (Forward Direction) No Yes
Pn144 Model Following Control Bias (Reverse Direction) No Yes
Pn145 Vibration Suppression 1 Frequency A No Yes
Pn146 Vibration Suppression 1 Frequency B No Yes
Pn147 Model Following Control Speed Feedforward Compensation No Yes
Pn160 Anti-Resonance Control Related Switch Yes Yes
Pn161 Anti-Resonance Frequency No Yes
Pn163 Anti-Resonance Damping Gain No Yes

5-42
 5.5 One-parameter Tuning (Fn203)

5.5 One-parameter Tuning (Fn203)

Adjustments with one-parameter tuning are described below.

5.5.1 One-parameter Tuning

One-parameter tuning is used to manually make tuning level adjustments during operation with a position ref-
erence or speed reference input from the host controller.

One-parameter tuning enables automatically setting related servo gain settings to balanced conditions by
adjusting one or two tuning levels.

One-parameter tuning performs the following adjustments.

• Gains (e.g., position loop gain and speed loop gain)

• Filters (torque reference filter and notch filter)
• Friction compensation
• Anti-resonance control

Refer to 5.5.4 Related Parameters for parameters used for adjustments.

Perform one-parameter tuning if satisfactory response characteristics is not obtained with advanced autotun-
ing or advanced autotuning by reference.

To fine-tune each servo gain after one-parameter tuning, refer to 5.8 Additional Adjustment Function.

CAUTION
• Vibration or overshooting may occur during adjustment. To ensure safety, perform one-parameter tuning in
a state where the SERVOPACK can come to an emergency stop at any time.

Preparation
The following conditions must be met to perform one-parameter tuning.

• The test without a motor function must be disabled (Pn00C.0 = 0).

• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• The tuning-less function must be disabled (Pn170.0 = 0).
• The tuning mode must be set to 0 or 1 when performing speed control.

5.5.2 One-parameter Tuning Procedure

The following procedure is used for one-parameter tuning.
Adjustments

There are the following two operation procedures depending on the tuning mode being used.

• When the tuning mode is set to 0 or 1, the model following control will be disabled and one-parameter tun-
ing will be used as the tuning method for applications other than positioning.
• When the tuning mode is set to 2 or 3, the model following control will be enabled and it can be used for
tuning for positioning.
5
The operating procedure that is provided here is for when the Tuning Mode is set to 0 to give priority to setting
a servo gain for stability.

The SigmaWin+ is required to execute this function.

CAUTION
• When using the MP2000 Series with phase control, select the tuning mode = 0 or 1. If 2 or 3 is selected,
phase control of the MP2000 Series may not be possible.

5-43
 5 Adjustments
5.5.2 One-parameter Tuning Procedure

(1) Operating Procedure

WARNING
Be sure to carefully read the SigmaWin+ Operation Manual before executing this function.
Special care must be taken for the following.
• Before executing this function, make sure that the emergency stop (power off) can be activated when
needed.
When tuning is initiated by this function, some parameters will be overwritten with the recommended values. As a
result, the response speeds may change considerably. Before executing this function, make sure that the emergency
stop (power off) can be activated when needed.
• Set a correct moment of inertia (mass) ratio to execute this function.
If not correctly set, vibration may be generated.
• Note the timing when the feedforward level setting is validated.
The set feedforward level will not be immediately validated, but will be validated after the Positioning Completion
signal (/COIN) is output.

1. Confirm that the correct moment of inertia ratio in Pn103 is set by using the advanced
autotuning.
2. In the SigmaWin+ main window, click Tuning - Tuning.
MEC
HA

Click Cancel to return to the SigmaWin+ main window without executing tuning.

5-44
 5.5 One-parameter Tuning (Fn203)

3. Click Execute.
The following window will appear.

MECHA

<Supplement>
If the following window will appear, click OK and confirm that the correct moment of inertia ratio in
Pn103 is set by using the Moment of Inertia (Mass) Setting window.

MECHA

4. Click Advanced adjustment.

The following box will appear.
MECHA
Adjustments

5-45
 5 Adjustments
5.5.2 One-parameter Tuning Procedure

5. Click Custom tuning.

The following box will appear.

MECHA

The tuning modes that can be selected will vary according to the SERVOPACK setting.

6. Select the tuning mode from the Tuning mode box and the mechanism from the Mechanism
selection box, and then click Next.
The following box will appear.

MECHA

5-46
 5.5 One-parameter Tuning (Fn203)

7. Enter the correct moment of inertia ratio and then click Next.
The following window will appear.

MECHA

8. Turn the servo on and then input the reference from the host controller. Click Start tuning.

MECHA

Adjustments

5-47
 5 Adjustments
5.5.2 One-parameter Tuning Procedure

9. Change the tuning level by clicking the setting arrows. Continue to raise the level until an
overshoot occurs.
Note: The set feedforward level will not be applied until the Positioning Completion signal (/COIN) is output.

The notch filter/anti-resonance control auto setting function, the anti-resonance control adjustment func-
tion, or autotuning with reference input can be used as required.

See Functions To Suppress Vibration for details.

To reset to the original settings and status, click Back.

MECHA

10. When tuning is complete, click Completed to return to the main window.
The settings will be written in the SERVOPACK.

5-48
 5.5 One-parameter Tuning (Fn203)

Functions To Suppress Vibration

• <Notch Filter/Anti-resonance Control Adjustment Auto Setting Function>
For vibration frequencies above 1,000 Hz when servo gains are increased, the notch filter auto setting function
provides effective suppression. For vibration frequencies between 100 and 1,000 Hz, the anti-resonance con-
trol adjustment auto setting function is effective.

• Auto Setting
To use auto setting, enable the notch filter/anti-resonance control adjustment auto setting function by using
parameters.
During tuning, the notch filter frequency (anti-resonance control frequency for the anti-resonance control
adjustment auto setting function) effective for the detected vibration is automatically set and displayed in 1
step or 2 step (in Anti-res Adj when using the anti-resonance control adjustment auto setting function).

MECHA

Window with Notch Filter Automatically Set

• Cancel
If the automatically set notch filter frequency (or anti-resonance control frequency) does not effectively
Adjustments

suppress vibration, click Cancel to reset to the preceding frequency.

When the frequency is reset, vibration detection will restart.
• Vib Detect (vibration detection)
While the notch filter/anti-resonance control adjustment auto setting function is enabled, click Vib
Detect (vibration detection) to manually detect vibration. The SERVOPACK detects vibration at the
moment Vib Detect (vibration detection) is clicked, and the notch filter frequency (or anti-resonance 5
control frequency) effective for the detected vibration is set and displayed in 1 step or 2 step (or in
Anti-res Adj). Manual vibration detection can also be executed when the SERVOPACK does not detect
vibration.
• Anti-res Ctrl Adj (anti-resonance control)
Click Anti-res Ctrl Adj (anti-resonance control) to execute the anti-resonance control function if fur-
ther adjustment is required. See 5.6 Anti-Resonance Control Adjustment Function (Fn204) for details.
• <Autotuning with Reference Input>
To Autotuning
Click To Autotuning to execute autotuning using reference inputs from the host controller. Refer to 5.4
Advanced Autotuning by Reference (Fn202) for details.

5-49
 5 Adjustments
5.5.2 One-parameter Tuning Procedure

(2) Related Functions on One-parameter Tuning

This section describes functions related to one-parameter tuning.

Notch Filter
Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.)
If this function is set to Auto Setting, vibration will be detected automatically during one-parameter tuning and
the notch filter will be set.

Set this function to Not Auto Setting only if you do not change the notch filter setting before executing one-
parameter tuning.

Parameter Function When Enabled Classification

Does not set the 1st notch filter automatically with
n. 0
the utility function.
n. 1 Sets the 1st notch filter automatically with the utility
[Factory setting] function.
Pn460 Immediately Tuning
Does not set the 2nd notch filter automatically with
n. 0
the utility function.
n. 1 Sets the 2nd notch filter automatically with the utility
[Factory setting] function.

Anti-Resonance Control Adjustment

This function reduces low vibration frequency, which the notch filter does not detect.

Usually, set this function to Auto Setting. (The anti-resonance control is factory-set to Auto Setting.)
When this function is set to Auto Setting, vibration will be automatically detected during one-parameter tun-
ing and anti-resonance control will be automatically adjusted and set.
Parameter Function When Enabled Classification
Does not use the anti-resonance control automatically
n. 0
with the utility function.
Pn160 Immediately Tuning
n. 1 Uses the anti-resonance control automatically with
[Factory setting] the utility function.

Friction Compensation
This function compensates for changes in the following conditions.

• Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine
• Changes in the friction resistance resulting from variations in the machine assembly
• Changes in the friction resistance due to aging

Conditions to which friction compensation is applicable depend on the tuning mode. The friction compensa-
tion setting in F408.3 applies when the mode is 0 or 1. Tuning Mode = 2 and Tuning Mode = 3 are adjusted
with the friction compensation function regardless of the friction compensation setting in P408.3.

Mode
Friction Tuning Mode = 0 Tuning Mode = 1 Tuning Mode = 2 Tuning Mode = 3
Compensation
Selecting
Adjusted without the Adjusted without the
n.0
friction compensation friction compensa-
[Factory setting] function Adjusted with the Adjusted with the
tion function
Pn408 friction compensa- friction compensa-
Adjusted with the Adjusted with the tion function tion function
n.1 friction compensation friction compensa-
function tion function

5-50
 5.5 One-parameter Tuning (Fn203)

Feedforward
If Pn140 is set to the factory setting and the tuning mode setting is changed to 2 or 3, the feedforward gain
(Pn109), speed feedforward (VFF) input, and torque feedforward (TFF) input will be disabled.

Set Pn140.3 to 1 if model following control is used together with the speed feedforward (VFF) input and
torque feedforward (TFF) input from the host controller.
Parameter Function When Enabled Classification
n.0 Model following control is not used together with the
[Factory setting] speed/torque feedforward input.
Pn140 Immediately Tuning
Model following control is used together with the
n.1
speed/torque feedforward input.

Refer to Σ-V Series User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54) for
details.

• Model following control is used to make optimum feedforward settings in the SERVO-
PACK when model following control is used with the feedforward function. Therefore,
model following control is not normally used together with either the speed feedfor-
ward (VFF) input or torque feedforward (TFF) input from the host controller. However,
model following control can be used with the speed feedforward (VFF) input or torque
feedforward (TFF) input if required. An improper feedforward input may result in over-
shooting.

Adjustments

5-51
 5 Adjustments
5.5.3 One-parameter Tuning Example

5.5.3 One-parameter Tuning Example

The following procedure is used for one-parameter tuning on the condition that the tuning mode is set to 2 or
3. This mode is used to reduce positioning time.

Step Measuring Instrument Display Example Operation

Position error
M
EC
H Measure the positioning time after setting the moment of iner-
tia ratio (Pn103) correctly. Tuning will be completed if the
1
Reference speed
A specifications are met here. The tuning results will be saved in
the SERVOPACK.

Positioning completed signal

The positioning time will become shorter if the FF level is

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

Overshooting will be reduced if the FB level is increased. If the

3
overshooting is eliminated, go to step 4.

The graph shows overshooting generated with the FF level

increased after step 3. In this state, the overshooting occurs, but
the positioning settling time is shorter. The tuning will be com-
pleted if the specifications are met. The adjustment results are
saved in the SERVOPACK. If overshooting occurs before the
4 specifications are met, repeat steps 3 and 4.
If vibration occurs before the overshooting is eliminated, the
vibration will be suppressed by the automatic notch filter and
anti-resonance control.

5 The adjustment results are saved in the SERVOPACK.

5-52
 5.5 One-parameter Tuning (Fn203)

5.5.4 Related Parameters

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

• Parameters related to this function

These are parameters that are used or referenced when executing this function.

• Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.
No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

• Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.
No : Parameter set values are not automatically set or adjusted after execution of this function.

Mid-execution Automatic
Parameter Name
changes changes
Pn100 Speed Loop Gain No Yes
Pn101 Speed Loop Integral Time Constant No Yes
Pn102 Position Loop Gain No Yes
Pn103 Moment of Inertia Ratio No No
Pn121 Friction Compensation Gain No Yes
Pn123 Friction Compensation Coefficient No Yes
Pn124 Friction Compensation Frequency Correction No No
Pn125 Friction Compensation Gain Correction No Yes
Pn401 Torque Reference Filter Time Constant No Yes
Pn408 Torque Related Function Switch Yes Yes
Pn409 1st Notch Filter Frequency No Yes
Pn40A 1st Notch Filter Q Value No Yes
Pn40C 2nd Notch Filter Frequency No Yes
Pn40D 2nd Notch Filter Q Value No Yes
Pn140 Model Following Control Related Switch Yes Yes
Pn141 Model Following Control Gain No Yes
Pn142 Model Following Control Gain Compensation No Yes
Pn143 Model Following Control Bias (Forward Direction) No Yes
Pn144 Model Following Control Bias (Reverse Direction) No Yes
Pn145 Vibration Suppression 1 Frequency A No No
Pn146 Vibration Suppression 1 Frequency B No No
Adjustments

Pn147 Model Following Control Speed Feedforward Compensation No Yes

Pn160 Anti-Resonance Control Related Switch Yes Yes
Pn161 Anti-Resonance Frequency No Yes
Pn163 Anti-Resonance Damping Gain No Yes

5-53
 5 Adjustments
5.6.1 Anti-Resonance Control Adjustment Function

5.6 Anti-Resonance Control Adjustment Function (Fn204)

This section describes the anti-resonance control adjustment function.

5.6.1 Anti-Resonance Control Adjustment Function

The anti-resonance control adjustment function increases the effectiveness of the vibration suppression after
one-parameter tuning. This function is effective in supporting anti-resonance control adjustment if the vibra-
tion frequencies are from 100 to 1000 Hz.

This function rarely needs to be used because it is automatically set by the advanced autotuning or advanced
autotuning by reference input. Use this function only if fine-tuning is required, or vibration detection is failed
and readjustment is required.

Perform one-parameter tuning (Fn203) or use another method to improve the response characteristics after
performing this function. If the anti-resonance gain is increased with one-parameter tuning performed, vibra-
tion may result again. If that occurs, perform this function again to fine-tune the settings.

CAUTION
• If this function is executed, related parameters will be set automatically. Therefore, there will be a large
response change after this function is executed. Enable the function in a state where the machine can
come to an emergency stop at any time to ensure the safety operation of the machine.
• Be sure to set a suitable value for the moment of inertia ratio (Pn103) using advanced autotuning before
executing the anti-resonance control adjustment function. If the setting greatly differs from the actual
moment of inertia ratio, normal control of the machine may not be possible, and vibration may result.

• This function detects vibration between 100 and 1000 Hz. Vibration will not be
detected for frequencies outside of this range, and instead, "F----" will be displayed. If
that occurs, use one-parameter tuning with tuning mode 2 selected to automatically
set a notch filter or use the vibration suppression function (Fn205).
• Vibration can be reduced more effectively by increasing the anti-resonance damping
gain (Pn163). The amplitude of vibration may become larger if the damping gain is
excessively high. Increase the damping gain from about 0% to 200% in 10% incre-
ments while checking the effect of vibration reduction. If the effect of vibration reduc-
tion is still insufficient at a gain of 200%, cancel the setting, and lower the control gain
using a different method, such as one-parameter tuning.

Before Performing Anti-Resonance Control Adjustment Function

The following conditions must be met to perform anti-resonance control adjustment function.

• The tuning-less function must be disabled (Pn170.0 = 0).

• The test without a motor function must be disabled (Pn00C.0 = 0).
• The control must not be set to torque control.
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).

5-54
 5.6 Anti-Resonance Control Adjustment Function (Fn204)

5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure

With this function, an operation reference is sent, and the function is executed while vibration is occurring.

The SigmaWin+ is required to execute this function.

The following methods can be used for the anti-resonance control adjustment function.

• With undetermined vibration frequency

• With determined vibration frequency

The following describes the operating procedures.

CAUTION
Be sure to carefully read the SigmaWin+ Operation Manual before executing this function.
Special care must be taken for the following.
• Before executing this function, make sure that the emergency stop (power off) can be activated when
needed.
This function will automatically set parameters when used. As a result, the response speeds may change considerably
after execution. Before executing this function, make sure that the emergency stop (power off) can be activated when
needed.
• The moment of inertia (mass) must be correctly set to execute this function.
If it is not correctly set, satisfactory anti-resonance control cannot be achieved.
• If the frequency is changed while the anti-resonance control adjustment function is being used, the current
anti-resonance control effect will be lost. Care must be taken when automatic frequency detection is exe-
cuted in Auto Detect mode.
• If vibration cannot be suppressed by executing this function, cancel execution and reduce the servo gain
by other methods such as custom tuning.
• Use an adjustment method such as custom tuning to improve response characteristics after executing this
function.
When the servo gain is increased during an adjustment such as custom tuning, vibration may be gener-
ated again. In this case, execute the anti-resonance control adjustment function again for fine adjustment.

The anti-resonance control adjustment function supports the adjustment of anti-resonance control effective for
vibration frequencies from 100 to 1,000 Hz when servo gain is increased. Vibration can be suppressed by set-
ting vibration frequency by auto detection or by manual setting to adjust damping gain. Input a reference and
execute this function when there is vibration.

Adjustments

5-55
 5 Adjustments
5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure

(1) With Undetermined Vibration Frequency

1. In the SigmaWin+ main window, click Tuning - Tuning.
MECH
A

Click Cancel to return to the SigmaWin+ main window without executing tuning.

2. Click Execute.
The following window will appear.

MECHA

5-56
 5.6 Anti-Resonance Control Adjustment Function (Fn204)

3. Click Advanced adjustment.

The following box will appear.
MECHA

4. Click Custom tuning.

The following box will appear.

MECHA

5. Select the tuning mode from the Tuning mode box and the mechanism from the Mechanism
selection box, and then click Next.
The following box will appear.

MECHA

Adjustments

5-57
 5 Adjustments
5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure

6. Enter the correct moment of inertia ratio and then click Next.
The following window will appear.

MECHA

7. Click Anti-res Ctrl Adj.

The following window will appear.

MECHA

8. Click Auto Detect to set the frequency and click Start adjustment.
The following window will appear.

MECHA

5-58
 5.6 Anti-Resonance Control Adjustment Function (Fn204)

9. Adjust the damping gain by clicking the setting arrows.

MECHA

Click Reset to reset the settings to their original values during adjustment.

10. When the adjustment is complete, click Finish to return to the main window.
The set values will be written in the SERVOPACK.

(2) With Determined Vibration Frequency

1. In the SigmaWin+ main window, click Tuning - Tuning.
MEC
HA

Adjustments

Click Cancel to return to the SigmaWin+ main window without executing tuning.
5

5-59
 5 Adjustments
5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure

2. Click Execute.
The following window will appear.

MECHA

3. Click Advanced adjustment.

The following box will appear.
MECHA

4. Click Custom tuning.

The following box will appear.

MECHA

5-60
 5.6 Anti-Resonance Control Adjustment Function (Fn204)

5. Select the tuning mode from the Tuning mode box and the mechanism from the Mechanism
selection box, and then click Next.
The following box will appear.

MECHA

6. Enter the correct moment of inertia ratio and then click Next.
The following window will appear.

MECHA

7. Click Anti-res Ctrl Adj.

The following window will appear.

MECHA
Adjustments

5-61
 5 Adjustments
5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure

8. Click Manual Set to set the frequency and click Start adjustment.
The following window will appear.

MECHA

9. Adjust the frequency by clicking the setting arrows.

MECHA

Click Reset to reset the settings to their original values during adjustment.

10. Adjust the damping gain by clicking the setting arrows.

MECHA

Click Reset to reset the settings to their original values during adjustment.

11. When the adjustment is complete, click Finish to return to the main window.
The set values will be written in the SERVOPACK.

5-62
 5.6 Anti-Resonance Control Adjustment Function (Fn204)

5.6.3 Related Parameters

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

• Parameters related to this function

These are parameters that are used or referenced when executing this function.

• Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.
No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

• Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.
No : Parameter set values are not automatically set or adjusted after execution of this function.

Mid-execution Automatic
Parameter Name
changes changes
Pn160 Anti-Resonance Control Related Switch Yes Yes
Pn161 Anti-Resonance Frequency No Yes
Pn162 Anti-Resonance Gain Compensation Yes No
Pn163 Anti-Resonance Damping Gain No Yes
Pn164 Anti-Resonance Filter Time Constant 1 Compensation Yes No
Pn165 Anti-Resonance Filter Time Constant 2 Compensation Yes No

Adjustments

5-63
 5 Adjustments
5.7.1 Vibration Suppression Function

5.7 Vibration Suppression Function (Fn205)

The vibration suppression function is described in this section.

5.7.1 Vibration Suppression Function

The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is
generated mainly when positioning if the machine stand vibrates. This function is effective for vibration fre-
quencies for which notch filter and anti-resonance control adjustment functions are not applicable.
This function is set automatically when advanced autotuning or advanced autotuning by reference is executed.
In most cases, this function is not necessary. Use this function only if fine-tuning is required or readjustment is
required as a result of a failure to detect vibration. Before executing this function, input an operation reference
to create vibration.

Perform one-parameter tuning (Fn203) if required to improve the response characteristics after performing
this function.

CAUTION
• If this function is executed, related parameters will be set automatically. Therefore, there will be a large
response change after this function is enabled or disabled. Enable the function in a state where the
machine can come to an emergency stop at any time to ensure the safety operation of the machine.
• If the parameter settings are changed while the motor is moving, the new settings will become valid after
the /COIN signal is output.
• Be sure to set a suitable value for the moment of inertia ratio (Pn103) using advanced autotuning before
executing the vibration suppression function. If the setting greatly differs from the actual moment of inertia
ratio, normal control of the SERVOPACK may not be possible, and vibration may result.
• Phase control of the MP2000 Series may not be possible, if the vibration suppression function is per-
formed when using the MP2000 Series with phase control.

• This function detects vibration frequency between 1 to 100 Hz. Vibration will not be
detected for frequencies outside of this range, and instead, "F-----" will be displayed.
• Frequency detection will not be performed if no vibration results from position error or
the vibration frequencies are outside the range of detectable frequencies. If so, use a
device, such as a displacement sensor or vibration sensor, to measure the vibration
frequency.
• If vibration frequencies automatically detected are not suppressed, the actual fre-
quency and the detected frequency may differ. Fine-tune the detected frequency if
necessary.

(1) Preparation
The following conditions must be met to perform the vibration suppression function.

• The control must be set to position control.

• The tuning-less function must be disabled (Pn170.0 = 0).
• The test without a motor function must be disabled (Pn00C.0 = 0).
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
(2) Items Influencing Performance
If continuous vibration occurs when the servomotor is not rotating, the vibration suppression function cannot
be used to suppress the vibration effectively. If the result is not satisfactory, perform anti-resonance control
adjustment function (Fn204) or one-parameter tuning (Fn203).

5-64
 5.7 Vibration Suppression Function (Fn205)

(3) Detection of Vibration Frequencies

No frequency detection may be possible if the vibration does not appear as a position error or the vibration
resulting from the position error is too small.
The detection sensitivity can be adjusted by changing the setting for the remained vibration detection width
(Pn560) which is set as a percentage of the positioning completed width (Pn522). Perform the detection of
vibration frequencies again after adjusting the remained vibration detection width (Pn560).

Remained Vibration Detection Width Position

Classification
Pn560 Setting Range Setting Unit Factory Setting When Enabled
1 to 3000 0.1% 400 Immediately Setup
Note: As a guideline, change the setting 10% at a time. The smaller the set value is, the higher the detection sensitivity will
be. If the value is too small, however, the vibration may not be detected accurately.
The vibration frequencies that are automatically detected may vary somewhat with each positioning operation.
Perform positioning several times and make adjustments while checking the effect of vibration suppression.

5.7.2 Vibration Suppression Function Operating Procedure

The following procedure is used for vibration suppression function.

The SigmaWin+ is required to execute this function.

(1) Operating Procedure

1. In the SigmaWin+ main window, click Tuning - Tuning.
MECH
A

Adjustments

Click Cancel to return to the SigmaWin+ main window without executing tuning.
5

5-65
 5 Adjustments
5.7.2 Vibration Suppression Function Operating Procedure

2. Click Execute.
The following window will appear.

MECHA

3. Click Advanced adjustment.

The following box will appear.
MECHA

4. Click Custom tuning.

The following box will appear.

MECHA

5-66
 5.7 Vibration Suppression Function (Fn205)

5. Select the 2 or 3 of tuning mode from the Tuning mode box and the mechanism from the
Mechanism selection box, and then click Next.
The following box will appear.
MEC
HA

6. Click Vib Suppress.

The Vibration suppression Function box will appear.
MECH
A

Adjustments

5-67
 5 Adjustments
5.7.2 Vibration Suppression Function Operating Procedure

7. Set a frequency by using the Import function or by manually selecting the frequency.
Click Import. The value of the residual vibration frequency being monitored will be imported to the Set
frequency box. This function, however, is effective only when the residual vibration frequency is
between 1.0 and 100.0.

The Set frequency can be manually selected by clicking the setting arrows.
MECH
A

8. Click Set.
MECHA

If any vibration still occurs, manually make fine adjustments to the Set frequency, and click Set.

MECHA

If you need to undo the change you made while making adjustments, click Reset. The setting will be
restored to the original value.

5-68
 5.7 Vibration Suppression Function (Fn205)

9. After the vibration has been successfully suppressed, click Finish.

The value of the Set frequency will be transferred to and saved in the SERVOPACK.

No settings related to the vibration suppression function will be changed during opera-
tion.
If the servomotor does not stop approximately 10 seconds after the setting changes, a
timeout error will result and the previous setting will be automatically enabled again.
The vibration suppression function will be enabled in step 9. The motor response, how-
ever, will change when the servomotor comes to a stop with no reference input.

(2) Related Function on Vibration Suppression Function

This section describes functions related to vibration suppression function.

Feedforward
The feedforward gain (Pn109), speed feedforward (VFF) input, and torque feedforward (TFF) input will be
disabled in the factory setting.

Set Pn140.3 to 1 if model following control is used together with the speed feedforward (VFF) input and
torque feedforward (TFF) input from the host controller.
Parameter Function When Enabled Classification
n.0 Model following control is not used together with the
[Factory setting] speed/torque feedforward input.
Pn140 Immediately Tuning
Model following control is used together with the
n.1
speed/torque feedforward input.

Refer to Σ-V Series User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54) for
details.

• Model following control is used to make optimum feedforward settings in the SERVO-
PACK when model following control is used with the feedforward function. Therefore,
model following control is not normally used together with either the speed feedfor-
ward (VFF) input or torque feedforward (TFF) input from the host controller. However,
model following control can be used with the speed feedforward (VFF) input or torque
feedforward (TFF) input if required. An improper feedforward input may result in over-
shooting.

Adjustments

5-69
 5 Adjustments
5.7.3 Related Parameters

5.7.3 Related Parameters

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

• Parameters related to this function

These are parameters that are used or referenced when executing this function.

• Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.
No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

• Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.
No : Parameter set values are not automatically set or adjusted after execution of this function.

Mid-execution Automatic
Parameter Name
changes changes
Pn140 Model Following Control Related Switch Yes Yes
Pn141 Model Following Control Gain No Yes
Pn142 Model Following Control Gain Compensation No No
Pn143 Model Following Control Bias (Forward Direction) No No
Pn144 Model Following Control Bias (Reverse Direction) No No
Pn145 Vibration Suppression 1 Frequency A No Yes
Pn146 Vibration Suppression 1 Frequency B No Yes
Model Following Control Speed Feedforward Compen-
Pn147 No No
sation
Pn14A Vibration Suppression 2 Frequency No No
Pn14B Vibration Suppression 2 Compensation No No

5-70
 5.8 Additional Adjustment Function

5.8 Additional Adjustment Function

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

• Switching gain settings

• Friction compensation
• Current control mode selection
• Current gain level setting
• Speed detection method selection

5.8.1 Switching Gain Settings

Two gain switching functions are available, manual switching and automatic switching. The manual switching
function uses an external input signal to switch gains, and the automatic switching function switches gains
automatically.

By using the gain switching function, the positioning time can be shortened by increasing the gain during posi-
tioning and vibration can be suppressed by decreasing the gain while it is stopped.

Parameter Function When Enabled Classification

n. 0
Manual gain switching
Pn139 [Factory setting] Immediately Tuning
n. 2 Automatic gain switching
Note: n. 1 is reserved. Do not use.

For the gain combinations for switching, refer to (1) Gain Combinations for Switching.

For the manual gain switching, refer to (2) Manual Gain Switching.

For the automatic gain switching, refer to (3) Automatic Gain Switching.

(1) Gain Combinations for Switching

Model
Speed Loop Torque Model Friction
Speed Loop Position Loop Following
Setting Integral Time Reference Following Compensation
Gain Gain Control Gain
Constant Filter Control Gain Gain
Compensation
Pn142*
Pn100
Pn101
Pn102
Pn401 Pn141* Pn121
Gain Speed Loop Torque Refer- Model Follow-
Speed Loop Position Loop Model Follow- Friction Com-
Setting 1 Integral Time ence Filter Time ing Control
Gain Gain ing Control pensation Gain
Constant Constant Gain Compen-
Gain
sation
Pn412 Pn149*
Pn105 Pn148* Pn122
Adjustments

Pn104 Pn106 1st Step 2nd 2nd Model Fol-

Gain 2nd Speed Loop 2nd Model Fol- 2nd Gain for
2nd Speed Loop 2nd Position Torque Refer- lowing Control
Setting 2 Integral Time lowing Control Friction
Gain Loop Gain ence Filter Time Gain Compen-
Constant Gain Compensation
Constant sation

∗ The switching gain settings for the model following control gain and the model following control gain compensation
are available only for manual gain switching. To enable the gain switching of these parameters, a gain switching input
signal must be sent, and the following conditions must be met. 5
• No command being executed.
• Motor having been completely stopped.
If these conditions are not satisfied, the applicable parameters will not be switched although the other parameters
shown in this table will be switched.

5-71
 5 Adjustments
5.8.1 Switching Gain Settings

(2) Manual Gain Switching

Manual gain switching uses G-SEL of OPTION field to switch between gain setting 1 and gain setting 2.

Type Command Name Setting Meaning

0 Switches to gain setting 1.
Input G-SEL of OPTION field
1 Switches to gain setting 2.

(3) Automatic Gain Switching

Automatic gain switching is enabled only in position control. The switching conditions are specified using the
following settings.

Switching Wait
Parameter Setting Switching Condition Setting Switching Time
Time
Condition A satisfied. Gain setting 1 to Pn135 Pn131
gain setting 2 Gain Switching Gain Switching
Waiting Time 1 Time 1
Pn139 n. 2
Condition A not satis- Gain setting 2 to Pn136 Pn132
fied. gain setting 1 Gain Switching Gain Switching
Waiting Time 2 Time 2

Select one of the following settings for switching condition A.

For Other than

Switching Condition A When
Parameter Position Control (No Classification
for Position Control Enabled
Switching)
n. 0 Positioning completed
Fixed in gain setting 1
[Factory setting] signal (/COIN) ON
Positioning completed
n. 1 Fixed in gain setting 2
signal (/COIN) OFF
Positioning near signal
n. 2 Fixed in gain setting 1
(/NEAR) ON
Pn139 Positioning near signal Immediately Tuning
n. 3 Fixed in gain setting 2
(/NEAR) OFF
No output for position
n. 4 reference filter and posi- Fixed in gain setting 1
tion reference input OFF
Position reference input
n. 5 Fixed in gain setting 2
ON

Automatic switching pattern 1 (Pn139.0 = 2)

Switching Waiting Time 1 Pn135

Condition A Switching Time 1 Pn131
satisfied
Gain Gain
Settings 1 Settings 2
Pn100 Pn104
Pn101 Pn105
Pn102 Pn106
Pn121 Pn122
Pn401 Pn412
Switching Waiting Time 2‫ޓ‬Pn136 Condition A
Switching Time 2‫ޓ‬Pn132 not satisfied

5-72
 5.8 Additional Adjustment Function

Relationship between the Waiting and Switching Times for Gain Switching
In this example, the "positioning completed signal (/COIN) ON" condition is set as condition A for automatic
gain switching. The position loop gain is switched from the value in Pn102 (position loop gain) to the value in
Pn106 (2nd position loop gain). When the /COIN signal goes ON, the switching operation begins after the
waiting time set in Pn135. The switching operation changes the position loop gain linearly from Pn102 to
Pn106 within the switching time set in Pn131.
Switching
Waiting Time Switching Time
Pn135 Pn131
Pn102
Position Loop Gain

Pn106
2nd Position
Loop Gain

/COIN

Switching condition A satisfied

Note: Automatic gain switching is available in the PI and I-P controls (Pn10B).

(4) Related Parameters

Speed Loop Gain 　 Speed 　 Position

Classification
Pn100 Setting Range Setting Unit Factory Setting When Enabled
10 to 20000 0.1 Hz 400 Immediately Tuning
Speed Loop Integral Time Constant 　 Speed 　 Position
Classification
Pn101 Setting Range Setting Unit Factory Setting When Enabled
15 to 51200 0.01 ms 2000 Immediately Tuning
Position Loop Gain 　 Position
Classification
Pn102 Setting Range Setting Unit Factory Setting When Enabled
10 to 20000 0.1/s 400 Immediately Tuning
Torque Reference Filter Time Constant Speed 　 Position 　 Torque
Classification
Pn401 Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 0.01 ms 100 Immediately Tuning
Model Following Control Gain 　 Position
Classification
Pn141 Setting Range Setting Unit Factory Setting When Enabled
Adjustments

10 to 20000 0.1/s 500 Immediately Tuning

Model Following Control Gain Compensation 　 Position
Classification
Pn142 Setting Range Setting Unit Factory Setting When Enabled
500 to 2000 0.1% 1000 Immediately Tuning
Friction Compensation Gain 　 Speed 　 Position 5
Classification
Pn121 Setting Range Setting Unit Factory Setting When Enabled
10 to 1000 1% 100 Immediately Tuning
2nd Speed Loop Gain 　 Speed 　 Position
Classification
Pn104 Setting Range Setting Unit Factory Setting When Enabled
10 to 20000 0.1 Hz 400 Immediately Tuning

5-73
 5 Adjustments
5.8.1 Switching Gain Settings

(cont’d)
2nd Speed Loop Integral Time Constant 　 Speed 　 Position
Classification
Pn105 Setting Range Setting Unit Factory Setting When Enabled
15 to 51200 0.01 ms 2000 Immediately Tuning
2nd Position Loop Gain 　 Position
Classification
Pn106 Setting Range Setting Unit Factory Setting When Enabled
10 to 20000 0.1/s 400 Immediately Tuning
1st Step 2nd Torque Reference Filter Time
Speed 　 Position 　 Torque
Constant Classification
Pn412
Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 0.01 ms 100 Immediately Tuning
2nd Model Following Control Gain 　 Position
Classification
Pn148 Setting Range Setting Unit Factory Setting When Enabled
10 to 20000 0.1/s 500 Immediately Tuning
2nd Model Following Control Gain Compensation 　 Position
Classification
Pn149 Setting Range Setting Unit Factory Setting When Enabled
500 to 2000 0.1% 1000 Immediately Tuning
2nd Gain for Friction Compensation 　 Speed 　 Position
Classification
Pn122 Setting Range Setting Unit Factory Setting When Enabled
10 to 1000 1% 100 Immediately Tuning

(5) Parameters for Automatic Gain Switching

Gain Switching Time 1 　 Position
Classification
Pn131 Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 1 ms 0 Immediately Tuning
Gain Switching Time 2 　 Position
Classification
Pn132 Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 1 ms 0 Immediately Tuning
Gain Switching Waiting Time 1 　 Position
Classification
Pn135 Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 1 ms 0 Immediately Tuning
Gain Switching Waiting Time 2 　 Position
Classification
Pn136 Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 1 ms 0 Immediately Tuning

(6) Related Monitor

Monitor No. (Un) Name Value Remarks
1 For gain setting 1
Un014 Effective gain monitor
2 For gain setting 2
Note: When using the tuning-less function, gain setting 1 is enabled.

Analog
Parameter No. Name Output Value Remarks
Monitor
Pn006 Effective gain moni- 1V Gain setting 1 is enabled.
n. 0B
Pn007 tor 2V Gain setting 2 is enabled.

5-74
 5.8 Additional Adjustment Function

5.8.2 Manual Adjustment of Friction Compensation

Friction compensation rectifies the viscous friction change and regular load change.

The friction compensation function can be automatically adjusted with advanced autotuning (Fn201),
advanced autotuning by reference input (Fn202), or one-parameter tuning (Fn203). This section describes the
steps to follow if manual adjustment is required.

(1) Required Parameter Settings

The following parameter settings are required to use friction compensation.

Parameter Function When Enabled Classification

n.0
Does not use friction compensation.
Pn408 [Factory setting] Immediately Setup
n.1 Uses friction compensation.

Friction Compensation Gain 　 Speed 　 Position

Classification
Pn121 Setting Range Setting Unit Factory Setting When Enabled
10 to 1000 1% 100 Immediately Tuning
Friction Compensation Coefficient 　 Speed 　 Position
Classification
Pn123 Setting Range Setting Unit Factory Setting When Enabled
0 to 100 1% 0 Immediately Tuning
Friction Compensation Frequency Correction Speed 　 Position
Classification
Pn124 Setting Range Setting Unit Factory Setting When Enabled
-10000 to 10000 0.1 Hz 0 Immediately Tuning
Friction Compensation Gain Correction 　 Speed 　 Position
Classification
Pn125 Setting Range Setting Unit Factory Setting When Enabled
1 to 1000 1% 100 Immediately Tuning

Adjustments

5-75
 5 Adjustments
5.8.2 Manual Adjustment of Friction Compensation

(2) Operating Procedure for Friction Compensation

The following procedure is used for friction compensation.

CAUTION
• Before using friction compensation, set the moment of inertia ratio (Pn103) as accurately as possible. If
the wrong moment of inertia ratio is set, vibration may result.

Step Operation
Set the following parameters for friction compensation to the factory setting as follows.
Friction compensation gain (Pn121): 100
Friction compensation coefficient (Pn123): 0
1 Friction compensation frequency correction (Pn124): 0
Friction compensation gain correction (Pn125): 100
Note: Always use the factory-set values for friction compensation frequency correction (Pn124) and friction
compensation gain correction (Pn125).
To check the effect of friction compensation, gradually increase the friction compensation coefficient (Pn123).
Note: Usually, set the friction compensation coefficient value to 95% or less. If the effect is insufficient,
increase the friction compensation gain (Pn121) by 10% increments until it stops vibrating.

Effect of Parameters for Adjustment

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

Insufficient responsiveness Responsiveness MECHA

because of friction is improved by
៺ᡂᄢ㧘៺ᡂዊ
friction
Small friction compensation.
૏⟎஍Ꮕ
Position error ૏⟎஍Ꮕ
Position error
3
៺ᡂᄢ
Large friction

ᜰ઎ࡄ࡞ࠬㅦᐲ
Reference speed ᜰ઎ࡄ࡞ࠬㅦᐲ
Reference speed

Without friction compensation With friction compensation

5-76
 5.8 Additional Adjustment Function

5.8.3 Current Control Mode Selection Function

This function reduces high-frequency noises while the servomotor is being stopped. This function is enabled
by default and set to be effective under different application conditions. Set Pn009.1 = 1 to use this function.

Parameter Meaning When Enabled Classification

n. 0 Selects the current control mode 1.
Pn009 n. 1 After restart Tuning
Selects the current control mode 2 (low noise).
[Factory setting]

• If current control mode 2 is selected, the load ratio may increase while the servomotor
is being stopped.

5.8.4 Current Gain Level Setting

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

Current Gain Level Speed 　 Position

Classification
Pn13D Setting Range Setting Unit Factory Setting When Enabled
100 to 2000 1% 2000 Immediately Tuning

• If the parameter setting of the current gain level is changed, the responses character-
istics of the speed loop will also change. The SERVOPACK must, therefore, be read-
justed again.

5.8.5 Speed Detection Method Selection

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

Parameter Meaning When Enabled Classification

n. 0
Selects speed detection 1.
Pn009 [Factory setting] After restart Tuning
n. 1 Selects speed detection 2.

• If the speed detection method is changed, the response characteristics of the speed
Adjustments

loop will change and the SERVOPACK must be readjusted again.

5-77
 5 Adjustments
5.8.6 Backlash Compensation Function

5.8.6 Backlash Compensation Function

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

Note 1. This function is supported only for position control.

2. Software version 0023 or higher is required to use this function. The software version can be confirmed in Fn012.
For details, refer to 6.14 Software Version Display (Fn012).
Travel distance by
position reference
MECHA
Machine axis
Travel distance
Backlash compensation value by position reference

Motor axis
Reference forward
rotational direction
Machine axis (e.g. table)

Motor axis

Backlash (play due to mechanical precision)

(2) Related Parameter

Set the following parameter to use backlash compensation.

Backlash Compensation Direction

Set the direction in which to apply backlash compensation.

Parameter Function When Enabled Classification

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

Backlash Compensation Value

Set the amount of backlash compensation to add to the position reference.
The amount is set in increments of 0.1 reference unit. However, when the amount is converted to encoder
pulses, it is rounded off at the decimal point.

Example: If Pn231 is set to 6,553.6 [reference unit] and the electronic gear ratio (Pn20E/Pn210) is set to 4/1,
then the pulse equivalent is 6,553.6 × 4 = 26,214.4 [pulses].
⇒The backlash compensation value will be 26,214 encoder pulses.

Backlash compensation value Position

Classification
Pn231 Setting Range Setting Unit Factory Setting When Enabled
0.1 reference
-500000 to +500000 0 Immediately Setup
unit

5-78
 5.8 Additional Adjustment Function

• The backlash compensation value is restricted by the following formula. The specified compensation
is not performed if this condition is not met.

Pn210 Maximum motor speed [min-1]

Pn231 ҇ × × Encoder resolution × 0.00025
Pn20E 60

∗ For details, refer to 4.4.3 Electronic Gear.

Example:
If Pn20E is set to 4, Pn210 is set to 1, the maximum motor speed is 6,000 [min-1], and the encoder
resolution is 131,072 (17 bits),
1/4 × 6000/60 × 131072 × 0.00025 = 819.2 [reference units]
⇒Therefore, the maximum backlash compensation value is 819.2 reference units.

• Do not exceed the upper limit of the backlash compensation value. The upper limit of the backlash
compensation value can be confirmed in Un031.

Backlash Compensation Time Constant

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

Backlash compensation time constant Position

Classification
Pn233 Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 0.01 ms 0 Immediately Setup

Note: Changes to the set value are applied when there is no position reference input and the servomotor is stopped. The
current operation is not affected if the set value is changed during servomotor operation.
(3) Related Monitor
The following monitoring parameters provide information on backlash compensation.
Un No. Displayed Information Unit
Un030 The current backlash compensation value 0.1 reference unit
Un031 Backlash compensation setting limit value 0.1 reference unit

(4) Compensation Operation

This section describes the operation that is performed for backlash compensation.

Note: The following figures are for when backlash compensation is applied for references in the forward direction
(Pn230.0 = 0). The following monitoring information is provided in the figures: TPOS (target position in the refer-
ence coordinate system), POS (reference position in the reference coordinate system), and APOS (feedback position
Adjustments

in the machine coordinate system). The monitoring information includes the feedback position in machine coordi-
nate system (APOS) and other feedback information. The backlash compensation value is subtracted from the feed-
back positions in the monitoring information, so it is not necessary for the host controller to consider the backlash
compensation value.

CAUTION
5
• The encoder dividing pulse output will output the number of encoder pulses for which driving was actually
performed, including the backlash compensation value. If using the encoder dividing pulse output for posi-
tion feedback at the host controller, must consider the backlash compensation value.

5-79
 5 Adjustments
5.8.6 Backlash Compensation Function

When Servo is ON
The backlash compensation value (Pn231) is added in the compensation direction when the servo is ON (i.e.,
the servomotor is powered) and a reference is input in the same direction as the backlash compensation direc-
tion (Pn230.0). If there is a reference input in the direction opposite to the backlash compensation direction,
the backlash compensation value is not added (i.e., backlash compensation is not performed).

The relationship between APOS and the servomotor shaft position is as follows:

• If a reference is input in the compensation direction: APOS = Motor shaft position - Pn231
• If a reference is input in the direction opposite to the compensation direction: APOS = Motor shaft position

The following figure shows driving the servomotor in the forward direction from target position TPOS0 to
TPOS1 and then to TPOS2, and then returning from TPOS2 to TPOS1 and then to TPOS0.

Backlash compensation is applied when moving from TPOS0 to TPOS1, but not when moving from TPOS2 to
TPOS1.

Servo ON
MECHA
If a reference is input Target position Target position Target position
in the compensation TPOS0 TPOS1 TPOS2
direction Travel distance 䋱 Travel distance 䋲
POS

APOS

Machine axis
Pn231
Travel distance 䋱 Travel distance 䋲
Motor axis

Machine axis

Motor axis

Backlash (= Pn231)
If a reference is input
in the direction opposite
to the compensation direction

Travel distance 䋱 Travel distance 䋲

POS

APOS

Machine axis
Pn231
Travel distance 䋱 Travel distance 䋲
Motor axis

Machine axis

Motor axis

Backlash (= Pn231)

5-80
 5.8 Additional Adjustment Function

When Servo is OFF

Backlash compensation is not applied when the servo is OFF (i.e., when the servomotor is not powered).
Therefore, the reference position POS moves by only the backlash compensation value.

The relationship between APOS and the servomotor shaft position is as follows:

• When servo is OFF: APOS = Servomotor shaft position

The following figure shows what happens when the servo is turned OFF after driving the servomotor in the
forward direction from target position TPOS0 to TPOS1. Backlash compensation is not applied when the
servo is OFF (i.e., the SERVOPACK manages the position data so that APOS and POS are the same).

Servo OFF
MECHA

Target position Target position

TPOS0 TPOS1
Travel distance
POS
Status with no backlash
compensation POS = APOS
APOS

Machine axis
Pn231
Travel distance
Motor axis

Machine axis

Motor axis

Backlash䋨= Pn231䋩

When There is Overtravel

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

When Control is Changed

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

(5) Monitor Functions (Un Monitoring)

Un No. Displayed Information Unit Specification

Un007 Input reference speed min-1

Indicates the input reference speed before backlash 5
compensation.
Displays the position error with respect to the position
Un008 Position error amount Reference unit
reference after backlash compensation.
Displays the input reference counter before backlash
Un00C Input reference counter Reference unit
compensation.
Displays the pulse count of the actually driven motor
Un00D Feedback pulse counter Encoder pulse
encoder.
Displays the pulse count of the actually driven encoder
Un013 Feedback pulse counter Reference unit
in reference units.

5-81
 5 Adjustments
5.8.6 Backlash Compensation Function

(6) MECHATROLINK Monitor Information

This section describes the information that is set for the MECHATROLINK monitoring information (Monitor
1, Monitor 2, Monitor 3, and Monitor 4) and the backlash compensation operation.

Monitor
Designation Meaning Unit Remarks
Code
Reference position in the reference
Reference
0 POS coordinate system (after the position –
unit
reference filter)
Reference
1 MPOS Reference position –
unit
Reference
2 PERR Position error –
unit
Feedback position in the machine Reference Feedback position with the backlash
3 APOS
coordinate system unit compensation subtracted
Feedback latch position in the Reference Feedback position with the backlash
4 LPOS
machine coordinate system unit compensation subtracted
Reference position in the reference
Reference
5 IPOS coordinate system (before the position –
unit
reference filter)
Target position in the reference coor- Reference
6 TPOS –
dinate system unit
Option monitor 1
E OMN1 – –
(selected with Pn824)
Option monitor 2
F OMN2 – –
(selected with Pn825)

Parameters Monitor Information Output Unit Remarks

Reference
0003H Position error (lower 32 bits) –
unit
Reference
0004H Position error (upper 32 bits) –
unit
Reference
000AH Encoder count (lower 32 bits)
unit Count value of the actually driven
Reference motor encoder
000BH Encoder count (upper 32 bits)
unit
000CH
Pn824 Reserved – –
000DH
Pn825
0017H Un007: Input reference speed min-1 Same as monitor mode Un007
Reference
0018H Un008: Position error amount Same as monitor mode Un008
unit
Reference
001CH Un00C: Input reference counter Same as monitor mode Un00C
unit
Encoder
001DH Un00D: Feedback pulse counter Same as monitor mode Un00D
pulse
Previous value of latched feedback Encoder Feedback position with the backlash
0080H
position (LPOS) pulse compensation subtracted

5-82
 5.8 Additional Adjustment Function

Related Monitoring Diagrams

MECHA [U][M]: Un00C

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

Position 㧗 㧗 㧗 Speed/
Electronic Error
[M]: TPOS Position reference gear Kp current 㧹 Load
counter loop
reference filter 㧙
Backlash
compensation
[M]: MPOS function
Speed External
([M]: POS) ENC
[U]: Un013 conversation ENC

㧝
㧗 Electronic
Error 㧗 㧙 gear
[M]: PERR
counter
㧙
Error [A][T][M]: Position error
counter [U][M]: Un008

[A][O][T]: Positioning completed

Output
[A][T]: Completion of
signal
position reference
processing
[M]: APOS [O][T]: Position near
㧝
Electronic
[M]: Previous gear
value for LPOS
Backlash
㧝 [U][M]: Un00D
compensation
[M]: LPOS Electronic function
gear [U][M]: Un00E
Latch
signal

[M]: PG count

[M]: FPG count

Adjustments

5-83
 5 Adjustments
5.9.1 Feedforward Reference

5.9 Compatible Adjustment Function

The DC Power Input Σ-V series SERVOPACKs have adjustment functions as explained in sections 5.1 to 5.8
to make machine adjustments.
This section explains compatible functions provided by earlier models, such as the Σ-III Series SERVOPACK.

5.9.1 Feedforward Reference

This function applies feedforward compensation to position control and shortens positioning time.

Pn109
Pn10A MECHA
Feedforward Filter
Differential Feedforward Gain Time Constant
Position
reference
+ + +
Position loop gain (Kp)
-
Feedback pulse

Feedforward Gain Position

Classification
Pn109 Setting Range Setting Unit Factory Setting When Enabled
0 to 100 1% 0 Immediately Tuning

Feedforward Filter Time Constant Position

Classification
Pn10A Setting Range Setting Unit Factory Setting When Enabled
0 to 6400 0.01 ms 0 Immediately Tuning

Note: Too high value may cause the machine to vibrate. For ordinary machines, set 80% or less in this parameter.

5-84
 5.9 Compatible Adjustment Function

5.9.2 Mode Switch (P/PI Switching)

The mode switch automatically switches between proportional and PI control. Set the switching condition
with Pn10B.0 and set the level of detection points with Pn10C, Pn10D, Pn10E, and Pn10F.

Overshooting caused by acceleration and deceleration can be suppressed and the settling time can be reduced
by setting the switching condition and detection points.

Without Mode Switch With Mode Switch

Motor
Overshoot Motor
speed Actual servomotor
speed
operation

Reference

Time
Overshoot Time
Settling time Settling time

(1) Related Parameters

Select the switching condition of the mode switch with Pn10B.0.

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

Parameters to Set the Level of Detection Points

Mode Switch (Torque Reference) 　 Speed 　 Position
Classification
Pn10C Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 200 Immediately Tuning
Adjustments

Mode Switch (Speed Reference) 　 Speed 　 Position

Classification
Pn10D Setting Range Setting Unit Factory Setting When Enabled
0 to 10000 1 min-1 0 Immediately Tuning
Mode Switch (Acceleration) 　 Speed 　 Position
Classification
Pn10E Setting Range Setting Unit Factory Setting When Enabled 5
0 to 30000 1 min-1/s 0 Immediately Tuning
Mode Switch (Position Error) Position
Classification
Pn10F Setting Range Setting Unit Factory Setting When Enabled
0 to 10000 1 reference unit 0 Immediately Tuning

5-85
 5 Adjustments
5.9.2 Mode Switch (P/PI Switching)

(2) Operating Examples for Different Switching Conditions

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

Speed reference
Speed Motor speed

Time
+Pn10C Torque reference
Torque
Reference0
- Pn10C

PI P PI Control P PI Control

Using the Speed Reference

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

Speed reference Motor speed

Speed

Pn10D Time
PI P Control PI Control

Using Acceleration
With this setting, the speed loop is switched to P control when the speed reference exceeds the acceleration set
in Pn10E.

Speed reference Motor speed

Speed

Time
Motor acceleration
+Pn10E
Acceleration 0
- Pn10E

PI P PI Control P PI Control

Using the Position Error

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

This setting is effective with position control only.

Speed reference Motor speed
Speed

Time
Position
error
Pn10F
PI P Control PI Control

5-86
 5.9 Compatible Adjustment Function

5.9.3 Torque Reference Filter

As shown in the following diagram, the torque reference filter contains first order lag filter and notch filters
arrayed in series, and each filter operates independently. The notch filters can be enabled and disabled with the
Pn408.

Torque Related
Function Switch
Pn408

* Torque
Torque 1st Notch 2nd
Torque 2nd Notch reference
reference Reference Torque Filter after
before Filter Reference (Pn409, Filter
(Pn40C, filtering
filtering (Pn401) Filter Pn40A,
(Pn40F, and Pn40B) Pn40D, and
Pn410) Pn40E)

First order lag filter Second order lag filter Notch filter Notch filter

* The 2nd torque reference filter is enabled when Pn40F is set to a value less than
5000 and disabled when Pn40F is set to 5000 (factory setting).

(1) Torque Reference Filter

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

Torque Reference Filter Time Constant Speed 　 Position 　 Torque

Classification
Pn401 Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 0.01 ms 100 Immediately Tuning

Torque Reference Filter Setting Guide

Use the speed loop gain (Pn100 [Hz]) and the torque filter time constant (Pn401 [ms]) to set the torque refer-
ence filter.

Adjusted value for stable control: Pn401 [ms] ≤ 1000/ (2π × Pn100 [Hz] × 4)
Critical gains: Pn401 [ms] < 1000/ (2π × Pn100 [Hz] × 1)
Adjustments

2nd Step 2nd Torque Reference Filter

Speed 　 Position 　 Torque
Frequency Classification
Pn40F
Setting Range Setting Unit Factory Setting When Enabled
100 to 5000 1 Hz 5000* Immediately Tuning
2nd Step 2nd Torque Reference Filter
Speed 　 Position 　 Torque
Q Value Classification 5
Pn410
Setting Range Setting Unit Factory Setting When Enabled
50 to 100 0.01 50 Immediately Tuning

∗ The filter is disabled if 5000 is set.

5-87
 5 Adjustments
5.9.3 Torque Reference Filter

(2) Notch Filter

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

Q value = 0.7 Q value = 1.0

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

Notch Filter Notch Filter

0 0

-100 -100
Phase Phase
(deg) -200 (deg) -200
-300 -300

-400 -400 2
10
2
10 3 10 4 10 10
3
10
4

Frequency (Hz) Frequency (Hz)

The notch filter can be enabled or disabled with Pn408.

Parameter Meaning When Enabled Classification

n. 0
Disables 1st notch filter.
[Factory setting]
n. 1 Enables 1st notch filter.
Pn408 Immediately Setup
n. 0
Disables 2nd notch filter.
[Factory setting]
n. 1 Enables 2nd notch filter.

Set the machine's vibration frequency as a parameter of the notch filter.

1st Notch Filter Frequency Speed 　 Position 　 Torque

Classification
Pn409 Setting Range Setting Unit Factory Setting When Enabled
50 to 5000 1 Hz 5000 Immediately Tuning
1st Notch Filter Q Value Speed 　 Position 　 Torque
Classification
Pn40A Setting Range Setting Unit Factory Setting When Enabled
50 to 1000 0.01 70 Immediately Tuning
1st Notch Filter Depth Speed 　 Position 　 Torque
Classification
Pn40B Setting Range Setting Unit Factory Setting When Enabled
0 to 1000 0.001 0 Immediately Tuning
2nd Notch Filter Frequency Speed 　 Position 　 Torque
Classification
Pn40C Setting Range Setting Unit Factory Setting When Enabled
50 to 5000 1 Hz 5000 Immediately Tuning
2nd Notch Filter Q Value Speed 　 Position 　 Torque
Classification
Pn40D Setting Range Setting Unit Factory Setting When Enabled
50 to 1000 0.01 70 Immediately Tuning

5-88
 5.9 Compatible Adjustment Function

(cont’d)
2nd Notch Filter Depth Speed 　 Position 　 Torque
Classification
Pn40E Setting Range Setting Unit Factory Setting When Enabled
0 to 1000 0.001 0 Immediately Tuning

• Sufficient precautions must be taken when setting the notch filter frequencies. Do not
set the notch filter frequencies (Pn409 or Pn40C) that is close to the speed loop’s
response frequency. Set the frequencies at least four times higher than the speed
loop’s response frequency. Setting the notch filter frequency too close to the response
frequency may cause vibration and damage the machine.
• Change the notch filter frequencies (Pn409 or Pn40C) only when the servomotor is
stopped. Vibration may occur if the notch filter frequency is changed when the servo-
motor is rotating.

5.9.4 Position Integral

The position integral is the integral function of the position loop. It is used for the electronic cams and elec-
tronic shafts when using the SERVOPACK with YASKAWA MP900/2000 Machine Controllers.

Position Integral Time Constant Position

Classification
Pn11F Setting Range Setting Unit Factory Setting When Enabled
0 to 50000 0.1 ms 0 Immediately Tuning

Adjustments

5-89
 6
Utility Functions (Fn )

6.1 List of Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6.2 Alarm History Display (Fn000) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.3 JOG Operation (Fn002) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.4 Origin Search (Fn003) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6.5 Program JOG Operation (Fn004) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
6.6 Initializing Parameter Settings (Fn005) . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16
6.7 Clearing Alarm History (Fn006) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19
6.8 Offset Adjustment of Analog Monitor Output (Fn00C) . . . . . . . . . . . . . . 6-20
6.9 Gain Adjustment of Analog Monitor Output (Fn00D) . . . . . . . . . . . . . . . 6-22
6.10 Automatic Offset-Signal Adjustment of the Motor Current
Detection Signal (Fn00E) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
6.11 Manual Offset-Signal Adjustment of the Motor Current
Detection Signal (Fn00F) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-26 )
6.12 Write Prohibited Setting (Fn010) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-28
Utility Functions (Fn

6.13 Servomotor Model Display (Fn011) . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30

6.14 Software Version Display (Fn012) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31
6.15 Vibration Detection Level Initialization (Fn01B) . . . . . . . . . . . . . . . . . . 6-32
6.16 Display of SERVOPACK and Servomotor ID (Fn01E) . . . . . . . . . . . . . 6-35
6.17 Software Reset (Fn030) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-36
6
6.18 EasyFFT (Fn206) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-41
6.19 Online Vibration Monitor (Fn207) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-45

6-1
 6 Utility Functions (Fn )

6.1 List of Utility Functions

Utility functions are used to execute the functions related to servomotor operation and adjustment.
Each utility function has a number starting with Fn.

The following table lists the utility functions and reference section.

Function Reference Comment: SigmaWin+

No. Function Section function names
Fn000 Alarm history display 6.2 Alarm Display
Fn002 JOG operation 6.3 JOG Operation
Fn003 Origin search 6.4 Origin Search
Fn004 Program JOG operation 6.5 Program JOG Operation
Fn005 Initializing parameter settings 6.6 Editing Parameters
Fn006 Clearing alarm history 6.7 Alarm Display
Fn008 Absolute encoder multiturn reset and encoder alarm reset 4.7.4 Setting the Absolute Encoder
Adjusting Analog Monitor
Fn00C Offset adjustment of analog monitor output 6.8
Output
Adjusting Analog Monitor
Fn00D Gain adjustment of analog monitor output 6.9
Output
Automatic offset-signal adjustment of the motor current Adjusting Motor Current
Fn00E 6.10
detection signal Detection Offset
Manual offset-signal adjustment of the motor current detec- Adjusting Motor Current
Fn00F 6.11
tion signal Detection Offset
Fn010 Write prohibited setting 6.12 Write Prohibited Setting
Fn011 Servomotor model display 6.13 Product Information
Fn012 Software version display 6.14 Product Information
Multiturn limit value setting change when a multiturn limit
Fn013 4.7.6 Setting the Multi-Turn Limit
disagreement alarm occurs
Initializing Vibration Detec-
Fn01B Vibration detection level initialization 6.15
tion Level
Fn01E Display of SERVOPACK and servomotor ID 6.16 Product Information
Resetting the SERVOPACK
by Software or MECHA-
Fn030 Software reset 6.17
TROLINK Communication
Reset
Fn200 Tuning-less levels setting 5.2.2 Editing Parameters
Fn201 Advanced autotuning 5.3.2 Tuning
Fn202 Advanced autotuning by reference 5.4.2 Tuning
Fn203 One-parameter tuning 5.5.2 Tuning
Fn204 Anti-resonance control adjustment function 5.6.2 Tuning
Fn205 Vibration suppression function 5.7.2 Tuning
Fn206 EasyFFT 6.18 EasyFFT
Fn207 Online vibration monitor 6.19 Online Vibration Monitor

Note: Execute the utility function with SigmaWin+.

6-2
 6.2 Alarm History Display (Fn000)

6.2 Alarm History Display (Fn000)

This function displays the last ten alarms that have occurred in the SERVOPACK.

(1) Preparation
There are no tasks that must be performed before displaying the alarm history.

(2) Operating Procedure

Use the following procedure.
1. In the SigmaWin+ main window, click Alarm - Display Alarm.
The Alarm Display dialog box will appear.
MECHA

2. Click the Alarm traceback tab to view the alarm history.

A list of past alarms can be viewed.

MECHA

)
Utility Functions (Fn

Alarm number and Alarm name

Alarm history number

(The greater the number, the older the
alarm is.) 6

Note:
• If the same alarm occurs after more than one hour, the alarm will be saved. If it occurs in less than one hour, it
will not be saved.
• Delete the alarm history by clicking Clear. The alarm history is not cleared on alarm reset or when the SERVO-
PACK main circuit power is turned OFF.

6-3
 6 Utility Functions (Fn )

6.3 JOG Operation (Fn002)

JOG operation is used to check the operation of the servomotor under speed control without connecting the
SERVOPACK to the host controller.

CAUTION
• While the SERVOPACK is in JOG operation, the overtravel function will be disabled. Consider the operat-
ing range of the machine when performing JOG operation for the SERVOPACK.

(1) Preparation
The following conditions must be met to perform a jog operation.
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• The main circuit power supply must be ON.
• All alarms must be cleared.
• The servomotor power must be OFF.
• The JOG speed must be set considering the operating range of the machine.
Set the jog speed in Pn304.

Jog Speed Speed 　 Position 　 Torque

Classification
Pn304 Setting Range Setting Unit Factory Setting When Enabled
0 to 10000 1 min-1 500 Immediately Setup

(2) Operating Procedure

Use the following procedure. The following example is given when the rotating direction of servomotor is set
as Pn000.0=0 (Forward rotation by forward reference).
1. In the SigmaWin+ main window, click Test Run - JOG Operation.
A warning message about possible dangers will appear and ask if you want to continue.

MECHA

If these conditions are not acceptable and you do not want to continue, click Cancel to return to the main
window without performing a JOG operation.

<When the Write Prohibited Setting Parameter (Fn010) is enabled.>

If writing is prohibited by the Fn010, the following message will appear and tell you to change the set-
ting.

MECHA

6-4
 6.3 JOG Operation (Fn002)

Click OK and then change the setting of the Fn010 to allow writing.
For details on how to change the setting, refer to 6.12 Write Prohibited Setting (Fn010).

2. Click OK.
The JOG Operation box will appear.

If the power to the servomotor is on, an error message will appear. Make sure that the power to the servo-
motor is off.
MECHA
The speed set in Pn304 will be shown. Click Edit if
you want to change the speed.

On the left side of the Operation group, the color of

the button and the text in the box changes to indicate
if the power to the servomotor is on or off. The name
of the square button will change to reflect the current
status of the servomotor's power. When the power to
the servomotor is off, the square button is labeled
Servo ON. When the power to the servomotor is on, it
is labeled Servo OFF.

3. Click Servo ON.

The JOG Operation box will appear.

MECHA

)
Utility Functions (Fn

4. Press the Forward or Reverse and hold it down. A JOG operation is performed at the speed
set at step 2 only while one of the buttons is pressed.
5. After the JOG operation has been successfully completed, restart the SERVOPACK.
6

6-5
 6 Utility Functions (Fn )

6.4 Origin Search (Fn003)

The origin search is designed to position the origin pulse position of the incremental encoder (phase C) and to
clamp at the position.

CAUTION
• Perform origin searches without connecting the coupling.
The forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective in origin
search mode.

This function is used when the motor shaft needs to be aligned to the machine.
Motor speed at the time of execution: 60 min-1

Servomotor Machine

For aligning the motor

shaft to the machine

(1) Preparation
The following conditions must be met to perform the origin search.
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• The main circuit power supply must be ON.
• All alarms must be cleared.
• The servomotor power must be OFF.
(2) Operating Procedure
Use the following procedure.
1. In the SigmaWin+ main window, click Setup - Search Origin.
A warning message about possible dangers will appear and ask if you want to continue.

MECHA

If these conditions are not acceptable and you do not want to continue, click Cancel to return to the main
window without performing an origin search.

6-6
 6.4 Origin Search (Fn003)

<When the Write Prohibited Setting Parameter (Fn010) is enabled.>

If writing is prohibited by the Fn010, the following message will appear and tell you to change the set-
ting.
MECHA

Click OK and then change the setting of the Fn010 to allow writing.
For details on how to change the setting, refer to 6.12 Write Prohibited Setting (Fn010).

2. Click OK.
The Origin Search box will appear.
If the power to the servomotor is on, an error message will appear. Make sure that the power to the servo-
motor is off.
MECHA
States

Operation

Status
This shows the run status of the servomotor.
Origin Search Not Executed: The motor did not turn.
Origin Search Executing: Searching for the origin by turning forward or in reverse. )
Origin Search Stopped: The Forward or Reverse button was released during the origin search, so the
motor stopped.
Utility Functions (Fn

Origin Search Completed: The point of origin was found, and the motor was stopped (clamped) at the
point.

Operation
On the left side of the Operation group, the color of the button and the text in the box changes to indicate
if the power to the servomotor is on or off. The name of the square button will change to reflect the current
status of the servomotor's power. When the power to the servomotor is off, the square button is labeled
Servo ON. When the power to the servomotor is on, it is labeled Servo OFF.
6

6-7
 6 Utility Functions (Fn )

3. Click Servo ON.

The Origin Search box will appear.

MECHA

4. Press the Forward or Reverse and hold it down until the servomotor stops.
The servomotor will stop after the origin search has been successfully completed.

5. After the origin search has been successfully completed, restart the SERVOPACK.

6-8
 6.5 Program JOG Operation (Fn004)

6.5 Program JOG Operation (Fn004)

The program JOG operation is a utility function, that allows continuous operation determined by the preset
operation pattern, movement distance, movement speed, acceleration/deceleration time, waiting time, and
number of times of movement.
This function can be used to move the servomotor without it having to be connected to a host controller for the
machine as a trial operation in JOG operation mode. Program JOG operation can be used to confirm the oper-
ation and for simple positioning operations.

(1) Preparation
The following conditions must be met to perform the program JOG operation.
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• The main circuit power supply must be ON.
• All alarms must be cleared.
• The servomotor power must be OFF.
• The travel distance and speed must be set correctly considering the machine operation range and safe opera-
tion speed.
• There must be no overtravel.
(2) Additional Information
• The functions that are applicable for position control, such as position reference filter, can be used.
• The overtravel function is enabled in this function.
(3) Program JOG Operation Patterns
The following describes an example of program JOG operation pattern. The following example is given when
the rotating direction of the servomotor is set as Pn000.0 = 0 (Forward rotation by forward reference).

Pn530.0 = 0
(Waiting time Pn535 → Forward movement Pn531) × Number of movements Pn536

Number of times of movement Pn536

Movement
Pn531 Pn531 Pn531
Speed speed Movement Movement Movement
Pn533
Diagram distance distance distance

At zero speed

Accel/Decel Waiting time

Waiting time time Waiting time
Pn535 Pn534 Pn535 Pn535
)

Servomotor
Utility Functions (Fn

Run Status
(Stop) (Forward) (Stop) (Forward) (Stop) (Forward)

Note: When Pn536 (number of times of program JOG movement) is set to 0, infinite time operation is enabled. To stop
infinite time operation, press the cancel or Servo OFF of program JOG operation dialog box to turn OFF the servo-
motor power.

6-9
 6 Utility Functions (Fn )

Pn530.0 = 1
(Waiting time Pn535 → Reverse movement Pn531) × Number of movements Pn536
Number of movements Pn536

At zero speed

Movement Pn531 Pn531 Pn531

Speed speed Movement Movement Movement
distance distance distance
Diagram Pn533

Accel/Decel time
Waiting time Pn534 Waiting time Waiting time
Pn535 Pn535 Pn535

Servomotor
Run Status
(Stop) (Reverse) (Stop) (Reverse) (Stop) (Reverse)
Note: When Pn536 (Number of Times of Program JOG Movement) is set to 0, infinite time operation is enabled. To stop
infinite time operation, press the cancel or Servo OFF of program JOG operation dialog box to turn OFF the servo-
motor power.

Pn530.0 = 2
(Waiting time Pn535 → Forward movement Pn531) × Number of movements Pn536
(Waiting time Pn535 → Reverse movement Pn531) × Number of movements Pn536
Number of movements Pn536 Number of movements Pn536

Accel/Decel time
Movement Pn531
speed Movement
Pn531 Waiting time Pn534 Waiting time
Speed distance
Movement
Pn535 Pn535
Pn533 distance
Diagram
At zero
speed
Movement
Pn531 Pn531 speed
Accel/Decel Movement Movement
Waiting time time Waiting time distance distance
Pn533
Pn535 Pn534 Pn535

Servomotor
Run Status
(Stop) (Forward) (Stop) (Forward) (Stop) (Reverse) (Stop) (Reverse)
Note: When Pn530.0 is set to 2, infinite time operation is disabled.

Pn530.0 = 3
(Waiting time Pn535 → Reverse movement Pn531) × Number of movements Pn536
(Waiting time Pn535 → Forward movement Pn531) × Number of movements Pn536
Number of movements Pn536 Number of movements Pn536

Accel/Decel time
Waiting time Pn534 Waiting time Waiting time Pn531 Pn531 Movement
Pn535 Pn535 Pn535 Movement Movement speed
Speed distance distance Pn533
Diagram
At zero
speed
Pn531 Pn531
Movement Movement Waiting time
distance distance Accel/Decel time Pn535
Pn533 Pn534
Movement speed

Servomotor
Run Status
(Stop) (Reverse) (Stop) (Reverse) (Stop) (Forward) (Stop) (Forward)
Note: When Pn530.0 is set to 3, infinite time operation is disabled.

6-10
 6.5 Program JOG Operation (Fn004)

Pn530.0 = 4
(Waiting time Pn535 → Forward movement Pn531 → Waiting time Pn535 → Reserve movement Pn531)
× Number of movements Pn536
Number of movements Pn536

Pn531
Movement
Movement speed
Speed distance Pn533
Diagram At zero
speed

Pn531
Waiting time Waiting time Movement Pn533
Pn535 Accel/Decel time Pn535 distance
Movement speed
Pn534

Servomotor
Run Status
(Stop) (Forward) (Stop) (Reverse) (Stop)
Note: When Pn536 (number of times of program JOG movement) is set to 0, infinite time operation is enabled. To stop
infinite time operation, press the cancel or Servo OFF of program JOG operation dialog box to turn OFF the servo-
motor power.

Pn530.0 = 5
(Waiting time Pn535 → Reverse movement Pn531 → Waiting time Pn535 → Forward movement Pn531)
× Number of movements Pn536
Number of movements Pn536

Accel/Decel time
Waiting time Pn534 Waiting time Pn531
Pn533
Speed Pn535 Pn535 Movement
Movement speed
distance
Diagram
At zero
speed
Pn531 Movement
Movement speed
distance Pn533

Servomotor
Run Status
)
(Stop) (Reverse) (Stop) (Forward) (Stop)
Note: When Pn536 (number of times of program JOG movement) is set to 0, infinite time operation is enabled. To stop
infinite time operation, press the cancel or Servo OFF of program JOG operation dialog box to turn OFF the servo-
Utility Functions (Fn

motor power.

6-11
 6 Utility Functions (Fn )

(4) Related Parameters

The following parameters set the program JOG operation pattern. Do not change the settings while the pro-
gram JOG operation is being executed.

Program JOG Operation Related Switch Speed 　 Position 　 Torque

Classification
Pn530 Setting Range Setting Unit Factory Setting When Enabled
0000 to 0005 − 0000 Immediately Setup

Program JOG Movement Distance Speed 　 Position 　 Torque

Classification
Pn531 Setting Range Setting Unit Factory Setting When Enabled
1 to 1073741824 1 reference unit 32768 Immediately Setup

Program JOG Movement Speed Speed 　 Position 　 Torque

Classification
Pn533 Setting Range Setting Unit Factory Setting When Enabled
1 to 10000 1 min-1 500 Immediately Setup

Program JOG Acceleration/Deceleration Time Speed 　 Position 　 Torque

Classification
Pn534 Setting Range Setting Unit Factory Setting When Enabled
2 to 10000 1 ms 100 Immediately Setup

Program JOG Waiting Time Speed 　 Position 　 Torque

Classification
Pn535 Setting Range Setting Unit Factory Setting When Enabled
0 to 10000 1 ms 100 Immediately Setup

Number of Times of Program JOG Movement Speed 　 Position 　 Torque

Classification
Pn536 Setting Range Setting Unit Factory Setting When Enabled
0 to 1000 1 time 1 Immediately Setup

6-12
 6.5 Program JOG Operation (Fn004)

(5) Operating Procedure

Use the following procedure to perform the program JOG operation after setting a program JOG operation
pattern.

CAUTION
Two methods are available to interrupt a program JOG operation and stop the motor. The motor will stop according
to the method selected. Make sure to select the best method for the situation.
• When using the Servo OFF button to turn off the power to the servomotor and stop the motor, the motor will
coast to a stop.
• When using the Cancel button to cancel the program JOG operation and stop the motor, the motor will decelerate
to a stop and then be put in a zero clamp state.
Note: With some models of SERVOPACKs, the Cancel button cannot be used to stop the motor.

1. In the SigmaWin+ main window, click Test Run - Program JOG Operation.
A warning message about possible dangers will appear and ask if you want to continue.

MECHA

If these conditions are not acceptable and you do not want to continue, click Cancel to return to the main
Utility Functions (Fn

window without programming JOG operation.

6-13
 6 Utility Functions (Fn )

2. Click OK.
The Program JOG Operation box will appear.

MECHA

3. For each running condition in the Program JOG Operation box, enter or select the same value
that have been used for the Running Condition group, and then click Apply.
The running pattern for the condition will be shown as a graph.

4. Click Run.
The contents of the Program JOG Operation box will change to the following display.

MECHA

6-14
 6.5 Program JOG Operation (Fn004)

5. Click Servo ON and then click Execute.

After the amount of time set in Pn535 has passed, the programmed JOG operation will start.

MECHA

6. After the programmed JOG operation has been successfully completed, restart the
SERVOPACK.

)
Utility Functions (Fn

6-15
 6 Utility Functions (Fn )

6.6 Initializing Parameter Settings (Fn005)

This function is used when returning to the factory settings after changing parameter settings.

• Be sure to initialize the parameter settings while the servomotor power is OFF.
• After initialization, restart the SERVOPACK to validate the settings.

Note: Any value adjusted with Fn00C, Fn00D, Fn00E, and Fn00F cannot be initialized by Fn005.

(1) Preparation
The following conditions must be met to initialize the parameter values.
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• The servomotor power must be OFF.
(2) Operating Procedure
Use the following procedure.

1. In the SigmaWin+ main window, click Parameters - Edit Parameters.

The Parameter Editing dialog box will appear.
MEC
HA

6-16
 6.6 Initializing Parameter Settings (Fn005)

2. Click Initialize.
The Verification box will appear.

MECHA

A message will appear as a warning to say that changes to settings might not correspond with other set-
tings and it will then ask if you want to continue.

If these conditions are not acceptable and you do not want to continue, click Cancel to return to the
Parameter Editing dialog box without initializing the parameter settings.

3. Click OK.
The Initialize the Servopack settings box will appear and ask if you want to continue.
MECHA

If you do not want to continue, click Cancel to return to the Parameter Editing dialog box without ini-
tializing the parameter settings.
)
Utility Functions (Fn

6-17
 6 Utility Functions (Fn )

4. Click Initialize to start initialization.

A progress indicator will show what percentage of the process has been completed.
MECHA

After the settings are successfully initialized, the following message will appear to prompt you to verify
that all parameter settings are correct for the target machine.

MECHA

5. Click OK.
6. Restart the SERVOPACK.

6-18
 6.7 Clearing Alarm History (Fn006)

6.7 Clearing Alarm History (Fn006)

The clear alarm history function deletes all of the alarm history recorded in the SERVOPACK.

Note: The alarm history is not deleted when the alarm reset is executed or the main circuit power supply of the SERVO-
PACK is turned OFF.

(1) Preparation
The follow conditions must be met to clear the alarm history.
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
(2) Operating Procedure
Use the following procedure.

1. In the SigmaWin+ main window, click Alarm - Display Alarm.

The Alarm Display box will appear.

MECHA

2. Click the Alarm traceback tab.

MECHA )
Utility Functions (Fn

3. Click Clear.
The alarm history will be cleared.

6-19
 6 Utility Functions (Fn )

6.8 Offset Adjustment of Analog Monitor Output (Fn00C)

If connecting an analog monitor unit, the analog monitor signal output (factory setting: torque monitor or
motor speed monitor) can be monitored. The offset is adjusted in the analog monitor unit at the factory. The
user need not usually use this function. To adjust the offset manually, use this function.

(1) Adjustment Example

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

Analog monitor output

voltage

Offset
adjustment

Motor speed

Item Specifications
Offset Adjustment Range -2.4 V to + 2.4 V
Adjustment Unit 18.9 mV/LSB

Note:
• The adjustment value will not be initialized when parameter settings are initialized using Fn005.
• Make offset adjustment with a measuring instrument connected, so that the analog monitor output is zero. An
example of settings for a zero analog monitor output is shown below.
• While the servomotor is not turned ON, set the monitor signal to the torque reference.
• In speed control, set the monitor signal to the position error.

(2) Preparation
The following condition must be met to adjust the offsets of the analog monitor output.
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).

6-20
 6.8 Offset Adjustment of Analog Monitor Output (Fn00C)

(3) Operating Procedure

Use the following procedure.

1. Connect the measurement instrument.

For details, refer to 5.1.3 (1) Connecting the Measurement Instrument.

2. In the SigmaWin+ main window, click Setup - Adjust Offset - Adjust the Analog Monitor
Output. The Adjust the Analog Monitor Output box will appear. Click Zero Adjustment tab.

MECHA

In the Channel box, either CH1 or CH2 can be selected.

3. To adjust the offset, click +1 (increase) or -1 (decrease) button while viewing the analog monitor
to check the output level. Keep the output as close to zero as possible.

)
Utility Functions (Fn

6-21
 6 Utility Functions (Fn )

6.9 Gain Adjustment of Analog Monitor Output (Fn00D)

If connecting an analog monitor unit, the analog monitor signal output (factory setting: torque monitor or
motor speed monitor) can be monitored. The gain is adjusted in the analog monitor unit at the factory. The
user need not usually use this function. To adjust the gain manually, use this function.

(1) Adjustment Example

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

Analog monitor
output voltage

1 [V]
Gain adjustment

1000 [min-1]
Motor speed

Item Specifications
Gain-adjustment Range 100±50%
Adjustment Unit 0.4%/LSB

The gain adjustment range is made with a 100% output set as a center value (adjustment range: 50% to 150%).
The following is a setting example.

<Setting the Set Value to −125>

100% + (−125 × 0.4) = 50%
Therefore, the monitor output voltage is 0.5 time as high.

<Setting the Set Value to 125>

100% + (125 × 0.4) =150%
Therefore, the monitor output voltage is 1.5 times as high.

Note: The adjustment value will not be initialized when parameter settings are initialized using Fn005.

(2) Preparation
The following condition must be met to adjust the gain of the analog monitor output.
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).

6-22
 6.9 Gain Adjustment of Analog Monitor Output (Fn00D)

(3) Operating Procedure

Use the following procedure to perform the gain adjustment of analog monitor output.

1. In the SigmaWin+ main window, click Setup - Adjust Offset - Adjust the Analog Monitor
Output. The Adjust the Analog Monitor Output box will appear. Click the Gain Adjustment
tab.

MECHA

In the Channel box, either CH1 or CH2 can be selected.

2. To change the value of the gain adjustment, click +1 (increase) or -1 (decrease) button.

)
Utility Functions (Fn

6-23
 6 Utility Functions (Fn )

6.10 Automatic Offset-Signal Adjustment of the Motor Current

Detection Signal (Fn00E)
Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by
current offset. The user need not usually use this function.

• Be sure to perform this function while the servomotor power is OFF.

• Execute the automatic offset adjustment if the torque ripple is too big when compared
with those of other SERVOPACKs.

Note: The adjusted value is not initialized by executing the Fn005 function (Initializing Parameter Settings).

(1) Preparation
The following conditions must be met to automatically adjust the offset of the motor current detection signal.
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• The SERVOPACK must be in Servo Ready status (Refer to 4.8.4).
• The servomotor power must be OFF.
(2) Operating Procedure
Use the following procedure.

1. In the SigmaWin+ main window, click Setup - Adjust Offset - Adjust the Motor Current
Detection Offset.
The following message will appear and ask if you want to continue. The message informs you that the
offset is set to the factory settings and that the SERVOPACK's performance might be affected if these set-
tings are changed.

MECHA

6-24
 6.10 Automatic Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00E)

2. Click Continue to adjust the motor detection offset. The Adjust the Motor Current Detection
Offset box will appear. Click the Automatic Adjustment tab.
The settings for Automatic Adjustment will appear.

MECHA

3. Click Adjust.
The offset value automatically adjusted will be shown in the New box.

MECHA

)
Utility Functions (Fn

6-25
 6 Utility Functions (Fn )

6.11 Manual Offset-Signal Adjustment of the Motor Current

Detection Signal (Fn00F)
Use this function only if the torque ripple is still high after the automatic offset-signal adjustment of the motor
current detection signal (Fn00E).

If offset is adjusted incorrectly and then executed using this function, characteristics of
the servomotor performance could be affected.
Observe the following precautions when performing manual servo tuning.
• Run the servomotor at a speed of approximately 100 min-1.
• Adjust the offset while monitoring the torque reference with the analog monitor until
the ripple of torque reference monitor's waveform is minimized.
• Adjust the phase-U and phase-V offset amounts alternately several times until these
offsets are well balanced.

Note: The adjusted value is not initialized by executing the Fn005 function (Initializing Parameter Settings).

(1) Preparation
The following condition must be met to manually adjust the offset of the motor current detection signal.
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
(2) Operating Procedure
Use the following procedure.
1. Turn the motor at 100 min-1.
2. In the SigmaWin+ main window, click Setup - Adjust Offset - Adjust the Motor Current
Detection Offset.
The following message will appear and ask if you want to continue. The message informs you that the
offset is set to the factory settings and that the SERVOPACK's performance might be affected if these set-
tings are changed.

MECHA

6-26
 6.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F)

3. Click Continue. Adjust the Motor Current Detection Offset box will appear. Click the Manual
Adjustment tab.
The settings for Manual Adjustment will appear.

MECHA

4. Select U-phase in the Channel box.

5. To adjust the offset of the phase U, click the +1 button to increase the set value and click the -1
button to decrease.
Increase or decrease the offset by increments of 10 to minimize torque ripple. The offset can be any value
between -512 and +511.

6. Select V-phase in the Channel box.

7. To adjust the offset of the phase V, click the +1 button to increase the set value and click the -1
button to decrease.
Increase or decrease the offset by increments of 10 to minimize torque ripple.

8. Repeat steps 4 to 7 alternating between the U and V phases until the torque ripple cannot be
reduced any further.
9. Then adjust the offsets further by repeating steps 4 to 7 but using a unit smaller than 10.

)
Utility Functions (Fn

6-27
 6 Utility Functions (Fn )

6.12 Write Prohibited Setting (Fn010)

This function prevents changing parameters by mistake and sets restrictions on the execution of the utility
function.

Parameter changes and execution of the utility function become restricted in the following manner when Write
prohibited (P.0001) is assigned to the write prohibited setting parameter (Fn010).
• Parameters: Parameters can be changed from the SigmaWin+.
• Utility Function: Some functions cannot be executed. (Refer to the following table.) If you attempt to exe-
cute these utility functions a warning dialog box will appear.

Parameter Write Prohibited Reference

Function
No. Setting Section
Fn000 Alarm history display Executable 6.2
Fn002 JOG operation Cannot be executed 6.3
Fn003 Origin search Cannot be executed 6.4
Fn004 Program JOG operation Cannot be executed 6.5
Fn005 Initializing parameter settings Cannot be executed 6.6
Fn006 Clearing alarm history Cannot be executed 6.7
Fn008 Absolute encoder multiturn reset and encoder alarm reset Cannot be executed 4.7.4
Fn00C Offset adjustment of analog monitor output Cannot be executed 6.8
Fn00D Gain adjustment of analog monitor output Cannot be executed 6.9
Automatic offset-signal adjustment of the motor current detection
Fn00E Cannot be executed 6.10
signal
Manual offset-signal adjustment of the motor current detection
Fn00F Cannot be executed 6.11
signal
Fn010 Write prohibited setting – 6.12
Fn011 Servomotor model display Executable 6.13
Fn012 Software version display Executable 6.14
Multiturn limit value setting change when a multiturn limit dis-
Fn013 Cannot be executed 4.7.6
agreement alarm occurs
Fn01B Vibration detection level initialization Cannot be executed 6.15
Fn01E Display of SERVOPACK and servomotor ID Executable 6.16
Fn030 Software reset Executable 6.17
Fn200 Tuning-less levels setting Cannot be executed 5.2.2
Fn201 Advanced autotuning Cannot be executed 5.3.2
Fn202 Advanced autotuning by reference Cannot be executed 5.4.2
Fn203 One-parameter tuning Cannot be executed 5.5.2
Fn204 Anti-resonance control adjustment function Cannot be executed 5.6.2
Fn205 Vibration suppression function Cannot be executed 5.7.2
Fn206 EasyFFT Cannot be executed 6.18
Fn207 Online vibration monitor Cannot be executed 6.19

6-28
 6.12 Write Prohibited Setting (Fn010)

(1) Preparation
There are no tasks that must be performed before the execution.

(2) Operating Procedure

Follow the steps to set enable or disable writing.
Setting values are as follows:
• "P.0000": Write permitted (Releases write prohibited mode.) [Factory setting]
• "P.0001": Write prohibited (Parameters become write prohibited from the next power ON.)
1. In the SigmaWin+ main window, click Setup - Write Prohibited Setting.
The Write Prohibited Setting box will appear.

MECHA

Set the parameter to enable or prohibit writing. Click the setting arrows to increase or decrease the num-
ber on the far right.

Writing enabled (factory setting): 0000

Writing prohibited: 0001

2. Click Setting.
The following message appears and informs you that the write prohibited setting has been changed and
the new setting will become valid the next time the SERVOPACK is restarted.

MECHA

3. Click OK.
The new setting will be saved in the SERVOPACK.
)
4. To enable the change in the setting, restart the SERVOPACK.
Utility Functions (Fn

6-29
 6 Utility Functions (Fn )

6.13 Servomotor Model Display (Fn011)

This function is used to check the servomotor model, encoder type, and encoder resolution. If the SERVO-
PACK has been custom-made, you can also check the specification codes of SERVOPACKs.

(1) Preparation
There are no tasks that must be performed before the execution.

(2) Operating Procedure

Use the following procedure.

1. In the SigmaWin+ main window, click Monitor - Product Information.

The Product Information box will appear.
MECHA

2. Click OK.
The SigmaWin+ main window will appear.

6-30
 6.14 Software Version Display (Fn012)

6.14 Software Version Display (Fn012)

Select Fn012 to check the SERVOPACK and encoder software version numbers.

(1) Preparation
There are no tasks that must be performed before the execution.

(2) Operating Procedure

Use the following procedure.

1. In the SigmaWin+ main window, click Monitor - Product Information.

The Product Information box will appear.
MECHA

2. Click OK.
The SigmaWin+ main window will appear.

)
Utility Functions (Fn

6-31
 6 Utility Functions (Fn )

6.15 Vibration Detection Level Initialization (Fn01B)

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

The vibration detection function detects vibration elements according to the motor speed.

Parameter Meaning When Enabled Classification

n. 0
Does not detect vibration.
[Factory setting]
Pn310 Outputs the warning (A.911) when vibration is Immediately Setup
n. 1
detected.
n. 2 Outputs the alarm (A.520) when vibration is detected.

If the vibration exceeds the detection level calculated by the following formula, the alarm or warning will be
output according to the setting of vibration detection switch (Pn310).

-1
Vibration detection level (Pn312 [min ])× Vibration detection sensitivity (Pn311 [%])
Detection level =‫ޓ‬
100

• Use this function if the vibration alarm (A.520) or the vibration warning (A.911) is not output correctly
when a vibration at the factory setting of the vibration detection level (Pn312) is detected. In other cases, it
is not necessary to use this function.
• The vibration alarm or warning detection sensibility differs depending on the machine conditions. In this
case, fine-tune the setting of the vibration detection sensitivity (Pn311) using the above detection level for-
mula as a guide.

Vibration Detection Sensitivity Speed 　 Position 　 Torque

Classification
Pn311 Setting Range Setting Unit Factory Setting When Enabled
50 to 500 1% 100 Immediately Tuning

• The vibration may not be detected because of improper servo gains. Also, not all
kinds of vibrations can be detected. Use the detection result as a guideline.
• Set a proper moment of inertia ratio (Pn103). Improper setting may result in the vibra-
tion alarm, warning misdetection, or non-detection.
• The references that are used to operate your system must be input to execute this
function.
• Execute this function under the operating condition for which the vibration detection
level should be set.
• Execute this function while the motor speed reaches at least 10% of its maximum.

(1) Preparation
The following conditions must be met to initialize the vibration detection level.
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• The test without a motor function must be disabled (Pn00C.0 = 0).

6-32
 6.15 Vibration Detection Level Initialization (Fn01B)

(2) Operating Procedure

Use the following procedure.
1. In the SigmaWin+ main window, click Setup - Initialize Vibration Detection Level.
The Initialize Vibration Detection Level box will appear.

MECHA

2. Select a percentage for Pn311: Vibration Detection Sensibility and one condition in Pn310:
Vibration Detection Switch, and then click Detection Start.
The name of the button will change from Detection Start to Execute to indicate that detection is ready to
be executed.

MECHA

)
Utility Functions (Fn

6-33
 6 Utility Functions (Fn )

3. Click Execute.
The new settings for the vibration detection level will be shown in the boxes in lower section of the box.
The new settings will be saved in the SERVOPACK.

MECHA

(3) Related Parameters

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

• Parameters related to this function

These are parameters that are used or referenced when executing this function.

• Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.
No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

• Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.
No : Parameter set values are not automatically set or adjusted after execution of this function.

Mid-execution Automatic
Parameter Name
changes changes
Pn311 Vibration Detection Sensitivity Yes No
Pn312 Vibration Detection Level No Yes

6-34
 6.16 Display of SERVOPACK and Servomotor ID (Fn01E)

6.16 Display of SERVOPACK and Servomotor ID (Fn01E)

This function displays ID information for SERVOPACK, servomotor and encoder connected to the SERVO-
PACK.

The SigmaWin+ is required to perform this function.

The following items can be displayed.

ID Items to be Displayed
• SERVOPACK model
SERVOPACK ID • SERVOPACK serial number
• SERVOPACK manufacturing date
• Servomotor model
Servomotor ID • Servomotor serial number
• Servomotor manufacturing date
• Encoder model
• Encoder serial number
Encoder ID
• Encoder manufacturing date
• Encoder type/resolution

(1) Preparation
There are no tasks that must be performed before the execution.

(2) Operating Procedure

Use the following procedure.

1. In the SigmaWin+ main window, click Monitor - Product Information.

The Product Information box will appear.
MECHA

Click these buttons to view the serial

number and date of manufacture for
each device used.

)
Utility Functions (Fn

2. Click OK.
The SigmaWin+ main window will appear.

6-35
 6 Utility Functions (Fn )

6.17 Software Reset (Fn030)

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

There are the following two types of software resets for SigmaWin+ connection status.
• Resetting for a conventional connection
• Resetting for a connection through a controller

• Start software reset operation after the servomotor power is OFF.

• This function resets the SERVOPACK independently of host controller. The SERVO-
PACK carries out the same processing as when the power supply is turned ON and
outputs the ALM signal. The status of other output signals may be forcibly changed.
• The SERVOPACK will not respond for 5 seconds after the reset begins.
Always check the status of the SERVOPACK and motor before you execute a reset.

(1) Preparation
The following condition must be met to perform a software reset.
• The servomotor power must be OFF.
(2) Operating Procedure
Use the following procedure.

Conventional connection
1. In the SigmaWin+ main window, click Setup - Software Reset.
The following message will appear and remind you to check the status of the SERVOPACK and the
motor for safety reasons because the SERVOPACK will stop responding for about 5 seconds after the
software reset has been executed.

Note: If the moment of inertia is calculated as described in 5.3 Advanced Autotuning (Fn201), the Software Reset
box shown in step 2 will appear.

MECHA

If you do not want to continue, click Cancel. The SigmaWin+ main window will appear.

6-36
 6.17 Software Reset (Fn030)

2. Click Execute.
The Software Reset box will appear.

MECHA

3. Click Execute.
After resetting of software has been completed, the following message will appear.

MECHA

4. Click OK to close the Software Reset box.

All settings including parameters have been re-calculated. Disconnect the SigmaWin+ from the SERVO-
PACK, and then reconnect to validate the new settings.

)
Utility Functions (Fn

6-37
 6 Utility Functions (Fn )

Connection through a controller

1. In the SigmaWin+ main window, click Setup - Software Reset.
The Software Reset box will appear.

Note: If the moment of inertia is calculated as described in 5.3 Advanced Autotuning (Fn201), the Software Reset
box shown in step 2 will appear.

MECHA

If you do not want to continue, click Cancel. The SigmaWin+ main window will appear.

2. Click Execute.
The Software Reset box will appear.

MECHA

3. Select the Reset MECHATROLINK communication.

4. Click Execute.
If Software Reset is executed without resetting MECHATROLINK communications,
communications between the controller and the SERVOPACK will be disabled and
an error will be issued. Make sure to check the box for Reset MECHATROLINK
communication to reset the MECHATROLINK communications.

6-38
 6.17 Software Reset (Fn030)

5. After the software reset has been completed, the following message will appear.
The message will tell you to reconnect SigmaWin+ to the SERVOPACK after the reset has been com-
pleted.

MECHA

6. Click OK to close the Software Reset box.

All settings including parameters have been re-calculated. Disconnect SigmaWin+ from the SERVO-
PACK, and then reconnect to validate the new settings.

)
Utility Functions (Fn

6-39
 6 Utility Functions (Fn )

• When resetting only MECHATROLINK communications

MECHATROLINK communications can be reset separately.

Communication between the controller and the SERVOPACK can be restored by clearing the error that
occurred during communications between them.

1. In the SigmaWin+ main window, click Setup - MECHATROLINK Communications Reset.

The MECHATROLINK Communications Reset box will appear.

MECHA

2. Click Reset.
A message will appear and inform you that the parameter settings to be saved in the controller will be
cleared if the controller is restarted. You must use MPE720 to save the settings in the controller if you
want to keep the settings. A list of parameters whose settings are to be saved is also shown.

MECHA

3. Click Yes.
The parameters that are set to be automatically saved will be reflected in the settings of parameters in the
controller in the OW register.

At the same time, the MECHATROLINK communications will be reset and the MECHATROLINK
Communications Reset box will close.

6-40
 6.18 EasyFFT (Fn206)

6.18 EasyFFT (Fn206)

EasyFFT sends a frequency waveform reference from the SERVOPACK to the servomotor and slightly rotates
the servomotor several times over a certain period, thus causing machine vibration. The SERVOPACK detects
the resonance frequency from the generated vibration and makes notch filter settings according to the reso-
nance frequency detection. The notch filter is effective for the elimination of high-frequency vibration and
noise.

Execute this function after the servomotor power is turned OFF if operation of the SERVOPACK results in
high-frequency noise and vibration.

WARNING
• The servomotor automatically will move less than a quarter of a turn several times in the specified direc-
tion when EasyFFT is executed. Do not touch the servomotor or machine during execution of EasyFFT,
otherwise injury may result.

CAUTION
• Use the EasyFFT when the servo gain is low, such as in the initial stage of servo adjustment. If EasyFFT
is executed after increasing the gain, the servo system may vibrate depending on the machine character-
istics or gain balance.

M-II

Periodic Rotates the

waveform shaft slightly
reference Slight
movement

Response

SERVOPACK

In addition to this function, online vibration monitor (Fn207) can be used to detect machine vibration and
automatically make notch filter settings. )

If a DC Power Input Σ-V Series SERVOPACK is used to make adjustments, it is recommended to use
advanced autotuning. This built-in EasyFFT function is used to maintain interchangeability with previous
Utility Functions (Fn

models. There is normally no need to use it.

(1) Preparation
The following conditions must be met to perform EasyFFT.
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• The main circuit power supply must be ON.
• All alarms must be cleared.
• The servomotor power must be OFF. 6
• There must be no overtravel.
• The test without a motor function must be disabled (Pn00C.0 = 0).
• An external reference must not be input.

6-41
 6 Utility Functions (Fn )

(2) Operating Procedure

Use the following procedure.

1. In the SigmaWin+ main window, click Setup - EasyFFT.

A warning message will appear and remind you of possible dangers.

MECHA

If you do not want to continue, click Cancel. The SigmaWin+ main window will appear.

2. Click OK.
The EasyFFT box will appear.

MECHA

6-42
 6.18 EasyFFT (Fn206)

3. Click Servo ON.

MECHA

4. Select the percentage in the Instruction amplitude box and the rotational direction in the
Rotation direction. Click Start.
The motor will begin to rotate, and the frequency will be measured. After the frequency has been mea-
sured, the results will be shown in the lower area of the box.

MECHA

)
Utility Functions (Fn

6-43
 6 Utility Functions (Fn )

5. Click Measurement complete.

MECHA

6. If setting the parameters to the values shown in the measurement results, click Result Writing.

(3) Related Parameters

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

• Parameters related to this function

These are parameters that are used or referenced when executing this function.

• Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.
No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

• Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.
No : Parameter set values are not automatically set or adjusted after execution of this function.

Mid-execution Automatic
Parameter Name
changes changes
Pn408 Torque Related Function Switch Yes Yes
Pn409 1st Notch Filter Frequency No Yes
Pn40A 1st Notch Filter Q Value No No
Pn40C 2nd Notch Filter Frequency No Yes
Pn40D 2nd Notch Filter Q Value No No
Pn456 Sweep Torque Reference Amplitude No No

6-44
 6.19 Online Vibration Monitor (Fn207)

6.19 Online Vibration Monitor (Fn207)

If vibration is generated during operation and this function is executed while the servomotor power is still ON,
the machine vibration can sometimes be suppressed by setting a notch filter or torque reference filter for the
vibration frequencies.

When online, vibration frequency caused by machine resonance will be detected and the frequency that has
the highest peak will be displayed on the panel operator. The effective torque reference filter or notch filter
frequency for the vibration frequencies will be automatically selected and the related parameters will be auto-
matically set.

In addition to this function, EasyFFT (Fn206) can be used to detect machine vibration and automatically make
notch filter settings. Use the following flowchart to determine how these functions should be used.

If a DC Power Input Σ-V Series SERVOPACK is used to make adjustments, it is recommended that you use
advanced autotuning. This built-in function is used to maintain interchangeability with previous models.
There is normally no need to use it.

How to use EasyFFT (Fn206) and online vibration monitor (Fn207),

when they are mainly used for servo gain adjustment.

Start

Vibration with No
high-frequency noise
during operation

Yes

Turn OFF the servomotor power,

and execute EasyFFT (Fn206)

Adjust servo gain

No
Vibration

Yes )

With the servomotor power ON,

Utility Functions (Fn

execute online vibration

monitor (Fn207)

End

(1) Preparation
The following conditions must be met to perform online vibration monitoring. 6
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• The servomotor power must be ON.
• There must be no overtravel.
• The correct moment of inertia (Pn103) must be set.
• The test without a motor function must be disabled (Pn00C.0 = 0).

6-45
 6 Utility Functions (Fn )

(2) Operating Procedure

Use the following procedure.

1. In the SigmaWin+ main window, click Monitor - Online Vibration Monitor.

A message will appear as a warning to say that any changes to parameter settings might greatly affect the
operation of the motor, and then ask if you want to continue.

MECHA

2. Click OK.
The Online Vibration Monitor box will appear.

MECHA

6-46
 6.19 Online Vibration Monitor (Fn207)

3. Click Execute to activate the vibration sensor.

The vibrations are detected, and the peak frequencies of the vibrations will be shown in the Detection
result table.

MECHA

4. Click Auto Setting.

The pre-adjustment parameter settings will be shown in the Previous column in the Write result table.

MECHA

)
Utility Functions (Fn

6-47
 6 Utility Functions (Fn )

5. Click Write result.

The parameter values those are most effective for the measured frequencies will be shown in the Current
column in the Write result table, and then saved in the SERVOPACK.

MECHA

If you do not want to save the new parameter settings in the SERVOPACK, click Reset.

6-48
 6.19 Online Vibration Monitor (Fn207)

(3) Related Parameters

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

• Parameters related to this function

These are parameters that are used or referenced when executing this function.

• Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.
No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

• Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.
No : Parameter set values are not automatically set or adjusted after execution of this function.

Mid-execution Automatic
Parameter Name
changes changes
Pn401 Torque Reference Filter Time Constant No Yes
Pn408 Torque Related Function Switch Yes Yes
Pn409 1st Notch Filter Frequency No Yes
Pn40A 1st Notch Filter Q Value No No
Pn40C 2nd Notch Filter Frequency No No
Pn40D 2nd Notch Filter Q Value No No

)
Utility Functions (Fn

6-49
 7
Monitor Displays (Un )

7.1 List of Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7.2 Viewing Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.2.1 System Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.2.2 Status Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7.2.3 Motion Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7.2.4 Input Signal Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
7.2.5 Output Signal Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

)
Monitor Displays (Un

7-1
 7 Monitor Displays (Un )

7.1 List of Monitor Displays

The monitor displays can be used for monitoring the I/O signal status, and SERVOPACK internal status.

Refer to the following table.

Parameter
Description Unit
No.
Un000 Motor rotating speed min-1
Un001 Speed reference min-1
Un002 Internal torque reference (in percentage to the rated torque) %
Rotational angle 1 (encoder pulses from the phase-C origin:
Un003
decimal display) encoder pulse∗

Un004 Rotational angle 2 (from polarity origin (electric angle)) deg

Un005 Input signal monitor −

Un006 Output signal monitor −

Un007 Input reference pulse speed (valid only in position control) min-1
Un008 Position error amount (valid only in position control) reference unit
Accumulated load ratio (in percentage to the rated torque:
Un009 %
effective torque in cycle of 10 seconds)
Un00C Input reference pulse counter reference unit
Un00D Feedback pulse counter encoder pulse∗
Un012 Total operation time 100 ms
Un013 Feedback pulse counter reference unit
Un014 Effective gain monitor (gain settings 1 = 1, gain settings 2 = 2) −
Un020 Motor rated speed min-1
Un021 Motor maximum speed min-1
Un030 The current backlash compensation value 0.1 reference unit
Un031 Backlash compensation setting limit value 0.1 reference unit

∗ For details, refer to 4.4.3 Electronic Gear.

7-2
 7.2 Viewing Monitor Displays

7.2 Viewing Monitor Displays

Five types of SigmaWin+ monitor windows can be used.
• System Monitor
• Status Monitor
• Motion Monitor
• Input Signal Monitor
• Output Signal Monitor
The following sections describes how to open each monitor window.

7.2.1 System Monitor

To open the System Monitor box, in the SigmaWin+ main window, click Monitor - Monitor - System Mon-
itor.

Shows current status of SERVOPACK

Shows current status of SERVOPACK signal

MECHA

Opens the System Monitor window when the

SigmaWin+ starts.

Starts main functions of SigmaWin+ directly from the System Monitor window.
)
Monitor Displays (Un

7-3
 7 Monitor Displays (Un )
7.2.2 Status Monitor

7.2.2 Status Monitor

To open the Status Monitor box, use the following procedure.

1. In the SigmaWin+ main window, click Monitor - Monitor - Status Monitor.

The Status Monitor box will appear.

ME
CH
A

The items which can be monitored are listed.

2. Select the items to be monitored.

The current status of the selected item is shown in the Value column.
ME
CH
A

7-4
 7.2 Viewing Monitor Displays

7.2.3 Motion Monitor

To open the Motion Monitor box, use the following procedure.

1. In the SigmaWin+ main window, click Monitor - Monitor - Motion Monitor.

The Motion Monitor box will appear.

ME
CH
A

The items which can be monitored are listed.

2. Select the items to be monitored.

The current status of the selected item is shown in the Value column.
ME
CH
A

)
Monitor Displays (Un

7-5
 7 Monitor Displays (Un )
7.2.4 Input Signal Monitor

7.2.4 Input Signal Monitor

To open the Input Signal Monitor box, use the following procedure.

1. In the SigmaWin+ main window, click Monitor - Monitor - Input Signal Monitor.
The Input Signal Monitor box will appear.

MECHA

The items which can be monitored are listed.

2. Select the items to be monitored.

The current status of the selected item is shown in the Value column.

MECHA

Hi indicates that the input signal is off and Lo indicates that the input signal is on. When no input signal
is allocated, Lo will be shown in the column.

7-6
 7.2 Viewing Monitor Displays

7.2.5 Output Signal Monitor

To open the Output Signal Monitor box, use the following procedure.

1. In the SigmaWin+ main window, click Monitor - Monitor - Output Signal Monitor.
The Output Signal Monitor box will appear.
MECHA

The items which can be monitored are listed.

2. Select the items to be monitored.

The current status of the selected item is shown in the Value column.

MECHA

)
Monitor Displays (Un

Hi indicates that the input signal is off and Lo indicates that the input signal is on. When no output signal
is allocated, Lo will be shown in the column.
7

7-7
 8
Troubleshooting

8.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

8.1.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.1.2 Troubleshooting of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5

8.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15

8.2.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15
8.2.2 Troubleshooting of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-16

8.3 Monitoring Communication Data on Occurrence of an Alarm

or Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-19
8.4 Troubleshooting Malfunction Based on Operation
and Conditions of the Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-20

Troubleshooting

8-1
 8 Troubleshooting
8.1.1 List of Alarms

8.1 Alarm Displays

The following sections describe troubleshooting in response to alarm displays.

The alarm name, alarm meaning, alarm stopping method, and alarm reset capability are listed in order of the
alarm numbers in 8.1.1 List of Alarms.

The causes of alarms and troubleshooting methods are provided in 8.1.2 Troubleshooting of Alarms.

8.1.1 List of Alarms

This section provides list of alarms.

Servomotor Stopping Method

If an alarm occurs, the servomotor can be stopped by doing either of the following operations.

Gr.1: The servomotor coasts to a stop when an alarm occurs.

Gr.2: The servomotor is stopped according to the setting in Pn00B.1 if an alarm occurs. Pn00B.1 is factory-set
to stop the servomotor by setting the speed reference to "0." The servomotor under torque control will
always use the Gr.1 method to stop. By setting Pn00B.1 to 1, the servomotor stops using the same
method as Gr.1. When coordinating a number of servomotors, use this stopping method to prevent
machine damage that may result due to differences in the stop method.

Alarm Reset
Available: Removing the cause of alarm and then executing the alarm reset can clear the alarm.
N/A: Executing the alarm reset cannot clear the alarm.

Servo-
Alarm motor Alarm
Alarm Name Meaning
Number Stopping Reset
Method
The data of the parameter in the SERVOPACK
A.020 Parameter Checksum Error 1 Gr.1 N/A
is incorrect.
The data of the parameter in the SERVOPACK
A.021 Parameter Format Error 1 Gr.1 N/A
is incorrect.
The data of the parameter in the SERVOPACK
A.022 System Checksum Error 1 Gr.1 N/A
is incorrect.
A.030 Main Circuit Detector Error Detection data for main circuit is incorrect. Gr.1 Available
The parameter setting is outside the setting
A.040 Parameter Setting Error 1 Gr.1 N/A
range.
Combination of some parameters exceeds the
A.042 Parameter Combination Error Gr.1 N/A
setting range.
A.04A Parameter Setting Error 2 Bank member/bank data setting is incorrect. Gr.1 N/A
The SERVOPACK and the servomotor capaci-
A.050 Combination Error Gr.1 Available
ties do not match each other.
A.051 Unsupported Device Alarm The device unsupported was connected. Gr.1 N/A
The servo ON command (SV_ON) was sent
Cancelled Servo ON
A.0b0 from the host controller after executing a utility Gr.1 Available
Command Alarm
function that turns ON servomotor.
Overcurrent or Heat Sink An overcurrent flowed through the IGBT or the
A.100 Gr.1 N/A
Overheated heat sink of the SERVOPACK was overheated.
A.400 Overvoltage Main circuit DC voltage is excessively high. Gr.1 Available
Main-Circuit The capacitor of the main circuit has deterio-
A.450 Gr.1 N/A
Capacitor Overvoltage rated or is faulty.
The servomotor speed is above the maximum
A.510 Overspeed Gr.1 Available
rotational speed.
Incorrect vibration at the motor speed was
A.520 Vibration Alarm Gr.1 Available
detected.

8-2
 8.1 Alarm Displays

(cont’d)
Servo-
Alarm motor Alarm
Alarm Name Meaning
Number Stopping Reset
Method
Vibration was detected while performing tun-
A.521 Autotuning Alarm Gr.1 Available
ing-less function.
The servomotor was operating for several sec-
A.710 Overload: High Load onds to several tens of seconds under a torque Gr.2 Available
largely exceeding ratings.
The servomotor was operating continuously
A.720 Overload: Low Load Gr.1 Available
under a torque exceeding ratings.
The heat sink of the SERVOPACK exceeded
A.7A0 Heat Sink Overheated Gr.2 Available
90°C.
The power supplies to the encoder all failed and
A.810 Encoder Backup Error Gr.1 N/A
position data was lost.
The checksum results of encoder memory is
A.820 Encoder Checksum Error Gr.1 N/A
incorrect.
The battery voltage was lower than the specified
Absolute Encoder Battery
A.830 value after the control power supply was turned Gr.1 Available
Error
ON.
A.840 Encoder Data Error Data in the encoder is incorrect. Gr.1 N/A
The encoder was rotating at high speed when
A.850 Encoder Overspeed Gr.1 N/A
the power was turned ON.
A.860 Encoder Overheated The internal temperature of encoder is too high. Gr.1 N/A
The current detection circuit for phase U is
A.b31 Current Detection Error 1 Gr.1 N/A
faulty.
The current detection circuit for phase V is
A.b32 Current Detection Error 2 Gr.1 N/A
faulty.
A.b33 Current Detection Error 3 The detection circuit for the current is faulty. Gr.1 N/A
MECHATROLINK
ASIC error occurred in the MECHATROLINK
A.b6A Communications Gr.1 N/A
communications.
ASIC Error 1
MECHATROLINK
ASIC error occurred in the MECHATROLINK
A.b6b Communications Gr.2 N/A
communications.
ASIC Error 2
"Internal program error 0" of the SERVOPACK
A.bF0 System Alarm 0 Gr.1 N/A
occurred.
"Internal program error 1" of the SERVOPACK
A.bF1 System Alarm 1 Gr.1 N/A
occurred.
"Internal program error 2" of the SERVOPACK
A.bF2 System Alarm 2 Gr.1 N/A
occurred.
"Internal program error 3" of the SERVOPACK
A.bF3 System Alarm 3 Gr.1 N/A
occurred.
"Internal program error 4" of the SERVOPACK
A.bF4 System Alarm 4 Gr.1 N/A
occurred.
A.C10 Servo Overrun Detected The servomotor ran out of control. Gr.1 Available
Troubleshooting

Absolute Encoder Clear Error

The multiturn for the absolute encoder was not
A.C80 and Multiturn Limit Setting Gr.1 N/A
properly cleared or set.
Error
Encoder Communications Communications between the SERVOPACK
A.C90 Gr.1 N/A
Error and the encoder is not possible.
Encoder Communications An encoder position data calculation error
A.C91 Gr.1 N/A
Position Data Error occurred. 8
Encoder Communications An error occurs in the communications timer
A.C92 Gr.1 N/A
Timer Error between the encoder and the SERVOPACK.
A.CA0 Encoder Parameter Error Encoder parameters are faulty. Gr.1 N/A

8-3
 8 Troubleshooting
8.1.1 List of Alarms

(cont’d)
Servo-
Alarm motor Alarm
Alarm Name Meaning
Number Stopping Reset
Method
Contents of communications with encoder are
A.Cb0 Encoder Echoback Error Gr.1 N/A
incorrect.
Different multiturn limits have been set in the
A.CC0 Multiturn Limit Disagreement Gr.1 N/A
encoder and the SERVOPACK.
Position error exceeded the value of excessive
A.d00 Position Error Overflow position error alarm level (Pn520) when the ser- Gr.1 Available
vomotor power is ON.
This alarm occurs if the servomotor power is
Position Error Overflow Alarm turned ON when the position error is greater
A.d01 Gr.1 Available
at Servo ON than the set value of Pn526 while the servomo-
tor power is OFF.
When the position errors remain in the error
counter, Pn529 limits the speed if the servomo-
tor power is turned ON. If Pn529 limits the
Position Error Overflow Alarm
A.d02 speed in such a state, this alarm occurs when Gr.2 Available
by Speed Limit at Servo ON
position references are input and the number of
position errors exceeds the value set for the
excessive position error alarm level (Pn520).
MECHATROLINK Synchronization error during MECHA-
A.E02 Internal Synchronization Error TROLINK communications with the SERVO- Gr.1 Available
1 PACK.
MECHATROLINK
The setting of the MECHATROLINK transmis-
A.E40 Transmission Cycle Setting Gr.2 Available
sion cycle is out of the allowable range.
Error
MECHATROLINK A synchronization error occurs during MECHA-
A.E50 Gr.2 Available
Synchronization Error TROLINK communications.
MECHATROLINK A synchronization failure occurs in MECHA-
A.E51 Gr.2 Available
Synchronization Failed TROLINK communications.
MECHATROLINK
A communications error occurs continuously
A.E60 Communications Error Gr.2 Available
during MECHATROLINK communications.
(Reception error)
MECHATROLINK
Transmission Cycle Error The transmission cycle fluctuates during
A.E61 Gr.2 Available
(Synchronization interval MECHATROLINK communications.
error)
DRV Alarm 2 (SERVOPACK
A.EA2 A SERVOPACK DRV alarm 0 occurs. Gr.2 Available
WDC error)
A timeout error occurred when using a
A.Ed1 Command Execution Timeout Gr.2 Available
MECHATROLINK command.
A.− − Not an error Normal operation status − −

8-4
 8.1 Alarm Displays

8.1.2 Troubleshooting of Alarms

If an error occurs in the servo drive, the ALM signal will be output. The alarm that occurs can be checked on
the Alarm Display dialog box of the SigmaWin+.

Refer to the following table to identify the cause of an alarm and the action to be taken.
Contact your Yaskawa representative if the problem cannot be solved by the described corrective action.

Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
Set the power supply voltage within
The power supply voltage sud-
Measure the power supply voltage. the specified range, and set Fn005
denly dropped.
to initialize the parameter.
The power supply went OFF
Check the circumstances when the Set Fn005 to initialize the parameter
while changing a parameter set-
power supply went OFF. and then set the parameter again.
ting.
The SERVOPACK may be faulty.
The number of times that parame- Check to see if the parameters were Replace the SERVOPACK.
A.020: ters were written exceeded the frequently changed through the host
Reconsider the method of writing
Parameter Checksum limit. controller.
parameters.
Error 1
(The parameter data in Malfunction caused by noise
Restart the SERVOPACK several
the SERVOPACK is from the AC power supply or Take countermeasures against
times. If the alarm still occurs, there
incorrect.) grounding line, static electricity noise.
may be noise interference.
noise, etc.
Gas, water drops, or cutting oil
entered the SERVOPACK and The SERVOPACK may be faulty.
Check the installation conditions.
caused failure of the internal Replace the SERVOPACK.
components.
Restart the SERVOPACK several
The SERVOPACK may be faulty.
A SERVOPACK fault occurred. times. If the alarm still occurs, the
Replace the SERVOPACK.
SERVOPACK may be faulty.
A.021: The software version of SERVO- Check Fn012 to see if the set soft- Write the parameter of another
Parameter Format PACK that caused the alarm is ware version agrees with that of the SERVOPACK of the same model
Error 1 older than that of the written SERVOPACK. If not, an alarm may with the same software version.
(The parameter data in parameter. occur. Restart the SERVOPACK.
the SERVOPACK is The SERVOPACK may be faulty.
incorrect.) A SERVOPACK fault occurred. −
Replace the SERVOPACK.
The power supply voltage sud- The SERVOPACK may be faulty.
A.022: Measure the power supply voltage.
denly dropped. Replace the SERVOPACK.
System Checksum
The power supply went OFF Check the circumstances when the The SERVOPACK may be faulty.
Error 1
while setting a utility function. power supply went OFF. Replace the SERVOPACK.
(The parameter data in
the SERVOPACK is Restart the SERVOPACK several
The SERVOPACK may be faulty.
incorrect.) A SERVOPACK fault occurred. times. If the alarm still occurs, the
Replace the SERVOPACK.
SERVOPACK may be faulty.
A.030:
The SERVOPACK may be faulty.
Main Circuit Detector A SERVOPACK fault occurred. −
Replace the SERVOPACK.
Error
The SERVOPACK and servomo- Select the proper combination of
Check the combination of SERVO-
tor capacities do not match each SERVOPACK and servomotor
PACK and servomotor capacities.
other. capacities.
Troubleshooting

A.040:
Parameter Setting The SERVOPACK may be faulty.
A SERVOPACK fault occurred. −
Error 1 Replace the SERVOPACK.
(The parameter setting The parameter setting is out of Check the setting ranges of the Set the parameter to a value within
was out of the setting the setting range. parameters that have been changed. the setting range.
range.)
Check the electronic gear ratio. The Set the electronic gear ratio in the
The electronic gear ratio is out of ratio must satisfy:
range: 0.001< (Pn20E/Pn210)
the setting range.
0.001< (Pn20E/Pn210) < 4000. < 4000. 8

8-5
 8 Troubleshooting
8.1.2 Troubleshooting of Alarms

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
The speed of program JOG oper-
ation (Fn004) is lower than the
setting range after having Check if the detection conditions* Decrease the setting of the elec-
changed the electronic gear ratio are satisfied. tronic gear ratio (Pn20E/Pn210).
(Pn20E/Pn210) or the servomo-
tor.
The speed of program JOG oper-
A.042:* ation (Fn004) is lower than the
Parameter setting range after having Check if the detection conditions* Increase the setting of the program
Combination Error changed the setting of the pro- are satisfied. JOG movement speed (Pn533).
gram JOG movement speed
(Pn533).
The moving speed of advanced
autotuning is lower than the set-
ting range after having changed Check if the detection conditions* Decrease the setting of the elec-
are satisfied. tronic gear ratio (Pn20E/Pn210).
the electronic gear ratio (Pn20E/
Pn210) or the servomotor.
For a 4-byte parameter bank, no Change the number of bytes for
registration in two consecutive – bank members to an appropriate
A.04A: bytes for two bank members. value.
Parameter Setting
Error 2 The total amount of bank data
Reduce the total amount of bank
exceeds 64. (Pn900 × Pn901 > –
data to 64 or less.
64)
Check the capacities to see if they
The SERVOPACK and servomo- satisfy the following condition: Select the proper combination of
A.050: tor capacities do not match each 1 SERVOPACK and servomotor
Servomotor capacity
other. ≤ ≤4 capacities.
Combination Error 4 SERVOPACK capacity
(The SERVOPACK and
servomotor capacities do An encoder fault occurred. Replace the servomotor and see if
Replace the servomotor (encoder).
not correspond.) the alarm occurs again.
The SERVOPACK may be faulty.
A SERVOPACK fault occurred. −
Replace the SERVOPACK.
A.051:
An unsupported encoder is con- Check the product specifications, Select the correct combination of
Unsupported Device nected to the SERVOPACK. and select the correct model. units.
Alarm
After executing the utility func-
A.0b0: tion to turn ON the power to the
Restart the SERVOPACK or exe-
Cancelled Servo ON motor, the servo ON command −
cute a software reset.
Command Alarm (SV_ON) was sent from the host
controller.
∗ Detection conditions
If one of the following conditions detected, an alarm occurs.
-1 Encoder resolution Pn20E
• Pn533 [min ] × ≤
6 × 105 Pn210
-1 Encoder resolution Pn20E
• Max Motor Speed [min ] × ≥
About 3.66 × 1012 Pn210

8-6
 8.1 Alarm Displays

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
Incorrect wiring or contact fault
Check the wiring. Refer to 3.1
of servomotor main circuit Correct the wiring.
Main Circuit Wiring.
cables.
Check for short-circuits across the
servomotor terminal phases U, V,
Short-circuit or ground fault of and W, or between the grounding The cable may be short-circuited.
servomotor main circuit cables. and servomotor terminal phases U, Replace the cable.
V, or W. Refer to 3.1 Main Circuit
Wiring.
Check for short-circuits across the
servomotor terminal phases U, V,
Short-circuit or ground fault and W, or between the grounding The servomotor may be faulty.
inside the servomotor. and servomotor terminal phases U, Replace the servomotor.
A.100: V, or W. Refer to 3.1 Main Circuit
Wiring.
Overcurrent or Heat
Sink Overheated Check for short-circuits across the
(An overcurrent flowed servomotor connection terminals U,
through the IGBT or Short-circuit or ground fault V, and W on the SERVOPACK, or The SERVOPACK may be faulty.
heat sink of SERVO- inside the SERVOPACK. between the grounding and terminal Replace the SERVOPACK.
PACK overheated.) U, V, or W. Refer to 3.1 Main Cir-
cuit Wiring.
A heavy load was applied while Check to see if the operating condi- Reduce the load applied to the ser-
the servomotor was stopped or tions are outside servo drive specifi- vomotor or increase the operating
running at a low speed. cations. speed.
Take countermeasures for noise,
Improve the wiring or installation
such as correct wiring of the FG.
Malfunction caused by noise environment, such as by reducing
Use an FG wire size equivalent to
interference. noise, and check to see if the alarm
the SERVOPACK main circuit wire
recurs.
size.
Restart the SERVOPACK. If the
alarm still occurs, the SERVO-
A SERVOPACK fault occurred. −
PACK may be faulty. Replace the
SERVOPACK.
The DC power supply voltage Set DC power supply voltage within
Measure the power supply voltage.
exceeded 60 V. the specified range.
Improve the power supply condi-
tions by installing a surge absorber,
The power supply is unstable, or
etc. Then, restart the SERVOPACK.
was influenced by a lightning Measure the power supply voltage.
If the alarm still occurs, the SER-
surge.
VOPACK may be faulty. Replace
A.400: the SERVOPACK.
Overvoltage Voltage for DC power supply was Check the power supply voltage and
Set DC power supply voltage within
(Detected in the SER- too high during acceleration or the speed and torque during opera-
the specified range.
VOPACK main circuit deceleration. tion.
power supply section.) The moment of inertia ratio Confirm that the moment of inertia Increase the deceleration time, or
exceeded the allowable value. ratio is within the allowable range. reduce the load.
Turn the control power OFF and
then ON again while the main cir-
Troubleshooting

cuit power supply is OFF. If the

A SERVOPACK fault occurred. −
alarm still occurs, the SERVO-
PACK may be faulty. Replace the
SERVOPACK.
A.450:
Main-Circuit A SERVOPACK fault occurred. − Replace the SERVOPACK.
Capacitor Overvoltage
8

8-7
 8 Troubleshooting
8.1.2 Troubleshooting of Alarms

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
The order of phases U, V, and W
Confirm that the servomotor is cor-
in the servomotor wiring is incor- Check the motor wiring.
rectly wired.
rect.
A reference value exceeding the
A.510: Reduce the reference value or adjust
overspeed detection level was Check the input value.
Overspeed the gain.
input.
(The servomotor speed
exceeds the maximum.) Reduce the speed reference input
The motor speed exceeded the
Check the motor speed waveform. gain, adjust the servo gain, or recon-
maximum.
sider the operating conditions.
The SERVOPACK may be faulty.
A SERVOPACK fault occurred. −
Replace the SERVOPACK.
Check for abnormal noise from the
Abnormal vibration was detected servomotor, and check the speed Reduce the motor speed or reduce
at the motor speed. and torque waveforms during oper- the speed loop gain (Pn100).
A.520: ation.
Vibration Alarm The moment of inertia ratio
(Pn103) value is greater than the Set the moment of inertia ratio
Check the moment of inertia ratio.
actual value or is greatly (Pn103) to an appropriate value.
changed.
Reduce the load so that the moment
A.521: of inertia ratio falls within the
The servomotor vibrated consid-
Autotuning Alarm allowable value, or raise the load
erably while performing tuning- Check the motor speed waveform.
(Vibration was detected level using the tuning-less levels
less function.
while executing the one- setting (Fn200) or reduce the rigid-
parameter tuning, Easy- ity level.
FFT, or tuning-less func- The servomotor vibrated consid- Check the operation procedure of
tion.) erably during one-parameter tun- Check the motor speed waveform. corresponding function and take a
ing or EasyFFT. corrective action.
Incorrect wiring or contact fault Confirm that the servomotor and
Check the wiring.
of servomotor and encoder. encoder are correctly wired.
Check the servomotor overload Reconsider the load conditions and
Operation beyond the overload
A.710: characteristics and executed run operating conditions. Or, increase
protection characteristics.
A.720: command. the motor capacity.
Overload Excessive load was applied dur-
A.710: High Load ing operation because the servo- Check the executed operation refer-
A.720: Low Load Remove the mechanical problems.
motor was not driven due to ence and motor speed.
mechanical problems.
The SERVOPACK may be faulty.
A SERVOPACK fault occurred. −
Replace the SERVOPACK.
Decrease the surrounding air tem-
The surrounding air temperature Check the surrounding air tempera-
perature by improving the SERVO-
is too high. ture using a thermostat.
PACK installation conditions.
The overload alarm has been Check the alarm history display
Change the method for resetting the
reset by turning OFF the power (Fn000) to see if the overload alarm
alarm.
A.7A0: too many times. was reported.
Heat Sink Overheated Check the accumulated load ratio
Excessive load was applied dur- Reconsider the load conditions and
(Detected when the heat ing operation. (Un009) to see the load during oper-
operating conditions.
sink temperature ation.
exceeds 90°C.) Incorrect SERVOPACK installa-
tion orientation or/and insuffi- Check the SERVOPACK installa- Install the SERVOPACK correctly
cient space around the tion conditions. as specified.
SERVOPACK.
The SERVOPACK may be faulty.
A SERVOPACK fault occurred. −
Replace the SERVOPACK.

8-8
 8.1 Alarm Displays

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
Alarm occurred when the power
Check to see if the power was
to the absolute encoder was ini- Set up the encoder (Fn008).
turned ON initially.
tially turned ON.
The encoder cable disconnected, Check to see if the power was Confirm the connection and set up
and connected again. turned ON initially. the encoder (Fn008).
A.810:
Encoder Backup Error The power from both the control
Replace the battery or take similar
power supply (+5 V) from the
(Only when an absolute Check the encoder connector bat- measures to supply power to the
SERVOPACK and the battery
encoder is connected.) tery or the connector contact status. encoder, and set up the encoder
power supply is not being sup-
(Detected on the encoder (Fn008).
plied.
side.)
If the alarm cannot be reset by set-
An absolute encoder fault
− ting up the encoder again, replace
occurred.
the servomotor.
The SERVOPACK may be faulty.
A SERVOPACK fault occurred. −
Replace the SERVOPACK.
• Absolute encoder
Set up the encoder again using
Fn008. If the alarm still occurs,
A.820: the servomotor may be faulty.
Encoder Checksum An encoder fault occurred. − Replace the servomotor.
Error • One-turn absolute encoder or
(Detected on the encoder incremental encoder
side.) The servomotor may be faulty.
Replace the servomotor.
The SERVOPACK may be faulty.
A SERVOPACK fault occurred. −
Replace the SERVOPACK.

A.830: The battery connection is incor-

Check the battery connection. Reconnect the battery.
rect.
Absolute Encoder
Battery Error The battery voltage is lower than
Measure the battery voltage. Replace the battery.
(The absolute encoder the specified value 2.7 V.
battery voltage is lower The SERVOPACK may be faulty.
than the specified value.) A SERVOPACK fault occurred. −
Replace the SERVOPACK.
Restart the SERVOPACK. If the
alarm still occurs, the servomotor
An encoder malfunctioned. −
may be faulty. Replace the servo-
A.840: motor.
Encoder Data Error
(Detected on the encoder Correct the wiring around the
side.) encoder by separating the encoder
Malfunction of encoder because
− cable from the servomotor main cir-
of noise interference, etc.
cuit cable or by checking the
grounding and other wiring.
The servomotor speed is higher Check the motor rotating speed Reduce the servomotor speed to a
than 200 min-1 when the control (Un000) to confirm the servomotor value less than 200 min-1, and turn
A.850: power supply was turned ON. speed when the power is turned ON. ON the control power supply.
Encoder Overspeed Restart the SERVOPACK. If the
(Detected when the con- alarm still occurs, the servomotor
trol power supply was An encoder fault occurred. −
may be faulty. Replace the servo-
turned ON.) motor.
Troubleshooting

(Detected on the encoder

Restart the SERVOPACK. If the
side.)
alarm still occurs, the SERVO-
A SERVOPACK fault occurred. −
PACK may be faulty. Replace the
SERVOPACK.

8-9
 8 Troubleshooting
8.1.2 Troubleshooting of Alarms

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
The ambient operating tempera-
Measure the ambient operating tem- The ambient operating temperature
ture around the servomotor is too
perature around the servomotor. must be 40°C or less.
high.
The motor load is greater than the Check the accumulated load ratio The motor load must be within the
A.860: rated load. (Un009) to see the load. specified range.
Encoder Overheated
(Only when an absolute Restart the SERVOPACK. If the
encoder is connected.) alarm still occurs, the servomotor
An encoder fault occurred. −
(Detected on the encoder may be faulty. Replace the servo-
side.) motor.
Restart the SERVOPACK. If the
alarm still occurs, the SERVO-
A SERVOPACK fault occurred. −
PACK may be faulty. Replace the
SERVOPACK.
Restart the SERVOPACK. If the
A.b31:
The current detection circuit for alarm still occurs, the SERVO-
Current Detection −
phase U is faulty. PACK may be faulty. Replace the
Error 1 SERVOPACK.
Restart the SERVOPACK. If the
A.b32:
The current detection circuit for alarm still occurs, the SERVO-
Current Detection −
phase V is faulty. PACK may be faulty. Replace the
Error 2 SERVOPACK.
Restart the SERVOPACK. If the
The detection circuit for the cur- alarm still occurs, the SERVO-
A.b33: −
rent is faulty. PACK may be faulty. Replace the
Current Detection SERVOPACK.
Error 3
The servomotor main circuit Check for disconnection of the ser-
Correct the servomotor wiring.
cable is disconnected. vomotor main circuit cable.
A.b6A: Restart the SERVOPACK. If the
SERVOPACK MECHA-
MECHATROLINK alarm still occurs, the SERVO-
TROLINK communication sec- −
Communications ASIC PACK may be faulty. Replace the
tion fault.
Error 1 SERVOPACK.
Take measures against noise. Check
the MECHATROLINK communi-
MECHATROLINK data recep-
cations cable and FG wiring and
tion error occurred due to noise −
A.b6b: take measures such as adding ferrite
interference.
MECHATROLINK core on the MECHATROLINK
Communications ASIC communications cable.
Error 2 Restart the SERVOPACK. If the
SERVOPACK MECHA-
alarm still occurs, the SERVO-
TROLINK communication sec- −
PACK may be faulty. Replace the
tion fault.
SERVOPACK.
Restart the SERVOPACK. If the
A.bF0: alarm still occurs, the SERVO-
A SERVOPACK fault occurred. −
System Alarm 0 PACK may be faulty. Replace the
SERVOPACK.
Restart the SERVOPACK. If the
A.bF1: alarm still occurs, the SERVO-
A SERVOPACK fault occurred. −
System Alarm 1 PACK may be faulty. Replace the
SERVOPACK.
Restart the SERVOPACK. If the
A.bF2: alarm still occurs, the SERVO-
A SERVOPACK fault occurred. −
System Alarm 2 PACK may be faulty. Replace the
SERVOPACK.
Restart the SERVOPACK. If the
A.bF3: A SERVOPACK fault occurred. −
alarm still occurs, the SERVO-
System Alarm 3 PACK may be faulty. Replace the
SERVOPACK.

8-10
 8.1 Alarm Displays

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
Restart the SERVOPACK. If the
A.bF4: alarm still occurs, the SERVO-
A SERVOPACK fault occurred. −
System Alarm 4 PACK may be faulty. Replace the
SERVOPACK.
The order of phases U, V, and W
Confirm that the servomotor is cor-
in the servomotor wiring is incor- Check the motor wiring.
rectly wired.
rect.
A.C10: If the alarm still occurs after restart-
Servo Overrun ing the SERVOPACK, even though
Detected An encoder fault occurred. − the servomotor is correctly wired,
(Detected when the the servomotor may be faulty.
servomotor power is Replace the servomotor.
ON.) Restart the SERVOPACK. If the
alarm still occurs, the SERVO-
A SERVOPACK fault occurred. −
PACK may be faulty. Replace the
SERVOPACK.
Restart the SERVOPACK. If the
alarm still occurs, the servomotor
An encoder fault occurred. −
A.C80: may be faulty. Replace the servo-
Absolute Encoder motor.
Clear Error and Multi- Restart the SERVOPACK. If the
turn Limit Setting Error alarm still occurs, the SERVO-
A SERVOPACK fault occurred. −
PACK may be faulty. Replace the
SERVOPACK.
Contact fault of connector or Re-insert the connectors and con-
Check the connector contact status
incorrect wiring for encoder firm that the encoder is correctly
for encoder cable.
cable. wired.
Cable disconnection for encoder
Use the cables with the specified
cable or short-circuit. Check the encoder cable.
rating.
Or, incorrect cable impedance.
Corrosion caused by improper
temperature, humidity, or gas, Improve the operating environmen-
short-circuit caused by intrusion tal conditions, and replace the cable.
Check the operating environment.
A.C90: of water drops or cutting oil, or If the alarm still occurs, replace the
connector contact fault caused by SERVOPACK.
Encoder
vibration.
Communications Error
Correct the wiring around the
encoder by separating the encoder
Malfunction caused by noise
− cable from the servomotor main cir-
interference.
cuit cable or by checking the
grounding and other wiring.
Connect the servomotor to another
SERVOPACK, and turn ON the
A SERVOPACK fault occurred. − control power. If no alarm occurs,
the SERVOPACK may be faulty.
Replace the SERVOPACK.
Noise interference occurred on
the I/O signal line because the Check the encoder cable and con- Confirm that there is no problem
Troubleshooting

encoder cable is bent and the nector. with the cable layout.
sheath is damaged.
A.C91:
The encoder cable is bundled
Encoder Check the cable layout for encoder Confirm that there is no surge volt-
with a high-current line or near a
Communications cable. age on the cables.
high-current line.
Position Data Error
The FG potential varies because
of influence from machines on Check the cable layout for encoder Properly ground the machines to
the servomotor side, such as the cable. separate from the encoder FG. 8
welder.

8-11
 8 Troubleshooting
8.1.2 Troubleshooting of Alarms

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
Noise interference occurred on
Take countermeasures against noise
the I/O signal line from the −
for the encoder wiring.
encoder.
Excessive vibration and shocks Reduce the machine vibration or
Check the operating environment.
were applied to the encoder. correctly install the servomotor.
A.C92:
Encoder Restart the SERVOPACK. If the
Communications alarm still occurs, the servomotor
An encoder fault occurred. −
Timer Error may be faulty. Replace the servo-
motor.
Restart the SERVOPACK. If the
alarm still occurs, the SERVO-
A SERVOPACK fault occurred. −
PACK may be faulty. Replace the
SERVOPACK.
Restart the SERVOPACK. If the
alarm still occurs, the servomotor
An encoder fault occurred. −
may be faulty. Replace the servo-
A.CA0: motor.
Encoder Parameter
Error Restart the SERVOPACK. If the
alarm still occurs, the SERVO-
A SERVOPACK fault occurred. −
PACK may be faulty. Replace the
SERVOPACK.
The wiring and contact for
Check the wiring. Correct the wiring.
encoder cable are incorrect.
Use tinned annealed copper
Noise interference occurred due shielded twisted-pair or screened
to incorrect cable specifications − unshielded twisted-pair cable with a
of encoder cable.
core of at least 0.12 mm2.
Noise interference occurred
The wiring distance must be 50 m
because the wiring distance for −
max.
the encoder cable is too long.
The FG potential varies because
A.Cb0: of influence from machines on Check the cable layout for encoder Properly ground the machines to
Encoder Echoback the servomotor side, such as the cable. separate from encoder FG.
Error welder.
Excessive vibration and shocks Reduce the machine vibration or
Check the operating environment.
were applied to the encoder. correctly install the servomotor.
Restart the SERVOPACK. If the
alarm still occurs, the servomotor
An encoder fault occurred. −
may be faulty. Replace the servo-
motor.
Restart the SERVOPACK. If the
alarm still occurs, the SERVO-
A SERVOPACK fault occurred. −
PACK may be faulty. Replace the
SERVOPACK.
The multiturn limit value of the
encoder is different from that of
Check the value of the Pn205 of the Execute Fn013 at the occurrence of
the SERVOPACK. Or, the multi-
SERVOPACK. alarm.
A.CC0: turn limit value of the SERVO-
Multiturn Limit PACK has been changed.
Disagreement Restart the SERVOPACK. If the
alarm still occurs, the SERVO-
A SERVOPACK fault occurred. −
PACK may be faulty. Replace the
SERVOPACK.

8-12
 8.1 Alarm Displays

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
Confirm that there is no contact
The servomotor U, V, and W wir- Check the servomotor main circuit
fault in the motor wiring or encoder
ings is faulty. cable connection.
wiring.
Reduce the position reference speed
The position reference speed is Reduce the reference speed, and or acceleration of position refer-
too high. operate the SERVOPACK. ence. Or, reconsider the electronic
gear ratio.

A.d00: Reduce the reference acceleration

of the position reference using a
Position Error
MECHATROLINK command, or
Overflow
The acceleration of the position Reduce the reference acceleration, smooth the acceleration of the posi-
(Position error exceeded reference is too high. and operate the SERVOPACK. tion reference by selecting the posi-
the value set in the tion reference filter (ACCFIL)
excessive position error using a MECHATROLINK com-
alarm level (Pn520).) mand.
Setting of the excessive position Check the alarm level (Pn520) to
error alarm level (Pn520) is low see if it is set to an appropriate Set the Pn520 to proper value.
against the operating condition. value.
Restart the SERVOPACK. If the
alarm still occurs, the SERVO-
A SERVOPACK fault occurred. −
PACK may be faulty. Replace the
SERVOPACK.
This alarm occurs if the servomo-
A.d01:
tor power is turned ON when the Check the position error amount
Position Error Correct the excessive position error
position error is greater than the (Un008) while the servomotor
Overflow Alarm at alarm level at servo ON (Pn526).
set value of Pn526 while the ser- power is OFF.
Servo ON
vomotor power is OFF.
When the position errors remain
in the error counter, Pn529 limits
the speed if the servomotor power
A.d02:
is ON. If Pn529 limits the speed Correct the excessive position error
Position Error in such a state, this alarm occurs alarm level (Pn520).
Overflow Alarm by −
when position references are Or, adjust the speed limit level at
Speed Limit at Servo
input and the number of position servo ON (Pn529).
ON
errors exceeds the value set for
the excessive position error alarm
level (Pn520).
MECHATROLINK transmission Remove the cause of transmission
A.E02: −
cycle fluctuated. cycle fluctuation at host controller.
MECHATROLINK
Internal Restart the SERVOPACK. If the
Synchronization alarm still occurs, the SERVO-
A SERVOPACK fault occurred. −
Error 1 PACK may be faulty. Replace the
SERVOPACK.
A.E40:
Setting of MECHATROLINK
MECHATROLINK Check the MECHATROLINK Set the transmission cycle to the
transmission cycle is out of speci-
Transmission Cycle transmission cycle setting. proper value.
fications range.
Setting Error
WDT data of host controller was Check the WDT data updating for Update the WDT data at the host
Troubleshooting

not updated correctly. the host controller. controller correctly.

A.E50:
MECHATROLINK Restart the SERVOPACK. If the
Synchronization Error alarm still occurs, the SERVO-
A SERVOPACK fault occurred. −
PACK may be faulty. Replace the
SERVOPACK.

8-13
 8 Troubleshooting
8.1.2 Troubleshooting of Alarms

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
WDT data of host controller was
not updated correctly at the syn-
Check the WDT data updating for Update the WDT data at the host
chronization communications
A.E51: the host controller. controller correctly.
start, and synchronization com-
MECHATROLINK munications could not start.
Synchronization
Failed Restart the SERVOPACK. If the
alarm still occurs, the SERVO-
A SERVOPACK fault occurred. −
PACK may be faulty. Replace the
SERVOPACK.
Correct the MECHATROLINK wir-
MECHATROLINK wiring is Check the MECHATROLINK wir- ing.
incorrect. ings.
Connect the terminator correctly.
Take measures against noise. Check
A.E60: the MECHATROLINK communi-
MECHATROLINK data recep-
cations cable and FG wiring and
MECHATROLINK tion error occurred due to noise −
take measures such as adding ferrite
Communications error interference.
core on the MECHATROLINK
(Reception error) communications cable.
Restart the SERVOPACK. If the
alarm still occurs, the SERVO-
A SERVOPACK fault occurred. −
PACK may be faulty. Replace the
SERVOPACK.
A.E61: MECHATROLINK transmission Check the MECHATROLINK Remove the cause of transmission
MECHATROLINK cycle fluctuated. transmission cycle setting. cycle fluctuation at host controller.
Transmission Cycle Restart the SERVOPACK. If the
Error alarm still occurs, the SERVO-
(Synchronization A SERVOPACK fault occurred. −
PACK may be faulty. Replace the
interval error) SERVOPACK.
MECHATROLINK transmission Check the MECHATROLINK Remove the cause of transmission
A.EA2: cycle fluctuated. transmission cycle setting. cycle fluctuation at host controller.
DRV Alarm 2 Restart the SERVOPACK. If the
(SERVOPACK WDT alarm still occurs, the SERVO-
error) A SERVOPACK fault occurred. −
PACK may be faulty. Replace the
SERVOPACK.
A.Ed1: A timeout error occurred when Execute the SV_ON or SENS_ON
Check the motor status when the
Command Execution using an MECHATROLINK command only when the motor is
command is executed.
Timeout command. not running.

8-14
 8.2 Warning Displays

8.2 Warning Displays

The following sections describe troubleshooting in response to warning displays.

The warning name and warning meaning are listed in order of the warning numbers in 8.2.1 List of Warnings.

The causes of warnings and troubleshooting methods are provided in 8.2.2 Troubleshooting of Warnings.

8.2.1 List of Warnings

This section provides list of warnings.

Warning
Warning Name Meaning
Number
Position error exceeded the parameter setting
A.900*1 Position Error Overflow
(Pn520×Pn51E/100).
Position Error Overflow Alarm When the servomotor power is ON, the position error exceeded the
A.901*1 at Servo ON parameter setting (Pn526×Pn528/100).
This warning occurs before the overload alarms (A.710 or A.720)
A.910*1 Overload occur. If the warning is ignored and operation continues, an overload
alarm may occur.
Abnormal vibration at the motor speed was detected. The detection
A.911*1 Vibration level is the same as A.520. Set whether to output an alarm or warn-
ing by the vibration detection switch (Pn310).
This warning occurs when the voltage of absolute encoder’s battery
A.930*1 Absolute Encoder Battery Error
is lowered.
Data Setting Warning 1
A.94A*2 (Parameter Number Error) Incorrect command parameter number was set.

Data Setting Warning 2

A.94B*2 (Out of Range) Command input data is out of range.

Data Setting Warning 3

A.94C*2 (Calculation Error)
Calculation error was detected.

Data Setting Warning 4

A.94D*2 (Parameter Size)
Data size does not match.

Data Setting Warning 5

A.94E*2 (Latch Mode Error)
Latch mode error is detected.

Command Warning 1 Command was sent although the conditions for sending a command
A.95A*2 (Unsatisfying Command) were not satisfied.
Command Warning 2
A.95B*2 (Non-supported Command)
Unsupported command was sent.

Command Warning 4
A.95D*2 (Command Interference)
Command, especially latch command, interferes.

Command Warning 5
A.95E*2 (Subcommand Disable)
Subcommand and main command interfere.

Command Warning 6
A.95F*2 (Undefined Command)
Undefined command was sent.

MECHATROLINK Communications error occurred during MECHATROLINK commu-

A.960*2 Communications Warning nications.
Troubleshooting

A.9A0*1 Overtravel Overtravel is detected while the servomotor power is ON.

∗1. Use Pn008.2 to activate or not the warning detection.

∗2. Use Pn800.1 to activate or not the warning detection.

8-15
 8 Troubleshooting
8.2.2 Troubleshooting of Warnings

8.2.2 Troubleshooting of Warnings

Refer to the following table to identity the cause of a warning and the action to be taken. Contact your
Yaskawa representative if the problem cannot be solved by the described corrective action.

Warning
Number:
Warning Name Cause Investigative Actions Corrective Actions
(Warning
Description)

The servomotor U, V, Check the servomotor main circuit Confirm that there is no contact fault
and W wirings is faulty. cable connection. in the motor wiring or encoder wiring.

The SERVOPACK gain Increase the servo gain by using the

Check the SERVOPACK gain.
is too low. function such as advanced autotuning.

Reduce the reference acceleration of

the position reference using a
The acceleration of the MECHATROLINK command, or
Reduce the reference acceleration, and
position reference is too smooth the acceleration of the position
A.900: operate the SERVOPACK.
high. reference by selecting the position ref-
Position Error erence filter (ACCFIL) using a
Overflow MECHATROLINK command.
Setting of the excessive
position error alarm
Check the alarm level (Pn520) to see
level (Pn520) is low Set the Pn520 to proper value.
if it is set to an appropriate value.
against the operating
condition.

Restart the SERVOPACK. If the alarm

A SERVOPACK fault
− still occurs, the SERVOPACK may be
occurred.
faulty. Replace the SERVOPACK.

When the servomotor

A.901:
power is ON, the posi- Set an appropriate value for the exces-
Position Error
tion error exceeded the − sive position error warning level at
Overflow Alarm
parameter setting servo ON (Pn528).
at Servo ON
(Pn526×Pn528/100).

Incorrect wiring or con-

Confirm that the servomotor and
tact fault of servomotor Check the wiring.
encoder are correctly wired.
and encoder.

Operation beyond the Reconsider the load conditions and

Check the motor overload characteris-
overload protection operating conditions. Or, increase the
A.910: tics and executed run command.
characteristics. motor capacity.
Overload
(Warning before Excessive load was
alarm A.710 or applied during opera-
A.720 occurs) tion because the servo- Check the executed operation refer-
Remove the mechanical problems.
motor was not driven ence and motor speed.
due to mechanical prob-
lems.

A SERVOPACK fault The SERVOPACK may be faulty.

−
occurred. Replace the SERVOPACK.

8-16
 8.2 Warning Displays

(cont’d)
Warning
Number:
Warning Name Cause Investigative Actions Corrective Actions
(Warning
Description)
Abnormal vibration was Check for abnormal noise from the Reduce the motor speed or reduce the
detected at the motor servomotor, and check the speed and servo gain by using the function such
speed. torque waveforms during operation. as one-parameter tuning.
A.911: The moment of inertia
Vibration ratio (Pn103) value is
Set the moment of inertia ratio
greater than the actual Check the moment of inertia ratio.
(Pn103) to an appropriate value.
value or is greatly
changed.
A.930: The battery connection
Check the battery connection. Reconnect the battery.
Absolute is incorrect.
Encoder Battery
The battery voltage is
Error
lower than the specified Measure the battery voltage. Replace the battery.
(The absolute value 2.7 V.
encoder battery
voltage is lower
than the specified
value.) A SERVOPACK fault The SERVOPACK may be faulty.
−
(Only when an occurred. Replace the SERVOPACK.
absolute encoder
is connected.)
A.94A Refer to 8.3 Monitoring Communica-
Data Setting tion Data on Occurrence of an Alarm
Disabled parameter
Warning 1 or Warning to determine which Use the correct parameter number.
number was used.
(Parameter Num- command was the cause of the
ber Error) warning.

A.94B Refer to 8.3 Monitoring Communica-

Attempted to send val- tion Data on Occurrence of an Alarm
Data Setting Set the value of the parameter within
ues outside the range to or Warning to determine which
Warning 2 the allowable range.
the command data. command was the cause of the
(Out of Range) warning.
A.94C Refer to 8.3 Monitoring Communica-
Data Setting tion Data on Occurrence of an Alarm
Calculation result of set Set the value of the parameter within
Warning 3 or Warning to determine which
value is incorrect. the allowable range.
(Calculation command was the cause of the
Error) warning.

A.94D Refer to 8.3 Monitoring Communica-

tion Data on Occurrence of an Alarm
Data Setting Parameter size set in
or Warning to determine which Use the correct parameter size.
Warning 4 command is incorrect.
command was the cause of the
(Parameter Size) warning.
A.94E Refer to 8.3 Monitoring Communica- Change the setting value of Pn850 or
Data Setting tion Data on Occurrence of an Alarm the LT_MOD data for the
Latch mode error is LTMOD_ON command sent by the
Warning 5 or Warning to determine which
detected. host controller to the proper value.
(Latch mode command was the cause of the
error) warning.
A.95A Refer to 8.3 Monitoring Communica-
Troubleshooting

Command tion Data on Occurrence of an Alarm

Command sending con- Send a command after command
Warning 1 or Warning to determine which
dition is not satisfied. sending condition is satisfied.
(Unsatisfying command was the cause of the
Command) warning.
A.95B Refer to 8.3 Monitoring Communica-
Command tion Data on Occurrence of an Alarm
SERVOPACK received
Warning 2 or Warning to determine which Do not sent an unsupported command.
unsupported command.
(Non-supported command was the cause of the 8
Command) warning.

8-17
 8 Troubleshooting
8.2.2 Troubleshooting of Warnings

(cont’d)
Warning
Number:
Warning Name Cause Investigative Actions Corrective Actions
(Warning
Description)
A.95D Refer to 8.3 Monitoring Communica-
Command sending con-
Command tion Data on Occurrence of an Alarm
dition for latch-related Send a command after command
Warning 4 or Warning to determine which
commands is not satis- sending condition is satisfied.
(Command Inter- command was the cause of the
fied.
ference) warning.
A.95E Refer to 8.3 Monitoring Communica-
Command Subcommand sending tion Data on Occurrence of an Alarm
Send a command after command
Warning 5 condition is not satis- or Warning to determine which
sending condition is satisfied.
(Subcommand fied. command was the cause of the
Disable) warning.
A.95F Refer to 8.3 Monitoring Communica-
Command tion Data on Occurrence of an Alarm
Undefined command
Warning 6 or Warning to determine which Do not use an undefined command.
was sent.
(Undefined Com- command was the cause of the
mand) warning.

Correct the MECHATROLINK wir-

MECHATROLINK ing.
Confirm the wiring.
wiring is incorrect. Or, connect a terminal to the terminal
station.
A.960
Take measures against noise. Check
MECHATROLINK MECHATROLINK the MECHATROLINK communica-
Communications data reception error tions cable and FG wiring and take
Warning Confirm the installation conditions.
occurred due to noise measures such as adding ferrite core
interference. on the MECHATROLINK communi-
cations cable.
A SERVOPACK fault A fault occurred in the SERVOPACK.
–
occurred. Replace the SERVOPACK.
Refer to 8.4 Troubleshooting Malfunc-
tion Based on Operation and Condi-
tions of the Servomotor. Even if
overtravel signals were not shown by
the input signal monitor (Un005),
A.9A0: momentary overtravel may have been
When the servomotor Check the input signal monitor detected. Take the following precau-
Overtravel
power is ON, over- (Un005) to check the status of the tions.
(Overtravel status travel status is detected. overtravel signals. • Do not specify movements that
is detected.)
would cause overtravel from the
host controller.
• Check the wiring of the overtravel
signals.
• Take countermeasures for noise.

8-18
 8.3 Monitoring Communication Data on Occurrence of an Alarm or Warning

8.3 Monitoring Communication Data on Occurrence of an Alarm or

Warning
The command data received on occurrence of an alarm or warning, such as a data setting warning (A.94 ) or
a command warning (A.95 ) can be monitored using the following parameters. The following is an example
of the data when an alarm/warning has occurred in the normal state.

Command Data Monitor at Alarm/Warning Occurrence:Pn890 to Pn89E

Response Data Monitor at Alarm/Warning Occurrence:Pn8A0 to Pn8AE
Command Data Storage at
Command Alarm/Warning Occurrence
Byte Order
CMD RSP Example: Pn8A0 = 87 65 43 21
1 Pn890.1 to 0 Pn8A0.1 to 0
2 Pn890.3 to 2 Pn8A0.3 to 2
3 Pn890.5 to 4 Pn8A0.5 to 4
4 Pn890.7 to 6 Pn8A0.7 to 6
5 to 8 Pn892 Pn8A2
9 to 12 Pn894 Pn8A4
13 to 16 Pn896 Pn8A6
17 to 20 Pn898 Pn8A8
21 to 24 Pn89A Pn8AA
25 to 28 Pn89C Pn8AC
29 to 32 Pn89E Pn8AE
Note 1. Data is stored in little endian byte order and displayed in the hexadecimal format.
2. For details on commands, refer to Σ-V Series User’s Manual MECHATROLINK-II Commands (Manual No.:
SIEP S800000 54).

Troubleshooting

8-19
 8 Troubleshooting

8.4 Troubleshooting Malfunction Based on Operation and

Conditions of the Servomotor
Troubleshooting for the malfunctions based on the operation and conditions of the servomotor is provided in
this section.

Be sure to turn OFF the servo system before troubleshooting items shown in bold lines in the table.

Problem Probable Cause Investigative Actions Corrective Actions

The control power supply is not Check voltage between control
Correct the wiring.
ON. power input terminals.
The main circuit power supply is Check the voltage between main
Correct the wiring.
not ON. circuit power input terminals.
Wiring of I/O signal connector CN1 Check if the connector CN1 is prop- Correct the connector CN1 connec-
is faulty or disconnected. erly inserted and connected. tion.
Wiring for servomotor main circuit
cable or encoder cable is discon- Check the wiring. Correct the wiring.
nected.
Run under no load and check the Reduce load or replace with larger
Overloaded
load status. capacity servomotor.
Servomotor Does Encoder type differs from parame- Check the settings for parameter Set parameter Pn002.2 to the
Not Start ter setting (Pn002.2). Pn002.2. encoder type being used.
Settings for the input signal selec-
Check the settings for parameters Correct the settings for parameter
tions (Pn50A, Pn50B and Pn511) is
Pn50A, Pn50B and Pn511. Pn50A, Pn50B and Pn511.
incorrect.
Check the command sent from the
SV_ON command is not sent. Send the SV_ON command.
host controller.
Check the command sent from the Send the command in the correct
SENS_ON command is not sent.
host controller. SERVOPACK sequence.
The forward run prohibited (P-OT)
Turn P-OT or N-OT input signal
and reverse run prohibited (N-OT) Check P-OT or N-OT input signal.
ON.
input signals are turned OFF.
A SERVOPACK fault occurred. − Replace the SERVOPACK.
Servomotor Servomotor wiring is incorrect. Check the wiring. Correct the wiring.
Moves
Instantaneously, Encoder wiring is incorrect. Check the wiring. Correct the wiring.
and then Stops
Set the power supply voltage to
Check voltage between main circuit within the specified range.
The main circuit power supply volt-
power input terminals during opera-
age is 13 V or lower. Increase the capacity of the main
The SERVOPACK tion.
suddenly entered circuit AC/DC power supply.
baseblock status The fuse in the SERVOPACK is
during servomotor blown. − Replace the SERVOPACK.
operation.
A fault occurred in the SERVO-
A SERVOPACK fault occurred. − PACK.
Replace the SERVOPACK.
Check connections of power line
Servomotor Wiring connection to servomotor is Tighten any loose terminals or con-
(phases U, V, and W) and encoder
Speed Unstable defective. nectors and correct the wiring.
connectors.
Servomotor
Rotates Without A SERVOPACK fault occurred. − Replace the SERVOPACK.
Reference Input

8-20
 8.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor

(cont’d)
Problem Probable Cause Investigative Actions Corrective Actions
Reduce the load so that the moment
of inertia ratio becomes within the
The servomotor largely vibrated
allowable value, or increase the
during execution of tuning-less Check the motor speed waveform.
load level or lower the tuning level
function.
for the tuning-less levels setting
(Fn200).
Check if there are any loose mount-
Tighten the mounting screws.
ing screws.
Check if there is misalignment of
Mounting is not secured. Align the couplings.
couplings.
Check if there are unbalanced cou-
Balance the couplings.
plings.
Check for noise and vibration
Bearings are defective. Replace the servomotor.
around the bearings.
Check for any foreign matter, dam-
Vibration source at the driven
age, or deformations on the machin- Contact the machine manufacturer.
machine.
ery's movable parts.
The I/O signal cable must be tinned
annealed copper shielded twisted-
Noise interference due to incorrect pair or screened unshielded twisted- Use the specified I/O signal cable.
I/O signal cable specifications.
pair cable with a core of 0.12 mm2
min.
Noise interference due to length of Check the length of the I/O signal The I/O signal cable length must be
Abnormal Noise I/O signal cable. cable. no more than 3 m.
from Servomotor
The encoder cable must be tinned
Noise interference due to incorrect annealed copper shielded twisted-
cable specifications of encoder pair or screened unshielded twisted- Use the specified encoder cable.
cable. pair cable with a core of 0.12 mm2
min.
Noise interference due to length of Check the length of the encoder The encoder cable must be no more
encoder cable. cable. than 50 m.
Noise interference due to damaged Check if the encoder cable is bent Replace the encoder cable and cor-
encoder cable. and the sheath is damaged. rect the cable layout.
Check if the encoder cable is bun-
Excessive noise to the encoder Correct the cable layout so that no
dled with a high-current line or near
cable. surge is applied.
a high-current line.
The FG potential varies because of
Check if the machines are correctly Properly ground the machines to
influence from machines on the ser-
grounded. separate from the encoder FG.
vomotor side, such as the welder.
Check if there is noise interference
SERVOPACK pulse counting error Take measures against noise in the
on the I/O signal line from the
due to noise interference encoder wiring.
encoder.
Check if vibration from the machine
Reduce vibration from the machine,
Excessive vibration and shock to occurred or servomotor installation
or secure the servomotor installa-
the encoder is incorrect (mounting surface accu-
tion.
racy, fixing, alignment, etc.).
An encoder fault occurred. − Replace the servomotor.
Troubleshooting

8-21
 8 Troubleshooting

(cont’d)
Problem Probable Cause Investigative Actions Corrective Actions
Check to see if the servo gains have
Unbalanced servo gains Execute the advanced autotuning.
been correctly adjusted.
Speed loop gain value (Pn100) too Check the speed loop gain (Pn100). Reduce the speed loop gain
high. Factory setting: Kv = 40.0 Hz (Pn100).
Servomotor Check the position loop gain
Vibrates at Position loop gain value (Pn102) (Pn102). Reduce the position loop gain
Frequency of too high. (Pn102).
Factory setting: Kp = 40.0/s
Approx. 200 to
400 Hz. Check the speed loop integral time
Incorrect speed loop integral time Correct the speed loop integral time
constant (Pn101).
constant (Pn101) constant (Pn101).
Factory setting: Ti = 20.0 ms
Incorrect moment of inertia ratio Check the moment of inertia ratio Correct the moment of inertia ratio
(Pn103) (Pn103). (Pn103).
Check to see if the servo gains have
Unbalanced servo gains Execute the advanced autotuning.
been correctly adjusted.
Speed loop gain value (Pn100) too Check the speed loop gain (Pn100). Reduce the speed loop gain
high Factory setting: Kv = 40.0 Hz (Pn100).
High Motor Speed Check the position loop gain
Position loop gain value (Pn102) Reduce the position loop gain
Overshoot on (Pn102).
too high (Pn102).
Starting and Factory setting: Kp = 40.0/s
Stopping
Check the speed loop integral time
Incorrect speed loop integral time Correct the speed loop integral time
constant (Pn101).
constant (Pn101) constant (Pn101).
Factory setting: Ti = 20.0 ms
Incorrect moment of inertia ratio Check the moment of inertia ratio Correct the moment of inertia ratio
data (Pn103) (Pn103). (Pn103).
The encoder cable must be tinned
Noise interference due to incorrect annealed copper shielded twisted-
cable specifications of encoder pair or screened unshielded twisted- Use the specified encoder cable.
cable. pair cable with a core of 0.12 mm2
min.
Noise interference due to length of Check the length of the encoder The encoder cable must be no more
encoder cable. cable. than 50 m.
Noise interference due to damaged Check if the encoder cable is bent Replace the encoder cable and cor-
encoder cable. and the sheath is damaged. rect the cable layout.
Check if the encoder cable is bun-
Excessive noise to the encoder Correct the cable layout so that no
dled with a high-current line or near
cable. surge is applied.
Absolute Encoder a high-current line.
Position
FG potential varies because of Ground machines correctly, and
Difference Error Check if the machines are correctly
influence of machines such as weld- prevent diversion to the FG on the
(The position grounded.
ers at the servomotor. encoder side.
saved in the host
controller when Check if there is noise interference
SERVOPACK pulse counting error Take measures against noise in the
the power was on the I/O signal line from the
due to noise interference encoder wiring.
turned OFF is encoder.
different from the Check if vibration from the machine
position when the Reduce vibration from the machine,
Excessive vibration and shock to occurred or servomotor installation
power was next or secure the servomotor installa-
the encoder is incorrect (mounting surface accu-
turned ON.) tion.
racy, fixing, alignment, etc.).
An encoder fault occurred. − Replace the servomotor.
A SERVOPACK fault occurred.
− Replace the SERVOPACK.
(The pulse count does not change.)
Check the error detection section of Correct the error detection section
the host controller. of the host controller.
Check if the host controller is exe- Execute a multiturn data parity
Host controller multiturn data read-
cuting data parity checks. check.
ing error
Check noise in the cable between Take measures against noise, and
the SERVOPACK and the host con- again execute a multiturn data par-
troller. ity check.

8-22
 8.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor

(cont’d)
Problem Probable Cause Investigative Actions Corrective Actions
Check the external power supply Correct the external power supply
(+24 V) voltage for the input signal. (+24 V) voltage.
Check if the overtravel limit switch
Correct the overtravel limit switch.
Forward or reverse run prohibited operates properly.
signal is input. Check if the overtravel limit switch Correct the overtravel limit switch
is wired correctly. wiring.
Check the settings for parameters Correct the settings for parameters
Pn50A and Pn50B. Pn50A and Pn50B.
Check the fluctuation of the exter-
Stabilize the external power supply
nal power supply (+24 V) voltage
Overtravel (OT) (+24 V) voltage.
for the input signal.
Forward or reverse run prohibited Check if the overtravel limit switch
Correct the overtravel limit switch.
signal malfunctioning. operates correctly.
Check if the overtravel limit switch
Correct the overtravel limit switch
wiring is correct. (check for dam-
wiring.
aged cables or loose screws.)
Incorrect forward or reverse run Check if the P-OT signal is allo- If another signal is allocated in
prohibited signal (P-OT/N-OT) cated in Pn50A.3. Pn50A.3, allocate P-OT.
allocation (parameters Pn50A.3, Check if the N-OT signal is allo- If another signal is allocated in
Pn50B.0) cated in Pn50B.0. Pn50B.0, allocate N-OT.
Improper limit switch position and Install the limit switch at the
Improper Stop −
dog length appropriate position.
Position by
Overtravel (OT) The overtravel limit switch position
Install the overtravel limit switch at
Signal is too short for the coasting −
the appropriate position.
distance.

Troubleshooting

8-23
 8 Troubleshooting

(cont’d)
Problem Probable Cause Investigative Actions Corrective Actions
The encoder cable must be tinned
annealed copper shielded twisted-
Noise interference due to incorrect pair or screened unshielded twisted- Use the specified encoder cable.
encoder cable specifications
pair cable with a core of 0.12 mm2
min.
Noise interference due to length of Check the length of the encoder The encoder cable must be no more
encoder cable. cable. than 50 m.
Noise influence due to damaged Check if the encoder cable is bent Replace the encoder cable and mod-
encoder cable. and the sheath is damaged. ify the cable layout.
Check if the encoder cable is bun-
Change the cable layout so that no
Excessive noise to encoder cable. dled with a high-current line or near
surge is applied.
a high-current line.
The FG potential varies because of
Check if the machines are correctly Properly ground the machines
influence from machines on the ser-
grounded. encoder FG.
vomotor side such as the welder.
SERVOPACK pulse count error due Check if the I/O signal line from the Take measures against noise in the
Position Error to noise encoder is influenced by noise. encoder wiring.
(Without Alarm) Check if vibration from the machine
Excessive vibration and shock to occurred or servomotor installation Reduce the machine vibration or
the encoder is incorrect (mounting surface accu- mount the servomotor securely.
racy, fixing, alignment, etc.).
Check if a position error occurs at
Unsecured coupling between Secure the coupling between the
the coupling between machine and
machine and servomotor machine and servomotor.
servomotor.
The I/O signal cable must be tinned
annealed copper shielded twisted-
Noise interference due to improper pair or screened unshielded twisted- Use input signal cable with the
I/O signal cable specifications specified specifications.
pair cable with a core of 0.12 mm2
min.
Noise interference due to length of The I/O signal cable length must be
Check the I/O signal cable length.
I/O signal cable no more than 3 m.
An encoder fault occurred. (The
− Replace the servomotor.
pulse count does not change.)
A SERVOPACK fault occurred. − Replace the SERVOPACK.
Ambient operating temperature too Measure the servomotor ambient Reduce the ambient operating tem-
high operating temperature. perature to 40°C or less.
Servomotor Servomotor surface dirty Visually check the surface. Clean dust and oil from the surface.
Overheated
If overloaded, reduce load or
Servomotor overloaded Check the load status with monitor. replace with larger capacity SER-
VOPACK and servomotor.

8-24
 9
Appendix

9.1 List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9.1.1 Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.1.2 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3

9.2 List of Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-30

9.3 Parameter Recording Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-31

Appendix

9-1
 9 Appendix
9.1.1 Utility Functions

9.1 List of Parameters

9.1.1 Utility Functions
The following list shows the available utility functions.

Parameter Reference Comment: SigmaWin+

Function
No. Section function names
Fn000 Alarm history display 6.2 Alarm Display
Fn002 JOG operation 6.3 JOG Operation
Fn003 Origin search 6.4 Origin Search
Fn004 Program JOG operation 6.5 Program JOG Operation
Fn005 Initializing parameter settings 6.6 Editing Parameters
Fn006 Clearing alarm history 6.7 Alarm Display
Fn008 Absolute encoder multiturn reset and encoder alarm reset 4.7.4 Setting the Absolute Encoder
Adjusting Analog Monitor
Fn00C Offset adjustment of analog monitor output 6.8
Output
Adjusting Analog Monitor
Fn00D Gain adjustment of analog monitor output 6.9
Output
Automatic offset-signal adjustment of the motor current Adjusting Motor Current
Fn00E 6.10
detection signal Detection Offset
Manual offset-signal adjustment of the motor current detec- Adjusting Motor Current
Fn00F 6.11
tion signal Detection Offset
Fn010 Write prohibited setting 6.12 Write Prohibited Setting
Fn011 Servomotor model display 6.13 Product Information
Fn012 Software version display 6.14 Product Information
Multiturn limit value setting change when a multiturn limit
Fn013 4.7.6 Setting the Multi-Turn Limit
disagreement alarm occurs
Initializing Vibration Detec-
Fn01B Vibration detection level initialization 6.15
tion Level
Fn01E Display of SERVOPACK and servomotor ID 6.16 Product Information
Resetting the SERVOPACK
by Software or MECHA-
Fn030 Software reset 6.17
TROLINK Communication
Reset
Fn200 Tuning-less levels setting 5.2.2 Editing Parameters
Fn201 Advanced autotuning 5.3.2 Tuning
Fn202 Advanced autotuning by reference 5.4.2 Tuning
Fn203 One-parameter tuning 5.5.2 Tuning
Fn204 Anti-resonance control adjustment function 5.6.2 Tuning
Fn205 Vibration suppression function 5.7.2 Tuning
Fn206 EasyFFT 6.18 EasyFFT
Fn207 Online vibration monitor 6.19 Online Vibration Monitor

Note: Execute the utility function with SigmaWin+.

9-2
 9.1 List of Parameters

9.1.2 Parameters

Parameter Setting Factory When Reference

Size Name Units Classification
No. Range Setting Enabled Section
Basic Function Select Switch
2 0000 to 00B3 − 0000 After restart Setup −
0
4th 3rd 2nd 1st
digit digit digit digit
n.
Reference
Direction Selection Section
0 Sets CCW as forward direction.
Pn000 1 Sets CW as forward direction. (Reverse Rotation Mode) 4.3.1
2 to 3 Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

MECHA
Application Function Select
2 0000 to 1122 − 0000 After restart Setup −
Switch 1

4th 3rd 2nd 1st

digit digit digit digit
n.
Reserved (Do not change.)

Reference
Overtravel (OT) Stop Mode Section
Pn001
0 Stops the motor by coasting.
1 Sets the torque of Pn406 to the maximum value, decelerates the servomotor to a stop,
and then sets it to servolock state. 4.3.2
2 Sets the torque of Pn406 to the maximum value, decelerates the servomotor to a stop,
and then sets it to coasting state.

Reserved (Do not change.)

Reserved (Do not change.)

Appendix

9-3
 9 Appendix
9.1.2 Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
Application Function Select
2 0000 to 4113 − 0000 After restart Setup −
Switch 2
4th 3rd 2nd 1st
digit digit digit digit
n.
Reference
MECHATROLINK Command Position and Speed Control Option Section
0 The set value of P_TLIM, NTLIM, and TFF are ignored.
1 P_TLIM and NTLIM operate as the torque limit values.
2 TFF operates as the torque feed forward. *1

3 When P-CL and N-CL in the OPTION field are available, P_TLIM and NTLIM oper-
ate as the torque limit value.
Pn002
Reference
Torque Control Option Section
0 V_LIM is not available. –
1 V_LIM operates as the speed limit value. –

Reference
Absolute Encoder Usage Section
0 Uses absolute encoder as an absolute encoder.
4.7
M-II 1 Uses absolute encoder as an incremental encoder.

Reserved (Do not change.)

Application Function Select

2 0000 to 005F − 0002 Immediately Setup 5.1.3
Switch 6

4th 3rd 2nd 1st

digit digit digit digit
n.
Analog Monitor 1 Signal Selection
00 Motor rotating speed (1 V / 1000 min-1)
01 Speed reference (1 V / 1000 min-1)
02 Torque reference (1 V/100% rated torque)
03 Position error (0.05 V/1 reference unit)
04 Position amplifier error (after electronic gears) (0.05 V/ 1 encoder pulse unit)
05 Position reference speed (1 V / 1000 min-1)
Pn006
06 Reserved (Do not change.)
07 Reserved (Do not change.)
08 Positioning completion (positioning completed: 5 V, positioning not completed: 0 V)
09 Reserved (Do not change.)
0A Torque feedforward (1 V/100% rated torque)
0B Active gain (1st gain: 1 V, 2nd gain: 2 V)
0C Completion of position reference (completed: 5 V, not completed: 0 V)
0D Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

∗1. For details, refer to Σ-V Series User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).

9-4
 9.1 List of Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
Application Function Select
2 0000 to 005F − 0000 Immediately Setup 5.1.3
Switch 7
4th 3rd 2nd 1st
digit digit digit digit
n.
Analog Monitor 2 Signal Selection
00 Motor rotating speed (1 V / 1000 min-1)
01 Speed reference (1 V / 1000 min-1)
02 Torque reference (1 V/100% rated torque)
03 Position error (0.05 V/1 reference unit)
04 Position amplifier error (after electronic gears) (0.05 V/ 1 encoder pulse unit)
05 Position reference speed (1 V / 1000 min-1)
Pn007
06 Reserved (Do not change.)
07 Reserved (Do not change.)
08 Positioning completion (positioning completed: 5 V, positioning not completed: 0 V)
09 Reserved (Do not change.)
0A Torque feedforward (1 V/100% rated torque)
0B Active gain (1st gain: 1 V, 2nd gain: 2 V)
0C Completion of position reference (completed: 5 V not completed: 0 V)
0D Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

Application Function Select

2 0000 to 7121 − 4000 After restart Setup −
Switch 8
4th 3rd 2nd 1st
digit digit digit digit
n.
Reference
Lowered Battery Voltage Alarm/Warning Selection Section
0 Outputs alarm (A.830) for lowered battery voltage.
4.7.3
1 Outputs warning (A.930) for lowered battery voltage.
Pn008
Reserved (Do not change.)

Reserved (Do not change.)

Reference
Warning Detection Selection Section
0 Detects warning.
8.2.1
1 Does not detect warning.
Appendix

9-5
 9 Appendix
9.1.2 Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
Application Function Select
2 0000 to 0111 − 0010 After restart Tuning −
Switch 9
4th 3rd 2nd 1st
digit digit digit digit
n.
Reserved (Do not change.)

Reference
Current Control Method Selection Section
Pn009
0 Current control method 1
5.8.3
1 Current control method 2

Reference
Speed Detection Method Selection Section
0 Speed detection 1
5.8.5
1 Speed detection 2

Reserved (Do not change.)

Application Function Select

2 0000 to 1111 − 0000 After restart Setup −
Switch B
4th 3rd 2nd 1st
digit digit digit digit
n.
Reference
Parameter Display Selection Section
0 Setup parameters
2.5.1
1 All parameters
Pn00B
Reference
Alarm Gr.2 Stop Method Selection Section
0 Stops the motor by setting the speed reference to "0".
4.3.5
1 Stops the motor by coasting.

Reserved (Do not change.)

Reserved (Do not change.)

9-6
 9.1 List of Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
Application Function Select
2 0000 to 0111 − 0000 After restart Setup 4.5
Switch C
4th 3rd 2nd 1st
digit digit digit digit
n.
Selection of Test without a Motor
0 Disables test without a motor.
1 Enables test without a motor.

Pn00C Encoder Resolution for Test without a Motor

0 13 bits
1 20 bits

Encoder Type for Test without a Motor

0 Incremental encoder
1 Absolute encoder

Reserved (Do not change.)

Application Function Select

2 0000 to 1001 − 0000 Immediately Setup –
Switch D
4th 3rd 2nd 1st
digit digit digit digit
n.
Reserved (Do not change.)

Pn00D Reserved (Do not change.)

Reserved (Do not change.)

Reference
Overtravel Warning Detection Selection Section
0 Does not detect overtravel warning.
4.3.2
1 Detects overtravel warning.

Pn100 2 Speed Loop Gain 10 to 20000 0.1 Hz 400 Immediately Tuning 5.8.1
Speed Loop Integral Time
Pn101 2 15 to 51200 0.01 ms 2000 Immediately Tuning 5.8.1
Constant
Pn102 2 Position Loop Gain 10 to 20000 0.1/s 400 Immediately Tuning 5.8.1
Pn103 2 Moment of Inertia Ratio 0 to 20000 1% 100 Immediately Tuning 5.8.1
Pn104 2 2nd Speed Loop Gain 10 to 20000 0.1 Hz 400 Immediately Tuning 5.8.1
2nd Speed Loop Integral
Pn105 2 15 to 51200 0.01 ms 2000 Immediately Tuning 5.8.1
Time Constant
Pn106 2 2nd Position Loop Gain 10 to 20000 0.1/s 400 Immediately Tuning 5.8.1
Pn109 2 Feedforward Gain 0 to 100 1% 0 Immediately Tuning 5.9.1
Feedforward Filter Time
Pn10A 2 0 to 6400 0.01 ms 0 Immediately Tuning 5.9.1
Constant
Appendix

9-7
 9 Appendix
9.1.2 Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
Application Function for
2 0000 to 5334 − 0000 − − −
Gain Select Switch
4th 3rd 2nd 1st
digit digit digit digit
n.
When Reference
Mode Switch Selection Classification
Section
Enabled
0 Uses internal torque reference as the condition
(Level setting: Pn10C).
1 Uses speed reference as the condition (Level set-
ting: Pn10D).
2 Uses acceleration as the condition (Level setting: Immediately Setup 5.9.2
Pn10E).
Pn10B 3 Uses position error as the condition (Level setting:
Pn10F).
4 No mode switch function available.

When Reference
Speed Loop Control Method Classification
Section
Enabled
0 PI control
1 I-P control After restart Setup −
2 to 3 Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

Mode Switch (torque refer-

Pn10C 2 0 to 800 1% 200 Immediately Tuning 5.9.2
ence)
Mode Switch (speed refer-
Pn10D 2
ence)
0 to 10000 1 min-1 0 Immediately Tuning 5.9.2

Pn10E 2 Mode Switch (acceleration) 0 to 30000 1 min-1/ 0 Immediately Tuning 5.9.2

s
1
Pn10F 2 Mode Switch (position error) 0 to 10000 refer- 0 Immediately Tuning 5.9.2
ence unit
Position Integral Time Con-
Pn11F 2 0 to 50000 0.1 ms 0 Immediately Tuning 5.9.4
stant
Pn121 2 Friction Compensation Gain 10 to 1000 1% 100 Immediately Tuning 5.8.2
2nd Gain for Friction Com-
Pn122 2 10 to 1000 1% 100 Immediately Tuning 5.8.2
pensation
Friction Compensation Coef-
Pn123 2 0 to 100 1% 0 Immediately Tuning 5.8.2
ficient
Friction Compensation Fre- -10000 to
Pn124 2 0.1 Hz 0 Immediately Tuning 5.8.2
quency Correction 10000
Friction Compensation Gain
Pn125 2 1 to 1000 1% 100 Immediately Tuning 5.8.2
Correction
Pn131 2 Gain Switching Time 1 0 to 65535 1 ms 0 Immediately Tuning 5.8.1
Pn132 2 Gain Switching Time 2 0 to 65535 1 ms 0 Immediately Tuning 5.8.1
Gain Switching
Pn135 2 0 to 65535 1 ms 0 Immediately Tuning 5.8.1
Waiting Time 1
Gain Switching
Pn136 2 0 to 65535 1 ms 0 Immediately Tuning 5.8.1
Waiting Time 2

9-8
 9.1 List of Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
Automatic Gain Changeover
2 0000 to 0052 − 0000 Immediately Tuning 5.8.1
Related Switch 1
4th 3rd 2nd 1st
digit digit digit digit
n.
Gain Switching Selection Switch
0 Manual gain switching
Changes gain manually using G-SEL of OPTION field.
1 Reserved (Do not change.)
2 Automatic gain switching pattern 1
Changes automatically 1st gain to 2nd gain when the switching condition A is satisfied.
Changes automatically 2nd gain to 1st gain when the switching condition A is not satisfied.
Pn139
Gain Switching Condition A
0 Positioning completion signal (/COIN) ON
1 Positioning completion signal (/COIN) OFF
2 Positioning near signal (/NEAR) ON
3 Positioning near signal (/NEAR) OFF
4 Position reference filter output = 0 and position reference input OFF
5 Position reference input ON

Reserved (Do not change.)

Reserved (Do not change.)

Pn13D 2 Current Gain Level 100 to 2000 1% 2000 Immediately Tuning 5.8.4
Model Following Control
2 0000 to 1121 − 0100 Immediately Tuning −
Related Switch
4th 3rd 2nd 1st
digit digit digit digit
n.
Model Following Control Selection
0 Does not use model following control.
1 Uses model following control.

Vibration Suppression Selection

0 Does not perform vibration suppression.
Pn140 1 Performs vibration suppression over the specified frequency.
2 Performs vibration suppression over two different kinds of frequencies.

Reference
Vibration Suppression Adjustment Selection Section
0 Does not adjust vibration suppression automatically using utility function. 5.3.1, 5.4.1,
1 Adjusts vibration suppression automatically using utility function. 5.5.1, 5.7.1

Reference
Selection of Speed Feedforward (VFF) / Torque Feedforward (TFF) Section
0 Does not use model following control and speed/torque feedforward together.
5.3.1, 5.4.1
1 Uses model following control and speed/torque feedforward together.
Appendix

Model Following Control

Pn141 2 10 to 20000 0.1/s 500 Immediately Tuning −
Gain
Model Following Control
Pn142 2 500 to 2000 0.1% 1000 Immediately Tuning −
Gain Compensation
9

9-9
 9 Appendix
9.1.2 Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
Model Following Control
Pn143 2 Bias 0 to 10000 0.1% 1000 Immediately Tuning −
(Forward Direction)
Model Following Control
Pn144 2 Bias 0 to 10000 0.1% 1000 Immediately Tuning −
(Reverse Direction)
Vibration Suppression 1 Fre-
Pn145 2 10 to 2500 0.1 Hz 500 Immediately Tuning −
quency A
Vibration Suppression 1 Fre-
Pn146 2 10 to 2500 0.1 Hz 700 Immediately Tuning −
quency B
Model Following Control
Pn147 2 Speed Feedforward Com- 0 to 10000 0.1% 1000 Immediately Tuning −
pensation
2nd Model Following Con-
Pn148 2 10 to 20000 0.1/s 500 Immediately Tuning −
trol Gain
2nd Model Following Con-
Pn149 2 500 to 2000 0.1% 1000 Immediately Tuning −
trol Gain Compensation
Vibration Suppression 2 Fre-
Pn14A 2 10 to 2000 0.1 Hz 800 Immediately Tuning −
quency
Vibration Suppression 2
Pn14B 2 10 to 1000 1% 100 Immediately Tuning −
Compensation
2 Control Related Switch 0000 to 0011 － 0011 After restart Tuning –

4th 3rd 2nd 1st

digit digit digit digit
n.
Reference
Model Following Control Type Selection Section

0 Model Following Control 1 5.3.1,

5.4.1,
1 Model Following Control 2 5.5.1
Pn14F
Reference
Tuning-less Type Selection Section
0 Tuning-less type 1
5.2.2
1 Tuning-less type 2

Reserved (Do not change.)

Reserved (Do not change.)

9-10
 9.1 List of Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
Anti-Resonance Control 5.3.1, 5.4.1,
2 0000 to 0011 − 0010 Immediately Tuning
Related Switch 5.5.1, 5.7.1
4th 3rd 2nd 1st
digit digit digit digit
n.
Anti-Resonance Control Selection
0 Does not use anti-resonance control.
1 Uses anti-resonance control.
Pn160
Anti-Resonance Control Adjustment Selection
0 Does not adjust anti-resonance control automatically using utility function.
1 Adjusts anti-resonance control automatically using utility function.

Reserved (Do not change.)

Reserved (Do not change.)

Pn161 2 Anti-Resonance Frequency 10 to 20000 0.1 Hz 1000 Immediately Tuning −

Anti-Resonance Gain Com-
Pn162 2 1 to 1000 1% 100 Immediately Tuning −
pensation
Anti-Resonance Damping
Pn163 2 0 to 300 1% 0 Immediately Tuning −
Gain
Anti-Resonance Filter Time -1000 to
Pn164 2 0.01 ms 0 Immediately Tuning −
Constant 1 Compensation 1000
Anti-Resonance Filter Time -1000 to
Pn165 2 0.01 ms 0 Immediately Tuning −
Constant 2 Compensation 1000
Tuning-less Function
2 0000 to 2411 − 1401 − – –
Related Switch
4th 3rd 2nd 1st
digit digit digit digit
n.
When Reference
Tuning-less Function Selection Classification
Section
Enabled
0 Disables tuning-less function.
After restart Setup 5.2
1 Enables tuning-less function.

When Reference
Control Method during Speed Control Classification
Pn170 Enabled Section
0 Uses as speed control.
Uses as speed control and uses the host controller for After restart Setup 5.2
1
position control.

When Reference
Tuning-less Tuning Level Classification
Section
Enabled
0 to 4 Sets tuning-less tuning level. Immediately Setup 5.2

When Reference
Tuning-less Load Level Classification
Section
Enabled
0 to 2 Sets tuning-less load level. Immediately Setup 5.2
Appendix

Pn205 2 Multiturn Limit Setting 0 to 65535 1 rev 65535 After restart Setup 4.7.5

9-11
 9 Appendix
9.1.2 Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
Position Control Function
2 0000 to 2210 − 0010 After restart Setup −
Switch
4th 3rd 2nd 1st
digit digit digit digit
n.
Reserved (Do not change.)

Reserved (Do not change.)

Pn207 Reserved (Do not change.)

Reference
/COIN Output Timing Section
0 Outputs when the position error absolute value is the same or less than the position-
ing completed width (Pn522).
1 Outputs when the position error absolute value is the same or less than the position-
MECHA 4.8.6
ing completed width (Pn522), and the reference after position reference filtering is 0.
2 Outputs when the position error absolute value is the same or less than the position-
ing completed width (Pn522), and the position reference input is 0.

Pn20A 4 Reserved (Do not change.) − − 32768 − − −

Electronic Gear Ratio 1 to
Pn20E 4 1 4 After restart Setup 4.4.3
(Numerator) 1073741824
Electronic Gear Ratio 1 to
Pn210 4 1 1 After restart Setup 4.4.3
(Denominator) 1073741824
Pn22A 2 Reserved (Do not change.) − − 0000 − − −
Position Control Expanded
2 0000 to 0001 – 0000 After reset Setup 5.8.6
Function Switch
4th 3rd 2nd 1st
digit digit digit digit
n.
Backlash Compensation Direction
0 Compensates with a reference in the forward direction.
Pn230
1 Compensates with a reference in the reverse direction.

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

0.1
Backlash Compensation -50000 to
Pn231 4 refer- 0 Immediately Setup 5.8.6
Value 50000
ence unit
Backlash Compensation
Pn233 2 0 to 65536 0.01 ms 0 Immediately Setup 5.8.6
Time Constant
Pn281 2 Reserved (Do not change.) − − 20 − − −
Pn304 2 JOG Speed 0 to 10000 1 min-1 500 Immediately Setup 6.3
Pn305 2 Soft Start Acceleration Time 0 to 10000 1 ms 0 Immediately Setup *1

Pn306 2 Soft Start Deceleration Time 0 to 10000 1 ms 0 Immediately Setup *1

∗1. For details, refer to Σ-V Series User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).

9-12
 9.1 List of Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
2 Vibration Detection Switch 0000 to 0002 − 0000 Immediately Setup −
4th 3rd 2nd 1st
digit digit digit digit
n.
Reference
Vibration Detection Selection Section
0 Does not detect vibration.
Pn310 1 Outputs warning (A.911) when vibration is detected. 6.15
2 Outputs alarm (A.520) when vibration is detected.

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

Vibration Detection
Pn311 2 50 to 500 1% 100 Immediately Tuning 6.15
Sensibility
Pn312 2 Vibration Detection Level 0 to 5000 1 min-1 50 Immediately Tuning 6.15
Moment of Inertia Calculat-
Pn324 2 0 to 20000 1% 300 Immediately Setup 5.3.2
ing Start Level
Torque Reference Filter
Pn401 2 0 to 65535 0.01 ms 100 Immediately Tuning 5.9.3
Time Constant
Pn402 2 Forward Torque Limit 0 to 800 1% 800 Immediately Setup 4.6.1

Pn403 2 Reverse Torque Limit 0 to 800 1% 800 Immediately Setup 4.6.1

Forward External Torque
Pn404 2 0 to 800 1% 100 Immediately Setup 4.6.2
Limit
Reverse External Torque
Pn405 2 0 to 800 1% 100 Immediately Setup 4.6.2
Limit
Pn406 2 Emergency Stop Torque 0 to 800 1% 800 Immediately Setup 4.3.2
Speed Limit during Torque
Pn407 2
Control
0 to 10000 1 min-1 10000 Immediately Setup 4.8.8

Appendix

9-13
 9 Appendix
9.1.2 Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
Torque Related Function
2 0000 to 1111 − 0000 − − −
Switch
4th 3rd 2nd 1st
digit digit digit digit
n.
When Reference
1st Step Notch Filter Selection Classification
Section
Enabled
0 N/A
Immediately Setup 5.9.3
1 Uses 1st step notch filter for torque reference.

When Reference
Speed Limit Selection Classification
Section
Enabled
0 Uses the smaller of the maximum motor speed and
Pn408 the value of Pn407 as the speed limit value.
After restart Setup 4.8.8
1 Uses the smaller of the overspeed detection speed
and the value of Pn407 as the speed limit value.

When Reference
2nd Step Notch Filter Selection Classification
Section
Enabled
0 N/A
Immediately Setup 5.9.3
1 Uses 2nd step notch filter for torque reference.

When Reference
Friction Compensation Function Selection Classification
Section
Enabled
0 Disables friction compensation function.
Immediately Setup 5.8.2
1 Enables friction compensation function.

Pn409 2 1st Notch Filter Frequency 50 to 5000 1 Hz 5000 Immediately Tuning 5.9.3
Pn40A 2 1st Notch Filter Q Value 50 to 1000 0.01 70 Immediately Tuning 5.9.3
Pn40B 2 1st Notch Filter Depth 0 to 1000 0.001 0 Immediately Tuning 5.9.3
Pn40C 2 2nd Notch Filter Frequency 50 to 5000 1 Hz 5000 Immediately Tuning 5.9.3
Pn40D 2 2nd Notch Filter Q Value 50 to 1000 0.01 70 Immediately Tuning 5.9.3
Pn40E 2 2nd Notch Filter Depth 0 to 1000 0.001 0 Immediately Tuning 5.9.3
2nd Step 2nd Torque Refer-
Pn40F 2 100 to 5000 1 Hz 5000 Immediately Tuning 5.9.3
ence Filter Frequency
2nd Step 2nd Torque Refer-
Pn410 2 50 to 100 0.01 50 Immediately Tuning 5.9.3
ence Filter Q Value
1st Step 2nd Torque Refer-
Pn412 2 0 to 65535 0.01 ms 100 Immediately Tuning 5.8.1
ence Filter Time Constant
Pn424 2 Reserved (Do not change.) − − 50 − − −
Pn425 2 Reserved (Do not change.) − − 100 − − −
Sweep Torque Reference
Pn456 2 1 to 800 1% 15 Immediately Tuning 6.18
Amplitude

9-14
 9.1 List of Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
5.2.1,
Notch Filter Adjustment
2 0000 to 0101 − 0101 Immediately Tuning 5.3.1,
Switch
5.5.1
4th 3rd 2nd 1st
digit digit digit digit
n.
Notch Filter Adjustment Selection 1
0 Does not adjust 1st step notch filter automatically using utility function.
Pn460 1 Adjust 1st step notch filter automatically using utility function.

Reserved (Do not change.)

Notch Filter Adjustment Selection 2

0 Does not adjust 2nd step notch filter automatically using utility function.
1 Adjust 2nd step notch filter automatically using utility function.

Reserved (Do not change.)

Pn501 2 Zero Clamp Level 0 to 10000 1 min-1 10 Immediately Setup −

Pn502 2 Rotation Detection Level 1 to 10000 1 min-1 20 Immediately Setup 4.8.3
Speed Coincidence Signal
Pn503 2
Output Width
0 to 100 1 min-1 10 Immediately Setup 4.8.5

Brake Reference - Servo

Pn506 2 0 to 50 10 ms 0 Immediately Setup 4.3.4
OFF Delay Time
Brake Reference Output
Pn507 2
Speed Level
0 to 10000 1 min-1 100 Immediately Setup 4.3.4

Waiting Time for Brake Sig-

Pn508 2 10 to 100 10 ms 50 Immediately Setup 4.3.4
nal When Motor Running
Pn509 2 Reserved (Do not change.) − − 20 − − −
2 Input Signal Selection 1 0000 to FFF1 − 1881 After restart Setup −

4th 3rd 2nd 1st

digit digit digit digit
n.
Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

Pn50A Reference
P-OT Signal Mapping (Forward run prohibited when OFF (H-level)) Section
0 Forward run allowed when CN1-7 input signal is ON (L-level).
1 Forward run allowed when CN1-3 input signal is ON (L-level).
2 to 6 Forward run allowed when CN1-8 input signal is ON (L-level).
7 Forward run prohibited.
4.3.2
8 Forward run allowed.
9 Forward run allowed when CN1-7 input signal is OFF (H-level).
Appendix

A Forward run allowed when CN1-3 input signal is OFF (H-level).

B to F Forward run allowed when CN1-8 input signal is OFF (H-level).

9-15
 9 Appendix
9.1.2 Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
2 Input Signal Selection 2 0000 to FFFF − 8882 After restart Setup –

4th 3rd 2nd 1st

digit digit digit digit
n.
Reference
N-OT Signal Mapping (Reverse run prohibited when OFF (H-level)) Section
0 Reverse run allowed when CN1-7 input signal is ON (L-level).
1 Reverse run allowed when CN1-3 input signal is ON (L-level).
2 to 6 Reverse run allowed when CN1-8 input signal is ON (L-level).
7 Forward run prohibited.
4.3.2
8 Forward run allowed.
9 Reverse run allowed when CN1-7 input signal is OFF (H-level).
A Reverse run allowed when CN1-3 input signal is OFF (H-level).
B to F Reverse run allowed when CN1-8 input signal is OFF (H-level).

Pn50B Reserved (Do not change.)

Reference
/P-CL Signal Mapping (Torque Limit when ON (L-level)) Section
0 ON when CN1-7 input signal is ON (L-level)
1 ON when CN1-3 input signal is ON (L-level)
2 to 6 ON when CN1-8 input signal is ON (L-level)
7 Always active (fixed).
4.6.2
8 Not active (fixed).
9 OFF when CN1-7 input signal is OFF (H-level)
A OFF when CN1-3 input signal is OFF (H-level)
B to F OFF when CN1-8 input signal is OFF (H-level)

Reference
/N-CL Signal Mapping (Torque Limit when ON (L-level)) Section
0 to F Same as /P-CL signal mapping 4.6.2

2 Output Signal Selection 1 0000 to 3333 − 0000 After restart Setup −

4th 3rd 2nd 1st
digit digit digit digit
n.
Reference
Positioning Completion Signal Mapping (/COIN) Section
0 Disabled (the above signal is not used.)
1 Outputs the signal from CN1-11 output terminal.
4.8.6
2 Outputs the signal from CN1-10 output terminal.
3 Outputs the signal from CN1-9 output terminal.

Pn50E
Reference
Speed Coincidence Detection Signal Mapping (/V-CMP) Section
0 to 3 Same as /COIN Signal Mapping. 4.8.5

Reference
Servomotor Rotation Detection Signal Mapping (/TGON) Section
0 to 3 Same as /COIN Signal Mapping. 4.8.3

Reference
Servo Ready Signal Mapping (/S-RDY) Section
0 to 3 Same as /COIN Signal Mapping. 4.8.4

9-16
 9.1 List of Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
2 Output Signal Selection 2 0000 to 3333 − 0100 After restart Setup −
4th 3rd 2nd 1st
digit digit digit digit
n.
Reference
Torque Limit Detection Signal Mapping (/CLT) Section
0 Disabled (the above signal is not used.)
1 Outputs the signal from CN1-11 output terminal.
4.6.3
2 Outputs the signal from CN1-10 output terminal.
3 Outputs the signal from CN1-9 output terminal.

Pn50F
Reference
Speed Limit Detection Signal Mapping (/VLT) Section
0 to 3 Same as /CLT Signal Mapping. 4.8.8

Reference
Brake Signal Mapping (/BK) Section
0 to 3 Same as /CLT Signal Mapping. 4.3.4

Reference
Warning Signal Mapping (/WARN) Section
0 to 3 Same as /CLT Signal Mapping. 4.8.2

2 Output Signal Selection 3 0000 to 0333 − 0000 After restart Setup −

4th 3rd 2nd 1st
digit digit digit digit
n.
Reference
Near Signal Mapping (/NEAR) Section
0 Disabled (the above signal is not used.)
1 Outputs the signal from CN1-11 terminal.
Pn510 4.8.7
2 Outputs the signal from CN1-10 terminal.
3 Outputs the signal from CN1-9 terminal.

Reserved (Do not change.)

Reserved (Do not change.)

MECHA
Reserved (Do not change.)
Appendix

9-17
 9 Appendix
9.1.2 Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
2 Input Signal Selection 5 0000 to FFFF − 6580 After restart Setup 3.3.1
4th 3rd 2nd 1st
digit digit digit digit
n.
Homing Deceleration Switch Signal Mapping (/DEC)
0 Inputs the signal from CN1-7 input terminal.
1 Inputs the signal from CN1-3 input terminal.
2 to 6 Inputs the signal from CN1-8 input terminal.
7 Always active (fixed).
8 Not active (fixed).
9 Inputs the reversal signal from CN1-7 input terminal.
Pn511 A Inputs the reversal signal from CN1-3 input terminal.
B to F Inputs the reversal signal from CN1-8 input terminal.

External Latch Signal Mapping (/EXT1)

0 to 6 Inputs the reversal signal from CN1-7 input terminal.
7 Always active (fixed).
8 Not active (fixed).
9 to F Inputs the signal from CN1-7 input terminal.

Reserved (Do not change.)

Reserved (Do not change.)

Output Signal Inverse Set-

2 0000 to 0111 − 0000 After restart Setup 3.3.2
ting
4th 3rd 2nd 1st
digit digit digit digit
n.
Output Signal Inversion for CN1-11 Terminal
0 Does not inverse outputs.
1 Inverses outputs.

Pn512 Output Signal Inversion for CN1-10 Terminal

0 Does not inverse outputs.
1 Inverses outputs.

Output Signal Inversion for CN1-9 Terminal

0 Does not inverse outputs.
1 Inverses outputs.

Reserved (Do not change.)

Pn517 2 Reserved (Do not change.) – – 0000 – – –

Pn51B 4 Reserved (Do not change.) – – 1000 – – –
Excessive Position Error
Pn51E 2 10 to 100 1% 100 Immediately Setup 8.2.1
Warning Level
1
Excessive Position Error 1 to 5.1.4,
Pn520 4 refer- 5242880 Immediately Setup
Alarm Level 1073741823 8.1.1
ence unit
1
Positioning Completed 0 to
Pn522 4 refer- 7 Immediately Setup 4.8.6
Width 1073741824
ence unit

9-18
 9.1 List of Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
1
1 to
Pn524 4 NEAR Signal Width refer- 1073741824 Immediately Setup 4.8.7
1073741824
ence unit
1
Excessive Position Error 1 to
Pn526 4 refer- 5242880 Immediately Setup 5.1.4
Alarm Level at Servo ON 1073741823
ence unit
Excessive Position Error
Pn528 2 10 to 100 1% 100 Immediately Setup 5.1.4
Warning Level at Servo ON
Speed Limit Level at Servo
Pn529 2
ON
0 to 10000 1 min-1 10000 Immediately Setup 5.1.4

Pn52A 2 Reserved (Do not change.) – – 20 – – –

Pn52B 2 Overload Warning Level 1 to 100 1% 20 Immediately Setup 4.3.6
Derating of Base Current at
Pn52C 2 10 to 100 1% 100 After restart Setup 4.3.6
Detecting Overload of Motor
Pn52F 2 Reserved (Do not change.) – − 0FFF – – –
Program JOG Operation
2 0000 to 0005 − 0000 Immediately Setup 6.5
Related Switch
4th 3rd 2nd 1st
digit digit digit digit
n.
Program JOG Operation Switch
0 (Waiting time Pn535 → Forward movement Pn531) × Number of movements Pn536
1 (Waiting time Pn535 → Reverse movement Pn531) × Number of movements Pn536
2 (Waiting time Pn535 → Forward movement Pn531) × Number of movements Pn536
(Waiting time Pn535 → Reverse movement Pn531) × Number of movements Pn536
3 (Waiting time Pn535 → Reverse movement Pn531) × Number of movements Pn536
Pn530
(Waiting time Pn535 → Forward movement Pn531) × Number of movements Pn536
4 (Waiting time Pn535 → Forward movement Pn531 → Waiting time Pn535 →
Reverse movement Pn531) × Number of movements Pn536
5 (Waiting time Pn535 → Reverse movement Pn531 → Waiting time Pn535 →
Forward movement Pn531) × Number of movements Pn536

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

1
Program JOG Movement 1 to
Pn531 4 refer- 32768 Immediately Setup 6.5
Distance 1073741824
ence unit
Program JOG Movement
Pn533 2
Speed
1 to 10000 1 min-1 500 Immediately Setup 6.5

Program JOG Acceleration/

Pn534 2 2 to 10000 1 ms 100 Immediately Setup 6.5
Deceleration Time
Pn535 2 Program JOG Waiting Time 0 to 10000 1 ms 100 Immediately Setup 6.5
Number of Times of Pro-
Pn536 2 0 to 1000 1 time 1 Immediately Setup 6.5
gram JOG Movement
Appendix

Analog Monitor 1 Offset -10000 to

Pn550 2 0.1 V 0 Immediately Setup 5.1.3
Voltage 10000
Analog Monitor 2 Offset -10000 to
Pn551 2 0.1 V 0 Immediately Setup 5.1.3
Voltage 10000
Analog Monitor Magnifica- -10000 to 9
Pn552 2 ×0.01 100 Immediately Setup 5.1.3
tion (×1) 10000

9-19
 9 Appendix
9.1.2 Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
Analog Monitor Magnifica- -10000 to
Pn553 2 ×0.01 100 Immediately Setup 5.1.3
tion (×2) 10000
Remained Vibration Detec-
Pn560 2 1 to 3000 0.1% 400 Immediately Setup 5.7.1
tion Width
5.3.1,
Pn561 2 Overshoot Detection Level 0 to 100 1% 100 Immediately Setup
5.4.1
Pn600 2 Reserved (Do not change.) – – 0 – – –
Pn601 2 Reserved (Do not change.) – – 0 – – –
2 Communications Control – – 0040 Immediately Setup *1

4th 3rd 2nd 1st

digit digit digit digit
n.
MECHATROLINK-II Communications Check Mask (for debug)
0 No mask
1 Ignores MECHATROLINK communications error (A.E60).
2 Ignores WDT error (A.E50).
3 Ignores both MECHATROLINK communications error (A.E60) and WDT error (A.E50).

Warning Check Mask

0 No mask
Pn800
1 Ignores data setting warning (A.94 ).
2 Ignores command warning (A.95 ).
3 Ignores both data setting warning (A.94 ) and command warning (A.95 ).
4 Ignores communications warning (A.96 ).
5 Ignores both data setting warning (A.94 ) and communications warning (A.96 ).
6 Ignores both command warning (A.95 ) and communications warning (A.96 ).
7 Ignores data setting warning (A.94 ), command warning (A.95 ) and communications
warning (A.96 ).

Reserved (Do not change.)

Reserved (Do not change.)

∗1. For details, refer to Σ-V Series User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).

9-20
 9.1 List of Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
Application Function Select
2 6 – – 0003 Immediately Setup 4.3.3
(Software LS)
4th 3rd 2nd 1st
digit digit digit digit
n.
Software Limit Function
0 Enables forward and reverse software limit.
1 Disables forward software limit.
Pn801 2 Disables reverse software limit.
3 Disables software limit in both directions.

Reserved (Do not change.)

Software Limit for Reference

0 Disables software limit for reference.
1 Enables software limit for reference.

Reserved (Do not change.)

1
Pn803 2 Origin Range 0 to 250 reference 10 Immediately Setup *1
unit
-1073741823 1
Pn804 4 Forward Software Limit to reference 1073741823 Immediately Setup 4.3.3
1073741823 unit
-1073741823 1
Pn806 4 Reverse Software Limit to reference -1073741823 Immediately Setup 4.3.3
1073741823 unit
-1073741823 1 Immedi-
Absolute Encoder Origin
Pn808 4 to reference 0 Setup 4.7.7
Offset
1073741823 unit ately*2

10000
1st Linear Acceleration Con- Immedi-
Pn80A 2 1 to 65535 reference 100 Setup *1
stant ately*3
unit/s2
10000
2nd Linear Acceleration Immedi-
Pn80B 2 1 to 65535 reference 100 Setup *1
Constant ately*3
unit/s2
100 Immedi-
Acceleration Constant reference
Pn80C 2 0 to 65535 0 Setup *1
Switching Speed
unit/s ately*3

10000
1st Linear Deceleration Con- Immedi-
Pn80D 2 1 to 65535 reference 100 Setup *1
stant ately*3
unit/s2
10000
2nd Linear Deceleration Immedi-
Pn80E 2 1 to 65535 reference 100 Setup *1
Constant ately*3
unit/s2
100 Immedi-
Deceleration Constant
Appendix

Pn80F 2 0 to 65535 reference 0 Setup *1

Switching Speed
unit/s ately*3

∗1. For details, refer to Σ-V Series User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).
∗2. Available after the SENS_ON command is input.
∗3. Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during
operation. 9

9-21
 9 Appendix
9.1.2 Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
100 Immedi-
Exponential Function Accel-
Pn810 2 0 to 65535 reference 0 Setup *1
eration/Deceleration Bias
unit/s ately*4

Exponential Function Accel- Immedi-

Pn811 2 eration/Deceleration Time 0 to 5100 0.1 ms 0 Setup *1
Constant ately*4

Immedi-
Pn812 2 Movement Average Time 0 to 5100 0.1 ms 0 Setup *1
ately*4
-1073741823 1
Final Travel Distance for
Pn814 4 to reference 100 Immediately Setup *1
External Positioning
1073741823 unit
2 Homing Mode Setting – – 0000 Immediately Setup *1

4th 3rd 2nd 1st

digit digit digit digit
n.
Software Limit Function
0 Forward
Pn816 1 Reverse

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

100 Immedi-
Homing Approach Speed 1
Pn817*5 2 0 to 65535 reference 50 Setup *1
unit/s ately*3

100 Immedi-
Homing Approach Speed 2
Pn818*6 2 0 to 65535 reference 5 Setup *1
unit/s ately*3

-1073741823 1
Final Travel Distance for
Pn819 4 to reference 100 Immediately Setup *1
Homing
1073741823 unit
∗1. For details, refer to Σ-V Series User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).
∗3. Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during
operation.
∗4. The settings are updated only if the sending of the reference has been stopped (DEN is set to 1).
∗5. The set value of Pn842 is valid when the set value of Pn817 is 0. Software version 0023 or higher is required to use
Pn842.
∗6. The set value of Pn844 is valid when the set value of Pn818 is 0. Software version 0023 or higher is required to use
Pn844.

9-22
 9.1 List of Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
Input Signal Monitor Selec-
2 – – 0000 Immediately Setup *1
tion
4th 3rd 2nd 1st
digit digit digit digit
n.
IO12 Signal Mapping
0 No mapping
1 Monitors CN1-13 input terminal.
2 Monitors CN1-7 input terminal.
3 Monitors CN1-8 input terminal.
4 Monitors CN1-9 input terminal.
Pn81E 5 Monitors CN1-10 input terminal.
6 Monitors CN1-11 input terminal.
7 Monitors CN1-12 input terminal.

IO13 Signal Mapping

0 to 7 Same as IO2 signal mapping.

IO14 Signal Mapping

0 to 7 Same as IO2 signal mapping.

IO15 Signal Mapping

0 to 7 Same as IO2 signal mapping.

2 Command Data Allocation – – 0000 After restart Setup *1

4th 3rd 2nd 1st

digit digit digit digit
n.
Option Field Allocation
0 Disables OPTION bit allocation.
1 Enables OPTION bit allocation.
Pn81F
Software Limit Function
0 Disables allocation.
1 Enables allocation.

Reserved (Do not change.)

Reserved (Do not change.)

1
Forward Latching Allow- -2147483648
Pn820 4 reference 0 Immediately Setup *1
able Area to 2147483647
unit
1
Reverse Latching Allowable -2147483648
Pn822 4 reference 0 Immediately Setup *1
Area to 2147483647
unit
∗1. For details, refer to Σ-V Series User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).
Appendix

9-23
 9 Appendix
9.1.2 Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
Option Monitor 1 Selection – –
Motor rotating speed
0000H
[1000000H/overspeed detection position]
Speed reference
0001H
[1000000H/overspeed detection position]
0002H Torque [1000000H/max. torque]
0003H Position error (lower 32 bits) [reference unit]
0004H Position error (upper 32 bits) [reference unit]
0005H System reserved
0006H System reserved
Encoder count (lower 32 bits) [reference
000AH
unit]
Encoder count (upper 32 bits) [reference
000BH
unit]
000CH System reserved
000DH System reserved
0010H Un000: Motor rotating speed [min-1]
0011H Un001: Speed reference [min-1]
0012H Un002: Torque reference [%]
Un003: Rotational angle 1 (encoder pulses
Pn824 2 0013H 0000 Immediately Setup *1
from the phase-C origin: decimal display)
0014H Un004: Rotational angle 2 [deg]
0015H Un005: Input signal monitor
0016H Un006: Output signal monitor
0017H Un007: Input reference pulse speed [min-1]
0018H Un008: Position error [reference unit]
0019H Un009: Accumulated load ratio [%]
001AH System reserved
001BH System reserved
Un00C: Input reference pulse counter [refer-
001CH
ence unit]
Un00D: Feedback pulse counter [encoder
001DH
pulse]
001EH System reserved
001FH System reserved
0023H Primary multi-turn data [Rev]
0024H Primary incremental data [pulse]
0027H System reserved
Previous value of latched feedback position
0080H
(LPOS) [encoder pulse]
Option Monitor 2 Selection – – 0000 Immediately
Pn825 2 0000H Setup *1
to Same as Option Monitor 1 Selection.
0080H
∗1. For details, refer to Σ-V Series User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).

9-24
 9.1 List of Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
10000
Linear Deceleration Con- refer- Immedi-
Pn827 2 1 to 65535 ence 100 Setup *1
stant 1 for Stopping ately*3
unit/s2
SVOFF Waiting Time Immedi-
Pn829 2 (SVOFF at deceleration to 0 to 65535 10 ms 0 Setup *1
stop) ately*3

2 Option Field Allocation 1 0000 to 1E1E – 1813 After restart Setup *1

4th 3rd 2nd 1st

digit digit digit digit
n.
0 to E ACCFIL bit position

0 Disables ACCFIL bit allocation.

Pn82A
1 Enables ACCFIL bit allocation.

0 to E GSEL bit position

0 Disables GSEL bit allocation.

1 Enables GSEL bit allocation.

2 Option Field Allocation 2 0000 to 1F1F – 1D1C After restart Setup *1

4th 3rd 2nd 1st

digit digit digit digit
n.
0 to F V_PPI bit position

0 Disables V_PPI bit allocation.

Pn82B
1 Enables V_PPI bit allocation.

0 to F P_PI_CLR bit position

0 Disables P_PI_CLR bit allocation.

1 Enables P_PI_CLR bit allocation.

∗1. For details, refer to Σ-V Series User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).
∗3. Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during
operation.
Appendix

9-25
 9 Appendix
9.1.2 Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
2 Option Field Allocation 3 0000 to 1F1F – 1F1E After restart Setup *1

4th 3rd 2nd 1st

digit digit digit digit
n.
0 to F P_CL bit position

0 Disables P_CL bit allocation.

Pn82C
1 Enables P_CL bit allocation.

0 to F N_CL bit position

0 Disables N_CL bit allocation.

1 Enables N_CL bit allocation.

2 Option Field Allocation 4 0000 to 1F1C – 0000 After restart Setup *1

4th 3rd 2nd 1st

digit digit digit digit
n.
0 to C BANK_SEL1 bit position

0 Disables BANK_SEL1 bit allocation.

Pn82D
1 Enables BANK_SEL1 bit allocation.

0 to F LT_DISABLE bit position

0 Disables LT_DISABLE bit allocation.

1 Enables LT_DISABLE bit allocation.

2 Option Field Allocation 5 0000 to 1D1F – 0000 After restart Setup *1

4th 3rd 2nd 1st

digit digit digit digit
n.
Reserved (Do not change.)
Pn82E
Reserved (Do not change.)

0 to D OUT_SIGNAL bit position

0 Disables OUT_SIGNAL bit allocation.

1 Enables OUT_SIGNAL bit allocation.

∗1. For details, refer to Σ-V Series User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).

9-26
 9.1 List of Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
2 Motion Setting 0000 to 0001 – 0000 After restart Setup *1

4th 3rd 2nd 1st

digit digit digit digit
n.
Linear Accel/Decel Constant Selection
0 Uses Pn80A to Pn80F and Pn827. (Setting of Pn834 to Pn840 disabled)
Pn833 1 Uses Pn834 to Pn840. (Setting of Pn80A to Pn80F and Pn827 disabled)

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

10000
1st Linear Acceleration Con- 1 to reference Immediately
Pn834 4 100 Setup *1
stant 2 20971520 *3
unit/s2
10000
2nd Linear Acceleration 1 to Immediately
Pn836 4 reference 100 Setup *1
Constant 2 20971520 *3
unit/s
1
Acceleration Constant 0 to Immediately
Pn838 4 reference 0 Setup *1
Switching Speed 2 2097152000 *3
unit/s
10000
1st Linear Deceleration Con- 1 to reference Immediately
Pn83A 4 100 Setup *1
stant 2 20971520 *3
unit/s2
10000
2nd Linear Deceleration 1 to reference Immediately
Pn83C 4 100 Setup *1
Constant 2 20971520 *3
unit/s2
1
Deceleration Constant 0 to Immediately
Pn83E 4 reference 0 Setup *1
Switching Speed 2 2097152000 *3
unit/s
10000
Linear Deceleration 1 to reference Immediately
Pn840 4 100 Setup *1
Constant 2 for Stopping 20971520 *3
unit/s2
100
0 to Immediately
Pn842*5 4 Homing Approach Speed 12
20971520
reference 0
*3
Setup *1
unit/s
Pn850 2 Latch Sequence Number 0 to 8 – 0 Immediately Setup *1

Pn851 2 Continuous Latch Count 0 to 255 – 0 Immediately Setup *1

∗1. For details, refer to Σ-V Series User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).
∗3. Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during
operation.
∗5. The set value of Pn842 is valid when the set value of Pn817 is 0. Software version 0023 or higher is required to use
Pn842.
Appendix

9-27
 9 Appendix
9.1.2 Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
Latch Sequence Signal 1 to 4
2 0000 to 3333 – 0000 Immediately Setup *1
Setting
4th 3rd 2nd 1st
digit digit digit digit
n.
Latch sequence 1 signal selection.
0 Phase C
1 EXT1 signal
2 Reserved (Do not change.)
Pn852 3 Reserved (Do not change.)

Latch sequence 2 signal selection.

0 to 3 Same as latch sequence 1 signal selection.

Latch sequence 3 signal selection.

0 to 3 Same as latch sequence 1 signal selection.

Latch sequence 4 signal selection.

0 to 3 Same as latch sequence 1 signal selection.

Latch Sequence Signal 5 to 8

2 0000 to 3333 – 0000 Immediately Setup *1
Setting
4th 3rd 2nd 1st
digit digit digit digit
n.
Latch sequence 5 signal selection.
0 Phase C
1 EXT1 signal
2 Reserved (Do not change.)
Pn853 3 Reserved (Do not change.)

Latch sequence 6 signal selection.

0 to 3 Same as latch sequence 5 signal selection.

Latch sequence 7 signal selection.

0 to 3 Same as latch sequence 5 signal selection.

Latch sequence 8 signal selection.

0 to 3 Same as latch sequence 5 signal selection.

Station Address Monitor (for

Pn880 2 40 to 5FH – 0 Immediately Setup –
maintenance, read only)
Setting Transmission Byte
Pn881 2 Monitor [byte] 17, 32 – 0 Immediately Setup –
(for maintenance, read only)
Transmission Cycle Setting
Pn882 2 Monitor [0.25 μs] 0 to FFFFH – 0 Immediately Setup –
(for maintenance, read only)
Communications Cycle Set-
ting Monitor [x transmission
Pn883 2 0 to 32 – 0 Immediately Setup –
cycle]
(for maintenance, read only)
∗1. For details, refer to Σ-V Series User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).

9-28
 9.1 List of Parameters

(cont’d)
Parameter Setting Factory When Reference
Size Name Units Classification
No. Range Setting Enabled Section
MECHATROLINK Receive
Pn88A 2 Error Counter Monitor 0 to 65535 – 0 Immediately Setup –
(for maintenance, read only)
Command Data Monitor at
Pn890 to 0 to
4 Alarm/Warning Occurs – 0 Immediately Setup *1
Pn89E FFFFFFFFH
(for maintenance, read only)
Response Data Monitor at
Pn8A0 to 0 to
4 Alarm/Warning Occurs – 0 Immediately Setup *1
Pn8AE FFFFFFFFH
(for maintenance, read only)
Pn900 2 Parameter Bank Number 0 to 16 – 0 After restart Setup *1

Parameter Bank Member

Pn901 2 0 to 15 – 0 After restart Setup *1
Number
Pn902 to Parameter Bank Member 0000H to
2 – 0 After restart Setup *1
Pn910 Definition 08FFH
Parameter Bank Data (non-
Pn920 to 0000H to
2 volatile memory save dis- – 0 Immediately Setup *1
Pn95F FFFFH
abled)
∗1. For details, refer to Σ-V Series User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).

Appendix

9-29
 9 Appendix

9.2 List of Monitor Displays

The following list shows the available monitor displays.

Parameter
Description Unit
No.
Un000 Motor rotating speed min-1
Un001 Speed reference min-1
Un002 Internal torque reference (in percentage to the rated torque) %
Rotational angle 1 (encoder pulses from the phase-C origin:
Un003
decimal display) encoder pulse*

Un004 Rotational angle 2 (from polarity origin (electric angle)) deg

Un005 Input signal monitor −

Un006 Output signal monitor −

Un007 Input reference pulse speed (valid only in position control) min-1
Un008 Position error amount (valid only in position control) reference unit
Accumulated load ratio (in percentage to the rated torque:
Un009 %
effective torque in cycle of 10 seconds)
Un00C Input reference pulse counter reference unit
Un00D Feedback pulse counter encoder pulse*
Un012 Total operation time 100 ms
Un013 Feedback pulse counter reference unit
Un014 Effective gain monitor (gain settings 1 = 1, gain settings 2 = 2) −
Un020 Motor rated speed min-1
Un021 Motor maximum speed min-1
Un030 The current backlash compensation value 0.1 reference unit
Un031 Backlash compensation setting limit value 0.1 reference unit

∗ For details, refer to 4.4.3 Electronic Gear.

9-30
 9.3 Parameter Recording Table

9.3 Parameter Recording Table

Use the following table for recording parameters.

Note: Pn10B, Pn170, and Pn408 have two kinds of digits: the digit which does not need the restart after changing the set-
tings and the digit which needs the restart. The underlined digits of the factory setting in the following table show
the digit which needs the restart.

Factory When
Parameter Name
Setting Enabled
Pn000 0000 Basic Function Select Switch 0 After restart
Pn001 0102 Application Function Select Switch 1 After restart
Pn002 0000 Application Function Select Switch 2 After restart
Pn006 0002 Application Function Select Switch 6 Immediately
Pn007 0000 Application Function Select Switch 7 Immediately
Pn008 4000 Application Function Select Switch 8 After restart
Pn009 0010 Application Function Select Switch 9 After restart
Pn00B 0000 Application Function Select Switch B After restart
Pn00C 0000 Application Function Select Switch C After restart
Pn00D 0000 Application Function Select Switch D After restart
Pn100 400 Speed Loop Gain Immediately
Pn101 2000 Speed Loop Integral Time Constant Immediately
Pn102 400 Position Loop Gain Immediately
Pn103 100 Moment of Inertia Ratio Immediately
Pn104 400 2nd Speed Loop Gain Immediately
2nd Speed Loop Integral Time Con-
Pn105 2000 Immediately
stant
Pn106 400 2nd Position Loop Gain Immediately
Pn109 0 Feedforward Gain Immediately
Pn10A 0 Feedforward Filter Time Constant Immediately
Application Function for Gain Select
Pn10B 0000 −
Switch
Pn10C 200 Mode Switch (torque reference) Immediately
Pn10D 0 Mode Switch (speed reference) Immediately
Pn10E 0 Mode Switch (acceleration) Immediately
Pn10F 0 Mode Switch (position error) Immediately
Pn11F 0 Position Integral Time Constant Immediately
Pn121 100 Friction Compensation Gain Immediately
Pn122 100 2nd Gain for Friction Compensation Immediately
Pn123 0 Friction Compensation Coefficient Immediately
Friction Compensation Frequency
Pn124 0 Immediately
Correction
Friction Compensation Gain Correc-
Pn125 100 Immediately
tion
Pn131 0 Gain Switching Time 1 Immediately
Pn132 0 Gain Switching Time 2 Immediately
Appendix

Pn135 0 Gain Switching Waiting Time 1 Immediately

Pn136 0 Gain Switching Waiting Time 2 Immediately
Automatic Gain Changeover Related
Pn139 0000 Immediately
Switch 1
9
Pn13D 2000 Current Gain Level Immediately

9-31
 9 Appendix

(cont’d)
Factory When
Parameter Name
Setting Enabled
Model Following Control Related
Pn140 0100 Immediately
Switch
Pn141 500 Model Following Control Gain Immediately
Model Following Control Gain Com-
Pn142 1000 Immediately
pensation
Model Following Control Bias
Pn143 1000 Immediately
(Forward Direction)
Model Following Control Bias
Pn144 1000 Immediately
(Reverse Direction)
Pn145 500 Vibration Suppression 1 Frequency A Immediately
Pn146 700 Vibration Suppression 1 Frequency B Immediately
Model Following Control Speed
Pn147 1000 Immediately
Feedforward Compensation
Pn148 500 2nd Model Following Control Gain Immediately
2nd Model Following Control Gain
Pn149 1000 Immediately
Compensation
Pn14A 800 Vibration Suppression 2 Frequency Immediately
Vibration Suppression 2 Compensa-
Pn14B 100 Immediately
tion
Pn14F 0011 Control Related Switch After restart
Anti-Resonance Control Related
Pn160 0010 Immediately
Switch
Pn161 1000 Anti-Resonance Frequency Immediately
Pn162 100 Anti-Resonance Gain Compensation Immediately
Pn163 0 Anti-Resonance Damping Gain Immediately
Anti-Resonance Filter Time Con-
Pn164 0 Immediately
stant 1 Compensation
Anti-Resonance Filter Time Con-
Pn165 0 Immediately
stant 2 Compensation
Pn170 1401 Tuning-less Function Related Switch −
Pn205 65535 Multiturn Limit Setting After restart
Pn207 0010 Position Control Function Switch After restart
Pn20A 32768 Reserved −
Pn20E 4 Electronic Gear Ratio (Numerator) After restart
Pn210 1 Electronic Gear Ratio (Denominator) After restart
Pn22A 0000 Reserved −
Position Control Expanded Function
Pn230 0000 After reset
Switch
Pn231 0 Backlash Compensation Value Immediately
Backlash Compensation Time Con-
Pn233 0 Immediately
stant
Pn281 20 Reserved −
Pn304 500 JOG Speed Immediately
Pn305 0 Soft Start Acceleration Time Immediately
Pn306 0 Soft Start Deceleration Time Immediately
Pn310 0000 Vibration Detection Switch Immediately
Pn311 100 Vibration Detection Sensibility Immediately
Pn312 50 Vibration Detection Level Immediately

9-32
 9.3 Parameter Recording Table

(cont’d)
Factory When
Parameter Name
Setting Enabled
Moment of Inertia Calculating Start
Pn324 300 Immediately
Level
Torque Reference Filter Time Con-
Pn401 100 Immediately
stant
Pn402 800 Forward Torque Limit Immediately
Pn403 800 Reverse Torque Limit Immediately
Pn404 100 Forward External Torque Limit Immediately
Pn405 100 Reverse External Torque Limit Immediately
Pn406 800 Emergency Stop Torque Immediately
Pn407 10000 Speed Limit during Torque Control Immediately
Pn408 0000 Torque Related Function Switch −
Pn409 5000 1st Notch Filter Frequency Immediately
Pn40A 70 1st Notch Filter Q Value Immediately
Pn40B 0 1st Notch Filter Depth Immediately
Pn40C 5000 2nd Notch Filter Frequency Immediately
Pn40D 70 2nd Notch Filter Q Value Immediately
Pn40E 0 2nd Notch Filter Depth Immediately
2nd Step 2nd Torque Reference Filter
Pn40F 5000 Immediately
Frequency
2nd Step 2nd Torque Reference Filter
Pn410 50 Immediately
Q Value
1st Step 2nd Torque Reference Filter
Pn412 100 Immediately
Time Constant
Pn424 50 Reserved −
Pn425 100 Reserved −
Pn456 15 Sweep Torque Reference Amplitude Immediately
Pn460 0101 Notch Filter Adjustment Switch Immediately
Pn501 10 Zero Clamp Level Immediately
Pn502 20 Rotation Detection Level Immediately
Speed Coincidence Signal Output
Pn503 10 Immediately
Width
Brake Reference - Servo OFF Delay
Pn506 0 Immediately
Time
Pn507 100 Brake Reference Output Speed Level Immediately
Waiting Time for Brake Signal When
Pn508 50 Immediately
Motor Running
Pn509 20 Reserved −
Pn50A 1881 Input Signal Selection 1 After restart
Pn50B 8882 Input Signal Selection 2 After restart
Pn50E 0000 Output Signal Selection 1 After restart
Pn50F 0100 Output Signal Selection 2 After restart
Pn510 0000 Output Signal Selection 3 After restart
Appendix

Pn511 6580 Input Signal Selection 5 After restart

Pn512 0000 Output Signal Inverse Setting After restart
Pn517 0000 Reserved –
Pn51B 1000 Reserved −
Excessive Position Error Warning
9
Pn51E 100 Immediately
Level

9-33
 9 Appendix

(cont’d)
Factory When
Parameter Name
Setting Enabled
Excessive Position Error Alarm
Pn520 5242880 Immediately
Level
Pn522 7 Positioning Completed Width Immediately
Pn524 1073741824 NEAR Signal Width Immediately
Excessive Position Error Alarm
Pn526 5242880 Immediately
Level at Servo ON
Excessive Position Error Warning
Pn528 100 Immediately
Level at Servo ON
Pn529 10000 Speed Limit Level at Servo ON Immediately
Pn52A 20 Reserved −
Pn52B 20 Overload Warning Level Immediately
Derating of Base Current at Detecting
Pn52C 100 After restart
Overload of Motor
Pn52F 0FFF Reserved −
Program JOG Operation Related
Pn530 0000 Immediately
Switch
Pn531 32768 Program JOG Movement Distance Immediately
Pn533 500 Program JOG Movement Speed Immediately
Program JOG Acceleration/Decelera-
Pn534 100 Immediately
tion Time
Pn535 100 Program JOG Waiting Time Immediately
Number of Times of Program JOG
Pn536 1 Immediately
Movement
Pn550 0 Analog Monitor 1 Offset Voltage Immediately
Pn551 0 Analog Monitor 2 Offset Voltage Immediately
Pn552 100 Analog Monitor Magnification (×1) Immediately
Pn553 100 Analog Monitor Magnification (×2) Immediately
Pn560 400 Remained Vibration Detection Width Immediately
Pn561 100 Overshoot Detection Level Immediately
Pn600 0 Reserved –
Pn601 0 Reserved –
Pn800 0040 Communications Control Immediately
Application Function Select 6
Pn801 0003 Immediately
(Software LS)
Pn803 10 Origin Range Immediately
Pn804 1073741823 Forward Software Limit Immediately
Pn806 -1073741823 Reverse Software Limit Immediately
Immediately
Pn808 0 Absolute Encoder Origin Offset
∗1
Immediately
Pn80A 100 1st Linear Acceleration Constant
∗2
Immediately
Pn80B 100 2nd Linear Acceleration Constant
∗2
Acceleration Constant Switching Immediately
Pn80C 0
Speed ∗2
Immediately
Pn80D 100 1st Linear Deceleration Constant
∗2
∗1. Enabled after the SENS_ON command is input.
∗2. Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during
operation.

9-34
 9.3 Parameter Recording Table

(cont’d)
Factory When
Parameter Name
Setting Enabled
Immediately
Pn80E 100 2nd Linear Deceleration Constant
∗2
Deceleration Constant Switching Immediately
Pn80F 0
Speed ∗2
Exponential Function Acceleration/ Immediately
Pn810 0
Deceleration Bias ∗2
Exponential Function Acceleration/ Immediately
Pn811 0
Deceleration Time Constant ∗2
Immediately
Pn812 0 Movement Average Time
∗2
Final Travel Distance for External Immediately
Pn814 100
Positioning ∗2
Immediately
Pn816 0000 Homing Mode Setting
∗2
Homing Approach Speed 1 Immediately
Pn817 50
∗2
Homing Approach Speed 2 Immediately
Pn818 5
∗2
Immediately
Pn819 100 Final Travel Distance for Homing
∗2
Pn81E 0000 Input Signal Monitor Selection Immediately
Pn81F 0000 Command Data Allocation After restart
Pn820 0 Forward Latching Allowable Area Immediately
Pn822 0 Reverse Latching Allowable Area Immediately
Pn824 0000 Option Monitor 1 Selection Immediately
Pn825 0000 Option Monitor 2 Selection Immediately
Linear Deceleration Constant 1 for Immediately
Pn827 100
Stopping ∗2
SVOFF Waiting Time (SVOFF at
Pn829 0 Immediately
deceleration to stop)
Pn82A 1813 Option Field Allocation 1 After restart
Pn82B 1D1C Option Field Allocation 2 After restart
Pn82C 1F1E Option Field Allocation 3 After restart
Pn82D 0000 Option Field Allocation 4 After restart
Pn82E 0000 Option Field Allocation 5 After restart
Pn833 0000 Motion Setting After restart
Immediately
Pn834 100 1st Linear Acceleration Constant 2
∗2
Immediately
Pn836 100 2nd Linear Acceleration Constant 2
∗2
Acceleration Constant Switching Immediately
Pn838 0
Speed 2 ∗2
Immediately
Pn83A 100 1st Linear Deceleration Constant 2
∗2
Immediately
Appendix

Pn83C 100 2nd Linear Deceleration Constant 2

∗2
Deceleration Constant Switching Immediately
Pn83E 0
Speed 2 ∗2
∗2. Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during
operation. 9

9-35
 9 Appendix

(cont’d)
Factory When
Parameter Name
Setting Enabled
Linear Deceleration Constant 2 for Immediately
Pn840 100
Stopping ∗2
Immediately
Pn842 0 Homing Approach Speed 12
∗2
Pn850 0 Latch Sequence Number Immediately
Pn851 0 Continuous Latch Count Immediately
Pn852 0000 Latch Sequence Signal 1 to 4 Setting Immediately
Pn853 0000 Latch Sequence Signal 5 to 8 Setting Immediately
Station Address Monitor
Pn880 0 Immediately
(for maintenance, read only)
Setting Transmission Byte Monitor
Pn881 0 Immediately
[byte] (for maintenance, read only)
Transmission Cycle Setting Monitor
Pn882 0 [0.25 μs] Immediately
(for maintenance, read only)
Communications Cycle Setting
Pn883 0 Monitor [x transmission cycle] Immediately
(for maintenance, read only)
MECHATROLINK Receive Error
Pn88A 0 Counter Monitor Immediately
(for maintenance, read only)
Command Data Monitor at Alarm/
Pn890 to
0 Warning Occurs Immediately
Pn89E
(for maintenance, read only)
Response Data Monitor at Alarm/
Pn8A0 to
0 Warning Occurs Immediately
Pn8AE
(for maintenance, read only)
Pn900 0 Parameter Bank Number After restart
Pn901 0 Parameter Bank Member Number After restart
Pn902 to
0 Parameter Bank Member Definition After restart
Pn910
Pn920 to Parameter Bank Data (nonvolatile
0 Immediately
Pn95F memory save disabled)
∗2. Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during
operation.

9-36
 Index

Index clearing alarm history (Fn006) - - - - - - - - - - - - - - - - - - - - - - - 6-19

CN1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8
CN2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-23
CN3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
CN6A - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
Symbols CN6B - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
CN7 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
/BK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
coast to a stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7
/CLT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-27
/COIN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-43 communication protocol- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
compatible adjustment function - - - - - - - - - - - - - - - - - - - - - - - 5-84
/N-CL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26
connecting the measurement instrument - - - - - - - - - - - - - - - - - - 5-5
/NEAR- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-44
/P-CL- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26 connection to host controller (interface)
sequence input circuit - - - - - - - - - - - - - - - - - - - - - - - - - - 3-20
/S-RDY - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-41
sequence output circuit- - - - - - - - - - - - - - - - - - - - - - - - - - 3-21
/TGON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-41
/V-CMP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42 current control mode selection- - - - - - - - - - - - - - - - - - - - - - - - 5-77
current gain level setting - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-77
/VLT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-45
CW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
/WARN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40

A D
decelerate to stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7
absolute data request (SENS_ON) - - - - - - - - - - - - - - - - - - - - - 4-29
delay time in brake operation - - - - - - - - - - - - - - - - - - - - - - - - 4-10
absolute encoder battery alarm (A.830) - - - - - - - - - - - - - - - - - - 4-30
absolute encoder origin offset - - - - - - - - - - - - - - - - - - - - - - - - 4-39 DIP switch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
absolute encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28
display of SERVOPACK and servomotor ID (Fn01E) - - - - - - - - 6-35
connection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28
set up (initializing)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-32 E
additional adjustment function - - - - - - - - - - - - - - - - - - - - - - - - 5-71
EasyFFT (Fn206) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-41
advanced autotuning (Fn201)- - - - - - - - - - - - - - - - - - - - - - - - - 5-18
electronic gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-20
anti-resonance control adjustment function - - - - - - - - - - - - 5-31
electronic gear ratio - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-21
feedforward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-32
encoder signal (CN2) names and functions - - - - - - - - - - - - - - - 3-23
friction compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-32
european directives - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xiv
notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-31
examples of encoder connection - - - - - - - - - - - - - - - - - - - - - - 3-23
vibration suppression - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-31
external torque limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26
advanced autotuning by reference (Fn202)- - - - - - - - - - - - - - - - 5-34
anti-resonance control adjustment function - - - - - - - - - - - - 5-40 F
feedforward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-41 feedforward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-84
friction compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-41 feedforward compensation - - - - - - - - - - - - - - - - - - - - - - - - - - 5-84
notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-40 FG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8, 3-9
vibration suppression - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-41 forward external torque limit- - - - - - - - - - - - - - - - - - - - - - - - - 4-26
alarm history display (Fn000) - - - - - - - - - - - - - - - - - - - - - - - - - 6-3 friction compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-75
alarm reset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
alarm reset method- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40 G
ALM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40 gain adjustment of analog monitor output (Fn00D) - - - - - - - - - - 6-22
ambient/storage humidity - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 Gr.1 alarm - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15
anti-resonance control adjustment function (Fn204) - - - - - - - - - 5-54 Gr.2 alarm - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15
automatic gain switching - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-72 grounding - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-26
automatic offset-signal adjustment of the motor current detection G-SEL of OPTION field- - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-72
signal (Fn00E) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
automatically setting the notch filter - - - - - - - - - - - - - - - - - - - - 5-12 H
harmonized standards - - - - - - - - - - - - - - - - - - - - - - - - - - - xiv, 1-4
B holding brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
backlash compensation function- - - - - - - - - - - - - - - - - - - - - - - 5-78
battery I
battery case- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28 initializing parameter settings (Fn005) - - - - - - - - - - - - - - - - - - 6-16
battery replacement - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-30 input signal (CN1)
baud rate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6 allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
BB - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-6
brake signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12 names and functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8
internal block diagrams - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
C internal torque limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25
CCW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
CE- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xiv J
changing detection timing of overload (low load) alarm JOG operation (Fn002) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
(A.720) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-17
changing detection timing of overload warning (A.910) - - - - - - - 4-16 L
checking output torque limiting during operation - - - - - - - - - - - 4-27 LED (ALM) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

Index-1
 Index

LED (COM) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 S

LED (RDY) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
safety precautions on adjustment of servo gains - - - - - - - - - - - - - 5-8
limit switches - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
servo alarm output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40
limiting torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25
servo gains - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
list of alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
servo ready output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-41
list of monitor displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
servomotor model display (Fn011) - - - - - - - - - - - - - - - - - - - - - 6-30
list of warnings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-15
servomotor rotation direction- - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
M SERVOPACK
basic specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
main circuit terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
inspection and maintenance- - - - - - - - - - - - - - - - - - - - - - - 1-10
main circuit wires- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
main circuit wiring examples - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4 MECHATROLINK-II function specifications - - - - - - - - - - - 1-6
model designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
manual gain switching - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-72
part names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
manual offset-signal adjustment of the motor current detection
signal (Fn00F) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26 precautions when using more than one SERVOPACK - - - - - - 3-6
MECHATROLINK-II communications connector - - - - - - - - - - - - 1-2 ratings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
molded-case circuit breaker - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5 setting motor overload detection level - - - - - - - - - - - - - - - - - - - 4-16
monitor displays (Un ) - - - - - - - - - - - - - - - - - - - - - -7-2, 9-30 signal allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
monitor factor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7 soft start time setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
multiturn limit disagreement alarm (A.CC0)- - - - - - - - - - - - - - - 4-36 software limit settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
multiturn limit setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-35 software reset (Fn030) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-36
software version display (Fn012) - - - - - - - - - - - - - - - - - - - - - - 6-31
N speed coincidence signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42
noise filter- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-26 speed control range - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
N-OT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6 speed detection method selection - - - - - - - - - - - - - - - - - - - - - - 5-77
notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-89 speed regulation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
station address- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
O stopping method for servomotor after SV_OFF command is
offset adjustment of analog monitor output (Fn00C) - - - - - - - - - 6-20 received - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15
one-parameter tuning (Fn203) - - - - - - - - - - - - - - - - - - - - - - - - 5-43 stopping method for servomotor when an alarm occurs - - - - - - - - 8-2
anti-resonance control adjustment function- - - - - - - - - - - - - 5-50 storage temperature - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
feedforward- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-51 surrounding air temperature- - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
friction compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-50 SW1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-50 SW2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2, 4-3
one-parameter tuning example - - - - - - - - - - - - - - - - - - - - - - - - 5-52 switching condition A - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-72
online vibration monitor (Fn207) - - - - - - - - - - - - - - - - - - - - - - 6-45 switching gain settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-71
origin search (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
output signal (CN1)
T
allocations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-16 terminator- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-22
monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7 test without motor function - - - - - - - - - - - - - - - - - - - - - - - - - - 4-22
names and functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-8 torque control tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
overtravel (OT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6 torque reference filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-87
overtravel warning function - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8 transmission cycle - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
trial operation
P inspection and checking before trial operation - - - - - - - - - - 4-18
parameter trial operation via MECHATROLINK-II - - - - - - - - - - - - - - 4-19
classification - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5 troubleshooting
parameters for numeric settings - - - - - - - - - - - - - - - - - - iv, 2-5 alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5
parameters for selecting functions- - - - - - - - - - - - - - - - - iv, 2-5 warnings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16
tuning parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5 troubleshooting malfunction based on operation and conditions
of the servomotor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-20
parameter recording table - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-31
tuning parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3
tuning-less function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11
position integral - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-89
tuning-less level settings (Fn200) - - - - - - - - - - - - - - - - - - - - - - 5-12
positioning completed signal - - - - - - - - - - - - - - - - - - - - - - - - - 4-43
positioning near signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-44 U
P-OT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
UL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xiv
power supply capacities and power losses - - - - - - - - - - - - - - - - - 3-5 using the mode switch (P/PI switching) - - - - - - - - - - - - - - - - - - 5-85
precautions for wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7
utility functions (Fn ) - - - - - - - - - - - - - - - - - - - - - - - - 6-2, 9-2
precautions on connecting noise filter - - - - - - - - - - - - - - - - - - - 3-27
program JOG operation (Fn004) - - - - - - - - - - - - - - - - - - - - - - - - 6-9 V
protection class/pollution degree- - - - - - - - - - - - - - - - - - - - - - - - 1-4 vibration detection level initialization (Fn01B) - - - - - - - - - - - - - 6-32
vibration suppression function (Fn205) - - - - - - - - - - - - - - - - - - 5-64
R
vibration/shock resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
reference unit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-20 viewing monitor displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
reverse external torque limit- - - - - - - - - - - - - - - - - - - - - - - - - - 4-26
rotation detection output signal- - - - - - - - - - - - - - - - - - - - - - - - 4-41

Index-2
 Index

W
warning output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40
wiring examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4
wiring for noise control - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-25
wiring MECHATROLINK-II communications - - - - - - - - - - - - - 3-22
write prohibited setting (Fn010) - - - - - - - - - - - - - - - - - - - - - - - 6-28

Z
zero clamp mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7

Index-3
Revision History
The revision dates and numbers of the revised manuals are given on the bottom of the back cover.

MANUAL NO.‫ޓ‬SIEP S800000 82A

Published in Japan November 2011 11-11
M-II
Date of
publication Date of original
publication

Date of Rev. Section Revised Content

Publication No.
November 2011 – – First edition
AC Servo Drives
DC Power Input Σ -V Series
USER'S MANUAL
Design and Maintenance
Rotational Motor
MECHATROLINK-II Communications Reference

IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama 358-8555, Japan
Phone 81-4-2962-5151 Fax 81-4-2962-6138
YASKAWA AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone (800) YASKAWA (800-927-5292) or 1-847-887-7000 Fax 1-847-887-7310
YASKAWA ELETRICO DO BRASIL LTDA.
Avenida Fagundes Filho, 620 Sao Paulo-SP CEP 04304-000, Brazil
Phone 55-11-3585-1100 Fax 55-11-5581-8795
YASKAWA EUROPE GmbH
Hauptstraβe 185, Eschborn 65760, Germany
Phone 49-6196-569-300 Fax 49-6196-569-398
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom
Phone 44-1236-735000 Fax 44-1236-458182
YASKAWA ELECTRIC KOREA CORPORATION
7F, Doore Bldg. 24, Yeoido-dong, Yeoungdungpo-gu, Seoul 150-877, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
No.18 Xizang Zhong Road. 17F, Harbour Ring Plaza Shanghai 200001, China
Phone 86-21-5385-2200 Fax 86-21-5385-3299
YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE
Room 1011, Tower W3 Oriental Plaza, No.1 East Chang An Ave.,
Dong Cheng District, Beijing 100738, China
Phone 86-10-8518-4086 Fax 86-10-8518-4082
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16, Nanking E. Rd., Sec. 3, Taipei 104, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280

YASKAWA ELECTRIC CORPORATION

In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture
thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure
to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice for ongoing product modifications and improvements.
© 2011 YASKAWA ELECTRIC CORPORATION. All rights reserved.

MANUAL NO. SIEP S800000 82A

Published in Japan November 2011 11-11
10-10-4
Original instructions