Series: User'S Manual Design and Maintenance

AC Servo Drives
Σ -V Series
USER'S MANUAL
Design and Maintenance
Linear Motor
Analog Voltage and Pulse Train Reference
SGDV SERVOPACK
SGLGW/SGLFW/SGLTW/SGLCW/SGT Linear Servomotors
Outline 1
Panel Operator 2
Wiring and Connection 3
Trial Operation 4
Operation 5
Adjustments 6
Utility Functions (Fn) 7
Monitor Modes (Un) 8
Troubleshooting 9
Appendix 10
MANUAL NO. SIEP S800000 47C

Copyright © 2007 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 informations required for designing, and maintaining Σ-V Series SERVOPACKs.
Be sure to refer to this manual and perform design and maintenance to select devices correctly.
Keep this manual in a location where it can be accessed for reference whenever required.
Description of Technical Terms

The following table shows the meanings of terms used in this manual.
Term Meaning
Σ-V Series SGLGW, SGLFW, SGLTW, SGLCW or SGT linear servo-
Linear Servomotor
motor
SERVOPACK Σ-V Series SGDV SERVOPACK
A set including a servomotor and SERVOPACK (i.e., a servo ampli-
Servo Drive
fier)
A servo control system that includes the combination of a servo drive
Servo System
with a host controller and peripheral devices
Analog voltage and pulse-train reference used for SERVOPACK inter-
Analog Pulse Model
face
MECHATROLINK-II communications reference used for SERVO-
M-II Model
PACK interface
IMPORTANT Explanations
The following icon is displayed for explanations requiring special attention.
• Indicates important information that should be memorized, as well as precautions, such as

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

In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/)
before the signal name, as shown in the following example:
Example
S-ON = /S-ON
iii
Manuals Related to the 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
Σ-V Series
User's Manual
Setup 9 9
Linear Motor
(SIEP S800000 44)
Σ-V Series
Product Catalog 9 9
(KAEP S800000 42)
Σ-V Series
User’s Manual
Operation of Digital 9 9 9
Operator
(SIEP S800000 55)
Σ-V Series
AC SERVOPACK SGDV
9 9 9
Safety Precautions
(TOBP C710800 10)
Σ Series
Digital Operator
9
Safety Precautions
(TOBP C730800 00)
AC SERVOMOTOR
Safety Precautions 9 9
(TOBP C230200 00)
iv
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 as follows to indicate that grounding is
compulsory:
v
Safety Precautions
These safety precautions are very important. Read them before performing any procedures such as checking
products on delivery, storage and transportation, installation, wiring, operation and inspection, or disposal. Be
sure to always observe these precautions thoroughly.
WARNING
• If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of
the linear servomotor.
Failure to observe this warning may result in the malfunction of the medical device.
• Be sure to use nonmagnetic tools when installing or working close to the linear servomotor.
(Example: a beryllium-copper alloy hexagonal wrench set, made by NGK Insulators, Ltd.)
• Before starting operation with a machine connected, make sure that an emergency stop can be
applied at any time.
Failure to observe this warning may result in injury or damage to the product.
• Never touch the linear servomotor or machinery during operation.
Failure to observe this warning may result in injury.
• Before wiring, install the SERVOPACK and the linear servomotor.
Failure to observe this warning may result in electric shock.
• Never touch the inside of the SERVOPACKs.
• Do not remove the cover of the power supply terminal block while the power is ON.
• After the power is turned OFF or after a voltage resistance test, do not touch terminals while the
charge indicator is ON.
Residual voltage may cause electric shock.
• Follow the procedures and instructions provided in the user’s manual of the product for trial opera-
tion.
Failure to do so may result not only in faulty operation and damage to equipment, but also in personal injury.
• Do not remove the front cover, cables, connectors, or optional items from the upper front of the
SERVOPACK while the power is ON.
• Do not damage, press, exert excessive force on, or place heavy objects on the cables.
Failure to observe this warning may result in electric shock, stopping operation of the product, or fire.
• Do not modify the product.
Failure to observe this warning may result in injury, fire, or damage to the product.
• Provide an appropriate stopping device on the machine side to ensure safety. A holding brake for a
linear servomotor with brake is not a stopping device for ensuring safety.
• Do not come close to the machine immediately after resetting momentary power loss to avoid an
unexpected restart. Take appropriate measures to ensure safety against an unexpected restart.
• Connect the ground terminal according to local electrical codes (100 Ω or less for a SERVOPACK
with a 200 V power supply. 10 Ω or less for a SERVOPACK with a 400 V power supply.)
Improper grounding may result in electric shock or fire.
• Installation, disassembly, or repair must be performed only by authorized personnel.
Failure to observe this warning may result in electric shock or injury.
• The person who designs a system using the safety function (Hard Wire Baseblock function) must
have full knowledge of the related safety standards and full understanding of the instructions in this
manual.
vi
Storage and Transportation
CAUTION
• Be sure to store the magnetic way in the package that was used for delivery.
• Do not store or install the product in the following locations.
Failure to observe this caution may result in fire, electric shock, or damage to the product.
• Locations subject to direct sunlight
• Locations subject to temperatures outside the range specified in the storage/installation temperature 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 carry the linear servomotor by its cables.
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.
vii
Installation
CAUTION
• When unpacking and installing magnetic way, check that no metal fragments or magnetized objects
near the magnetic because they may be affected by the magnetic attraction of the magnetic way.
Failure to observe this caution may result in injury or damage to the magnetic way's magnets.
• Do not use the magnetic way near metal or other magnetized objects.
Failure to observe this caution may result in injury.
• Do not place clocks, magnetic cards, floppy disks, or measuring instruments close to the magnetic
way.
Failure to observe this caution may result in malfunction or damage to these items by the magnetic force.
• Securely mount the linear servomotor onto the machine.
If the linear servomotor is not mounted securely, it may loosen during operation.
• Do not carry the magnetic way by its magnet protection cover.
Failure to observe this caution may result in injury by the cover’s edge or the shape of the cover may become
distorted.
Cover
Magnetic way
• When removing the dummy plate for reducing magnetic force used for the SGLFM magnetic way,
pay attention to the magnetic attraction of the magnetic way. Do not place the removed plate close
to the magnetic way.
Failure to observe this caution may result in injury or damage to the magnetic way’s magnets or the magnet
protection cover.
• Install SERVOPACKs, linear servomotors, and regenerative resistors on nonflammable objects.
Installation directly onto or near flammable objects may result in fire.
• Never use the product in an environment subject to water, corrosive gases, inflammable gases, or
combustibles.
Failure to observe this caution may result in electric shock or fire.
• Do not step on or place a heavy object on the product.
• Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product.
Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.
• Be sure to install the product in the correct direction.
Failure to observe this caution may result in malfunction.
• Provide the specified clearances between the SERVOPACK and the 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
• Securely tighten the cable connector screws and securing mechanism.
If the connector screws and securing mechanism are not secure, they may loosen during operation.
• Use cables with a radius, heat resistance, and flexibility suitable for the system.
• If the SERVOPACK malfunctions, turn OFF the main circuit’s power supply of the SERVOPACK.
The continuous flow of a large current may cause fire.
• Use a noise filter to minimize the effects of electromagnetic damage.
Failure to observe this caution may result in electromagnetic damage to electronic devices used near the SER-
VOPACK.
• 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 power supply terminal screws and servomotor connection termi-
nal screws.
Failure to observe this caution may result in fire.
• Do not bundle or run the main circuit cables together with the I/O signal cables or the serial con-
verter unit connection cable in the same duct. Keep them separated by at least 30 cm.
Failure to do so may result in malfunction.
• Use shielded twisted-pair wires or multi-core shielded twisted-pair wires for I/O signal cables and
the serial converter unit connection cable.
• I/O signal cables must be no longer than 3 m, serial converter unit connection cable must be no
longer than 20 m.
• Do not touch the power terminals while the charge indicator is ON after turning power OFF because
high voltage may still remain in the SERVOPACK.
Make sure the charge indicator is off first before starting an inspection.
• Observe the following precautions when wiring main circuit terminals.
• Remove main circuit terminals from the SERVOPACK prior to wiring.
• Insert only one main power line per opening in the main circuit terminals.
• Make sure that no part of the core wire comes into contact with (i.e., short-circuit) adjacent wires.
• Do not turn ON the power to the SERVOPACK until all wiring has been completed, including the
main circuit terminals.
• Do not connect the SERVOPACK for 200 V directly to a voltage of 400 V.
The SERVOPACK will be destroyed.
• Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
• Always use the specified power supply voltage.
An incorrect voltage may result in burning.
• Make sure that the polarity is correct.
Incorrect polarity may cause ruptures or damage.
• Take appropriate measures to ensure that the input power supply is supplied within the specified
voltage fluctuation range. Be particularly careful in places where the power supply is unstable.
An incorrect power supply may result in damage to the product.
• Install external breakers or other safety devices against short-circuiting in external wiring.
Failure to observe this caution may result in fire.
• Take appropriate and sufficient countermeasures for each form of potential interference when
installing systems in the following locations.
Failure to observe this caution may result in damage to the product.
• 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
• Wiring or inspection must be performed by a technical expert.
• Use a 24 VDC power supply with double insulation or reinforced insulation.
ix
Operation
CAUTION
• Always use the linear servomotor and SERVOPACK in one of the specified combinations.
Failure to observe this caution may result in fire or malfunction.
• Do not stand within the machine's range of motion during operation.
• Before operation, install a limit switch or stopper on the end of the slider to prevent unexpected
movement.
• Before starting operation with a machine connected, change the settings to match the parameters
of the machine.
Starting operation without matching the proper settings may cause the machine to run out of control or mal-
function.
• Do not frequently turn power ON and OFF.
Since the SERVOPACK has a capacitor in the power supply, a high charging current (charging time 0.2 ms)
flows when power is turned ON. Frequently turning power ON and OFF causes main power devices like
capacitors and fuses to deteriorate, resulting in unexpected problems.
• When using JOG operations (Fn002), search operations (Fn003), or EasyFFT operations (Fn206),
the dynamic brake function does not work for reverse overtravel or forward overtravel. Take neces-
sary precautions.
• When using the linear servomotor on a vertical axis, install a safety device such as a counterbal-
ance so that the workpiece does not fall if an alarm or overtravel occurs.
The workpiece may fall during overtraveling.
• When not using turning-less function, set to the correct mass ratio (Pn103).
Setting an incorrect mass ratio may cause vibration.
• Do not touch the SERVOPACK heatsinks, regenerative resistor, or servomotor while power is ON or
soon after the power is turned OFF.
Failure to observe this caution may result in burns due to high temperatures.
• Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury or damage to the product due to unstable operation.
• If an alarm occurs, shut down the main circuit power supply.
Failure to observe this caution may result in fire due to regenerative resistor overheating caused by regenera-
tive transistor failure.
• When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume
operation.
Failure to observe this caution may result in damage to the product, fire, or injury.
• An alarm or warning may be generated if communications are executed with the host controller dur-
ing operation using SigmaWin+ or the digital operator.
If an alarm or warning is generated, the process currently being executed may be aborted and the system may
stop.
Maintenance and Inspection
CAUTION
• When replacing the SERVOPACK, resume operation only after copying the previous SERVOPACK
parameters to the new SERVOPACK.
• Do not attempt to change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
• Do not disassemble or repair the linear servomotor.
Failure to observe this caution may result in electric shock or injury.
x
Disposal
CAUTION
• When disposing of the products, treat them as ordinary industrial waste.
General Precautions
Observe the following general precautions

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

Warranty Period
The warranty period for a product that was purchased (hereafter 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 change 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
Applicable Standards
North American Safety Standards (UL)
Model UL∗ Standards

(UL File No.)
SERVOPACK • SGDV UL508C (E147823)
∗ Underwriters Laboratories Inc.
European Standards
Low Voltage EMC Directive Safety

Model
Directive EMI EMS Standards
EN55011/A2
EN50178 EN61800-3 EN954-1
SERVOPACK • SGDV group 1 class A
EN61800-5-1 EN61000-6-2 IEC61508-1 to 4
EN61800-3
Note: Because SERVOPACKs and servomotors are built into machines, certification is required after installation in the
final product.
xiv
Contents
About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi
Warranty. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv
Chapter 1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1

1.1 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 Speed/Position/Force Control Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1.4 SERVOPACK Internal Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1.4.1 Single-phase 100 V, SGDV-R70F05A, -R90F05A, -2R1F05A Models . . . . . . . . . . . . . . . 1-7
1.4.2 Single-phase 100 V, SGDV-2R8F05A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1.4.3 Three-phase 200 V, SGDV-R70A05A, -R90A05A, -1R6A05A Models . . . . . . . . . . . . . . . 1-8
1.4.4 Three-phase 200 V, SGDV-2R8A05A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
1.4.5 Three-phase 200 V, SGDV-3R8A05A, -5R5A05A, -7R6A05A Models . . . . . . . . . . . . . . . 1-9
1.4.6 Three-phase 200 V, SGDV-120A05A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
1.4.7 Three-phase 200 V, SGDV-180A05A, -200A05A Models . . . . . . . . . . . . . . . . . . . . . . . . 1-10
1.4.8 Three-phase 200 V, SGDV-330A05A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
1.4.9 Three-phase 200 V, SGDV-470A05A, -550A05A Models . . . . . . . . . . . . . . . . . . . . . . . . 1-11
1.4.10 Three-phase 200 V SGDV-590A05A, -780A05A Models . . . . . . . . . . . . . . . . . . . . . . . . 1-11
1.4.11 Three-phase 400 V, SGDV-1R9D05A, -3R5D05A, -5R4D05A Models . . . . . . . . . . . . . 1-12
1.4.12 Three-phase 400 V, SGDV-8R4D05A, -120D05A Models . . . . . . . . . . . . . . . . . . . . . . . 1-12
1.4.13 Three-phase 400 V, SGDV-170D05A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
1.4.14 Three-phase 400 V, SGDV-210D05A, -260D05A Models . . . . . . . . . . . . . . . . . . . . . . . 1-13
1.4.15 Three-phase 400 V SGDV-280D05A, -370D05A Models . . . . . . . . . . . . . . . . . . . . . . . 1-14
1.5 Examples of Servo System Configurations . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
1.5.1 Connecting to SGDV-F05A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
1.5.2 Connecting to SGDV-A05A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-16
1.5.3 Connecting to SGDV-D05A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17
1.6 SERVOPACK Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18
1.7 Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-19
Chapter 2 Panel Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1

2.1 Panel Operator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.2 Display Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.3 Status Display Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.4 Utility Function Mode (Fn ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.5 How to Read a Parameter Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.5.1 Explanation Method for Parameter Setting Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.5.2 Explanation Method for Function Selection Type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.5.3 Explanation Method for Tuning Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2.6 Parameter Setting Mode (Pn). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.6.1 Parameter Setting Mode for Parameter Setting Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2.6.2 Parameter Setting Mode for Function Selection Type . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
2.7 Monitor Mode (Un) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
xv
Chapter 3 Wiring and Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1
3.1 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3.1.1 Names and Functions of Main Circuit Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.1.2 SERVOPACK Main Circuit Wire Size. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.1.3 Typical Main Circuit Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.1.4 General Precautions for Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3.1.5 Precautions When Using the SERVOPACK with a DC Power Input . . . . . . . . . . . . . . . . 3-10
3.1.6 Precautions When Using the SERVOPACK with Single-phase, 200 V Power Input . . . . 3-12
3.1.7 Precautions When Using More Than One SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . 3-15
3.1.8 Designing a Power ON Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
3.2 I/O Signal Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
3.2.1 I/O Signal (CN1) Names and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
3.2.2 I/O Signal Connector (CN1) Terminal Layout. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
3.2.3 Safety Function Signal (CN8) Names and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
3.2.4 Safety Function Signal (CN8) Terminal Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
3.2.5 Example of I/O Signal Connections in Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21
3.2.6 Example of I/O Signal Connections in Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22
3.2.7 Example of I/O Signal Connections in Force Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.3 I/O Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
3.3.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
3.3.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28
3.4 Examples of Connection to Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . 3-32
3.4.1 Connection Examples of Reference Input Circuits to SERVOPACK . . . . . . . . . . . . . . . . 3-32
3.4.2 Connection Examples of Sequence Input Circuits to SERVOPACK . . . . . . . . . . . . . . . . 3-34
3.4.3 Connection Examples of Output Circuits to SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . 3-35
3.5 Examples of Linear Scale Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38
3.5.1 Connection Example of a Linear Scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38
3.5.2 CN2 Linear Scale Connector Terminal Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-39
3.6 Connecting Regenerative Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-40
3.6.1 Connecting Regenerative Resistors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-40
3.6.2 Setting Regenerative Resistor Capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-42
3.7 Noise Control and Measures for Harmonic Suppression . . . . . . . . . . . . . . . 3-43
3.7.1 Wiring for Noise Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-43
3.7.2 Precautions on Connecting Noise Filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-45
3.7.3 Connecting DC Reactor for Harmonic Suppression. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-47
Chapter 4 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1

4.1 Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2 Trial Operation for Linear Servomotor without Load. . . . . . . . . . . . . . . . . . . . 4-2
4.3 Trial Operation for Linear Servomotor without Load from Host Reference . . 4-2
4.4 Trial Operation with the Linear Servomotor Connected to the Machine. . . . . 4-3
4.5 Test Without Motor Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.5.1 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.5.2 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.5.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4.5.4 Operator Display during Testing without Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
Chapter 5 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1

5.1 Control Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5.2 Setting Common Basic Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.2.1 Servo ON Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.2.2 Servomotor Movement Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.2.3 Overtravel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5.2.4 Stopping Servomotors after /S_ON Turned OFF or Alarm Occurrence . . . . . . . . . . . . . . . 5-9
5.2.5 Power Loss Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
xvi
5.2.6 Motor Maximum Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.2.7 SEMI F47 Function
(Force Limit Function for Low Power Supply Voltage for Main Circuit) . . . . . . . . . . . . . . 5-12
5.2.8 Setting Motor Overload Detection Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15
5.3 Operating Using Speed Control with Analog Voltage Reference . . . . . . . . . 5-17
5.3.1 Basic Settings for Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
5.3.2 Reference Offset Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19
5.3.3 Soft Start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21
5.3.4 Speed Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22
5.3.5 Zero Clamp Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
5.3.6 Encoder Pulse Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
5.3.7 Encoder Pulse Output Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27
5.3.8 Speed Coincidence Signal Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
5.4 Operating Using Position Control with Pulse Train Reference. . . . . . . . . . . 5-29
5.4.1 Basic Settings for Position Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-29
5.4.2 Clear Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-34
5.4.3 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35
5.4.4 Smoothing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-37
5.4.5 Positioning Completed Output Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-38
5.4.6 Positioning Near Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-39
5.4.7 Reference Pulse Inhibit Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-40
5.5 Operating Using Force Control with Analog Voltage Reference . . . . . . . . . 5-42
5.5.1 Basic Settings for Force Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-42
5.5.2 Adjustment of Reference Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
5.5.3 Speed Limit in Force Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-45
5.6 Operating Using Speed Control with an Internally Set Speed . . . . . . . . . . . 5-48
5.6.1 Basic Settings for Speed Control with an Internally Set Speed . . . . . . . . . . . . . . . . . . . . 5-48
5.6.2 Example of Operating with Internally Set Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-50
5.7 Control Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-52
5.7.1 Combination of Control Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-52
5.7.2 Switching Internally Set Speed Control (Pn000.1 = 4, 5, or 6) . . . . . . . . . . . . . . . . . . . . . 5-52
5.7.3 Switching Other Than Internally Set Speed Control
(Pn000.1 = 7, 8, 9, A, or B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-53
5.8 Limiting Force . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-54
5.8.1 Internal Force Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-54
5.8.2 External Force Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-55
5.8.3 Force Limiting Using an Analog Voltage Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-56
5.8.4 Force Limiting Using an External Force Limit and Analog Voltage Reference. . . . . . . . . 5-57
5.8.5 Checking Output Force Limiting during Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-59
5.9 Setting Absolute Linear Scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-60
5.9.1 Setup Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-60
5.9.2 Setting the SEN Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-61
5.9.3 Designing a Power ON Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-62
5.9.4 Polarity Detection (Fn080) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-62
5.9.5 Origin Setting (Fn020) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63
5.9.6 Absolute Encoder Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-64
5.10 Output Signals Used in All Control Modes. . . . . . . . . . . . . . . . . . . . . . . . . 5-68
5.10.1 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals (ALO1, ALO2, and
ALO3). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-68
5.10.2 Warning Output Signal (/WARN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-69
5.10.3 Movement Detection Output Signal (/TGON). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-70
5.10.4 Servo Ready Output Signal (/S-RDY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-70
5.11 Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71
5.11.1 Hard Wire Base Block (HWBB) Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71
5.11.2 External Device Monitor (EDM1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-75
5.11.3 Application Example of Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-77
5.11.4 Confirming Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-78
5.11.5 Precautions for Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-78
xvii
Chapter 6 Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1
6.1 Adjustments and Basic Adjustment Procedure . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.1.1 Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.1.2 Basic Adjustment Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.1.3 Monitoring Analog Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.1.4 Safety Precautions on Adjustment of Servo Gains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6.2 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
6.2.1 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
6.2.2 Tuning-less Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
6.3 Advanced Autotuning (Fn201) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
6.3.1 Advanced Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
6.3.2 Advanced Autotuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20
6.3.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
6.4 Advanced Autotuning by Reference (Fn202) . . . . . . . . . . . . . . . . . . . . . . . . 6-25
6.4.1 Advanced Autotuning by Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-25
6.4.2 Advanced Autotuning by Reference Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30
6.5 One-parameter Tuning (Fn203) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-33
6.5.1 One-parameter Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-33
6.5.2 One-parameter Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-35
6.5.3 One-parameter Tuning Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-39
6.6 Anti-Resonance Control Adjustment Function (Fn204) . . . . . . . . . . . . . . . . 6-41
6.6.1 Anti-Resonance Control Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-41
6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure. . . . . . . . . . . . . . . . 6-42
6.7 Vibration Suppression Function (Fn205) . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-47
6.7.1 Vibration Suppression Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-47
6.7.2 Vibration Suppression Function Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-48
6.8 Servo Gain Adjustment Application Function . . . . . . . . . . . . . . . . . . . . . . . . 6-51
6.8.1 Feedforward Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-52
6.8.2 Force Feedforward. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-53
6.8.3 Speed Feedforward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-54
6.8.4 Proportional Control Operation (Proportional Operation Reference) . . . . . . . . . . . . . . . . 6-55
6.8.5 Using the Mode Switch (P/PI Switching) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-56
6.8.6 Switching Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-60
6.8.7 Force Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-64
6.8.8 Position Integral Time Constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-66
6.8.9 Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-67
6.8.10 Current Control Mode Selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-68
6.8.11 Current Gain Level Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-69
6.8.12 Speed Detection Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-69
Chapter 7 Utility Functions (Fn) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1

7.1 List of Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7.2 Alarm History Display (Fn000) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.3 JOG Operation (Fn002) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7.4 Origin Search (Fn003) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7.5 Program JOG Operation (Fn004). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
7.6 Initializing Parameter Settings (Fn005) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11
7.7 Clearing Alarm History (Fn006) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12
7.8 Manual Zero-adjustment of Analog Monitor Output (Fn00C) . . . . . . . . . . . . 7-13
7.9 Manual Gain-adjustment of Analog Monitor Output (Fn00D) . . . . . . . . . . . . 7-15
xviii
7.10 Automatic Offset-Signal Adjustment of the Motor Current Detection
(Fn00E) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-17
7.11 Manual Offset-Signal Adjustment of the Motor Current Detection (Fn00F) 7-18
7.12 Write Prohibited Setting (Fn010) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-19
7.13 Servomotor Model Display (Fn011) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-21
7.14 Software Version Display (Fn012) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-22
7.15 Resetting Configuration Error of Option Module (Fn014) . . . . . . . . . . . . . 7-23
7.16 Vibration Detection Level Initialization (Fn01B) . . . . . . . . . . . . . . . . . . . . . 7-24
7.17 Display of SERVOPACK and Servomotor ID (Fn01E) . . . . . . . . . . . . . . . . 7-26
7.18 EasyFFT (Fn206). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-27
7.19 Online Vibration Monitor (Fn207). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-31
7.20 Software Reset (Fn030). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-33
Chapter 8 Monitor Modes (Un) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1

8.1 List of Monitor Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.2 Operation in Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.3 Monitor Display of Reference Pulse Counter (Un00C) and Feedback Pulse
Counter (Un00D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
8.4 Allowable Maximum Motor Speed and Encoder Output Resolution Monitor . 8-5
8.5 Hall Sensor Signal Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
8.6 Monitoring Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
8.6.1 Checking Input Signal Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
8.6.2 Interpreting Input Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
8.6.3 Input Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8
8.7 Monitoring Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-9
8.7.1 Checking Output Signal Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-9
8.7.2 Interpreting Output Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-9
8.7.3 Output Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-9
8.8 Monitor Display at Power ON. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10
8.9 Monitoring I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10
Chapter 9 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-1

9.1 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.1.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.1.2 Troubleshooting of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6
9.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-20
9.2.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-20
9.2.2 Troubleshooting of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-21
9.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servo-
motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-23
Chapter 10 Appendix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-1

10.1 Connection to Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10.1.1 Example of Connection to MP2200/MP2300 Motion Module SVA-01 . . . . . . . . . . . . . . 10-2
10.1.2 Example of Connection to MP920 4-axes Analog Module SVA-01 . . . . . . . . . . . . . . . . 10-3
10.1.3 Example of Connection to OMRON’s Motion Control Unit . . . . . . . . . . . . . . . . . . . . . . . 10-4
10.1.4 Example of Connection to OMRON’s Position Control Unit . . . . . . . . . . . . . . . . . . . . . . 10-5
10.1.5 Connection to MITSUBISHI’s AD72 Positioning Unit
(SERVOPACK in Speed Control Mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-6
(SERVOPACK in Position Control Mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-7
xix
10.2 List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-8
10.2.1 Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-8
10.2.2 Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-9
10.3 Monitor Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-30
10.4 Parameter Recording Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-31
Revision History
xx
1
Outline
1.1 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 Speed/Position/Force Control Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1.4 SERVOPACK Internal Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1.4.1 Single-phase 100 V, SGDV-R70F05A, -R90F05A, -2R1F05A Models . . . . . . . . . . . . 1-7
1.4.2 Single-phase 100 V, SGDV-2R8F05A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1.4.3 Three-phase 200 V, SGDV-R70A05A, -R90A05A, -1R6A05A Models . . . . . . . . . . . . 1-8
1.4.4 Three-phase 200 V, SGDV-2R8A05A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
1.4.5 Three-phase 200 V, SGDV-3R8A05A, -5R5A05A, -7R6A05A Models . . . . . . . . . . . . 1-9
Outline
1.4.6 Three-phase 200 V, SGDV-120A05A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
1.4.7 Three-phase 200 V, SGDV-180A05A, -200A05A Models . . . . . . . . . . . . . . . . . . . . . 1-10
1.4.8 Three-phase 200 V, SGDV-330A05A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
1.4.9 Three-phase 200 V, SGDV-470A05A, -550A05A Models . . . . . . . . . . . . . . . . . . . . . 1-11
1.4.10 Three-phase 200 V SGDV-590A05A, -780A05A Models . . . . . . . . . . . . . . . . . . . . 1-11 1
1.4.11 Three-phase 400 V, SGDV-1R9D05A, -3R5D05A, -5R4D05A Models . . . . . . . . . . 1-12
1.4.12 Three-phase 400 V, SGDV-8R4D05A, -120D05A Models . . . . . . . . . . . . . . . . . . . 1-12
1.4.13 Three-phase 400 V, SGDV-170D05A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
1.4.14 Three-phase 400 V, SGDV-210D05A, -260D05A Models . . . . . . . . . . . . . . . . . . . . 1-13
1.4.15 Three-phase 400 V SGDV-280D05A, -370D05A Models . . . . . . . . . . . . . . . . . . . . 1-14
1.5 Examples of Servo System Configurations . . . . . . . . . . . . . . . . . . . . . . . 1-15

1.5.1 Connecting to SGDV-F05A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15
1.5.2 Connecting to SGDV-A05A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-16
1.5.3 Connecting to SGDV-D05A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17
1.6 SERVOPACK Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18

1.7 Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-19
1-1
1 Outline
1.1 Σ-V Series SERVOPACKs

The Σ-V Series SERVOPACKs are designed for applications that require frequent high-speed, high-pre-
cision positioning. The SERVOPACK makes the most of machine performance in the shortest time possi-
ble, thus contributing to improving productivity.
1.2 Part Names

This section describes the part names of SGDV type SERVOPACK for analog voltage and pulse train refer-
ence.
With front cover open
Serial number
Panel display CN5 Analog monitor connector

Used to display SERVOPACK
Used to monitor motor speed, torque
status, alarm status, and other
values when parameters are input. reference, and other values through
Refer
Refer to
to 2.1
2.1 Panel
Panel Operator.
operator. a special cable (option).
Refer to 6.1.3 Analog
Monitoring Analog Signals.
Monitor.
Panel operator
Panel operator keys
Used to set parameters.
Refer to 2.1 Panel Operator.
operator.
Input voltage
Front cover
Nameplate (side view)

Indicates the SERVOPACK model and ratings. 㧢 SERVOPACK model
Refer
Refer to
to 1.6
1.5 SERVOPACK
SERVOPACK Model
Model Designation.
Designation.
Charge indicator
Lights when the main circuit power supply is ON CN3 Connector for digital operator
and stays lit as long as the internal capacitor Connects a digital operator
remains charged. Therefore, do not touch the CN3 (option, JUSP-OP05A-1-E) or a personal
SERVOPACK even after the power supply is computer (RS422).
turned OFF if the indicator is lit. Refer to Σ-V series Product Catalog
It may result in electric shock.
(KAEPS80000042) and
Main circuit power CN7 Σ-V series User's Manual ,
supply terminals Operation of Digital Operator (SIEPS80000055).
Used for main circuit power supply input. CN7 Connector for personal computer
Refer
Refer to
to 3.1
3.1 Main
Main Circuit
Circuit Wiring.
Wiring. Communicates with a
Control power personal computer.
Use the connection cable (JZSP-CVS06-02-E).
supply Terminals
Used for control power supply input. CN1 I/O signal connector
Refer
Referto
to 3.1
3.1 Main
MainCircuit
CircuitWiring.
Wiring. CN1 Used for reference input signals and
sequence I/O signals.
Regenerative
Refer to
Refer to 3.2
3.2 I/O
I/O Signal
Signal Connections.
Connections.
resistor connecting terminals
Connects external regenerative resistors.
Refer
Refer to
to 3.6
3.6 Connecting
Connecting Regenerative
Regenerative Resistors.
Resistors.
DC reactor terminals for harmonic suppression CN8 Connector for safety function devices
Connects DC reactor for harmonic suppression. Connects a safety function device.
Refer
Refer to
to 3.7.3
3.7.3 Connecting
Connecting DC
DC Reactor
Reactor for
for Harmonic
Hormonic CN8 Note: When not using the safety function, use
Suppression.
Suppression. the SERVOPACK with the safety function
jumper connector (JZSP-CVH05-E,
Servomotor terminals provided as an accessory) inserted.
Connects the main circuit cable for servomotor. CN2 For the connecting method,
refer
refer to
to 3.2.3
3.2.3 Safety
Safety Function
Function Signal
Signal (CN8)
(CN8)
Refer
Refer to
to 3.1
3.1 Main
Main Circuit
Circuit Wiring.
Wiring.
Names
Names and Function. .For the operation,
and Functions
Ground terminal refer
refer to
to 5.11
5.11 Safety
Safety Function.
Function.
Be sure to connect to protect against electrical shock.
Refer
Refertoto3.1
3.1Main
MainCircuit
CircuitWiring.
Wiring.
CN2 Encoder connector
Connects a serial converter unit or a linear scale.
Refer to 3.5 Examples of Linear
Encoder Scale Connection.
Connection.
1-2
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.
(1) 100 VAC Rating

SGDV (100 VAC) R70 R90 2R1 2R8
Continuous Output Current
0.66 0.91 2.1 2.8
[Arms]
Max. Output Current [Arms] 2.1 2.9 6.5 9.3
Main Circuit Power Supply +10%
Single-phase, 100 to 115 VAC –15% , 50/60 Hz
Control Power +10%
Overvoltage Category III
(2) 200 VAC Rating

SGDV (200 VAC) R70 R90 1R6 2R8 3R8 5R5 7R6 120 180 200 330 470 550 590 780
Continuous Output Current
0.66 0.91 1.6 2.8 3.8 5.5 7.6 11.6 18.5 19.6 32.9 46.9 54.7 58.6 78.0
[Arms]
Max. Output Current [Arms] 2.1 2.9 5.8 9.3 11.0 16.9 17 28 42 56 84 110 130 140 170
+10%
Main Circuit Power Supply Three-phase, 200 to 230 VAC –15% , 50/60 Hz
Control Power +10%
(3) 400 VAC Rating

SGDV (400 VAC) 1R9 3R5 5R4 8R4 120 170 210 260 280 370
Continuos Output Current
1.9 3.5 5.4 8.4 11.9 16.5 20.8 25.7 28.1 37.2
[Arms]
Outline
Max. Output Current [Arms] 5.5 8.5 14 20 28 42 55 65 70 85
Main Circuit Power Supply Three-phase, 380 to 480 VAC +10%
–15%, 50/60 Hz
Control Power 24 VDC ±15%
1
1-3
1 Outline
1.3.2 Basic Specifications
1.3.2 Basic Specifications

Basic specifications of SERVOPACKs are shown below.
Control Method Single or three-phase full-wave rectification IGBT-PWM (sine-wave driven)

Feedback 1/256 data of serial converter unit sine wave pitch (incremental)
Surrounding Air/Storage 0 to +55°C/ -20 to +85°C
Temperature
Ambient/Storage 90% RH or less (with no condensation)
Humidity
Vibration/Shock
Resistance 4.9 m/s2 / 19.6 m/s2
Operating Protection class: IP10, Pollution degree: 2
Conditions An environment that satisfies the following conditions.
Protection Class/ • Free of corrosive or explosive gases
Pollution Degree • Free of exposure to water, oil or chemicals
• Free of dust, salts or iron dust
Altitude 1000 m or less
Free of static electricity, strong electromagnetic fields, magnetic fields or expo-
Others sure to radioactivity
UL508C
Applicable Standards EN50178, EN55011/A2 group1 classA, EN61000-6-2, EN61800-3,
EN61800-5-1, EN954-1, IEC61508-1 to 4
Configuration Base-mounted *1
Speed Control Range 1:5000
Load 0 to 100% load: ±0.01% max. (at rated speed)
Regulation
Speed
Regu- Voltage Rated voltage ±10%: 0% (at rated speed)
Regulation
lation*2
Perfor- Temperature
mance 25 ± 25 °C: ±0.1% max. (at rated speed)
Regulation
Force Control
Tolerance ±1%
(Repeatability)
Soft Start Time
Setting 0 to 10 s (Can be set individually for acceleration and deceleration.)
Phase-A, -B, -C: line driver

Encoder Output Pulses Encoder output pulse: any setting ratio
Fixed Input SEN signal
Number of 7 ch
Channels
The signal allocation and positive/negative logic can be modified.
Sequence Input Signals Servo ON (/S-ON), proportional control (/P-CON), alarm reset
Input which can (/ALM-RST), forward run prohibited (P-OT), reverse run
be allocated Functions prohibited (N-OT), forward external force limit (/P-CL),
reverse external force limit (/N-CL), internal set speed selection
I/O (/SPD-D, /SPD-A, /SPD-B), control selection (/C-SEL), zero
Signals clamping (/ZCLAMP), reference pulse inhibit (/INHIBIT), gain
selection (/G-SEL), polarity detection (P-DET)
Fixed Output Servo alarm (ALM), alarm code (ALO1, ALO2, ALO3) outputs
Number of 3 ch
Channels
Sequence Output The signal allocation and positive/negative logic can be modified.
Output Signals Positioning completion (/COIN), speed coincidence detection
which can be (/V-CMP), servomotor movement detection (/TGON), servo
allocated Functions ready (/S-RDY), force limit detection (/CLT), speed limit
detection (/VLT), brake (/BK), warning (/WARN), near
(/NEAR)
1-4
Digital operator (JUSP-OP05A-1-E), personal computer (can be connected with

Interface SigmaWin+), etc.
RS422A 1:N
Communi- Communica- N = Up to 15 stations possible at RS422A
cations tions
Communi- (CN3)
cations Axis Address Set by parameter
Function Setting
USB Interface Personal computer (can be connected with SigmaWin+.)

Communi- Communica-
cations tions Stan- Complies with standard USB1.1. (12 Mbps)
(CN7) dard
LED Display Panel display (five 7 segment) and CHARGE indicator
Number of points: 2
Output voltage: ± 10V DC (linearity effective range ± 8V)
Resolution: 16 bit
Analog Monitor (CN5) Accuracy: ± 20 mV (Typ)
Max. output current: ± 10 mA
Settling time (± 1%): 1.2 ms (Typ)
Operated at main circuit power supply OFF, servo alarm, servo OFF or over-
Dynamic Brake (DB) travel
Regenerative Processing Built-in or external regenerative resistor (option)
Overtravel Prevention (OT) Dynamic brake stop at P-OT or N-OT, deceleration to a stop, or free run to a stop
Overcurrent, overvoltage, insufficient voltage, overload, regeneration error, and
Protection Function so on.
Utility Function Gain adjustment, alarm history, JOG operation, origin search, and so on.
Input /HWBB1, /HWBB2: Baseblock signal for power module
Safety Function
Output EDM1: Monitoring status of internal safety circuit (fixed output)
Option Module Fully-closed option module
∗1. Rack mounting and duct-ventilated type available as an option.
∗2. Speed regulation by load regulation is defined as follows:
No-load motor speed - Total load motor speed
Speed regulation = × 100%
Rated motor speed
Outline
1
1-5
1 Outline
1.3.3 Speed/Position/Force Control Modes
1.3.3 Speed/Position/Force Control Modes

The following table shows the basic specifications at speed/position/force control mode.
Control Mode Specifications

0 to 10 s (Can be set individually for acceleration and
Performance Soft Start Time Setting
deceleration.)
• Max. input voltage: ±12 V
(forward speed reference with positive reference)
Reference Voltage
• Factory setting: 6 VDC at rated speed
Input
Input gain setting can be varied.
Signals
Speed Control Input Impedance About 14 kΩ minimum
Circuit Time Constant 30 μs
Movement Direction
With P control signal
Selection
Internal Set
Speed Control With forward/reverse current limit signal (speed 1 to 3
Speed Selection selection), servomotor stops or another control method is
used when both are OFF.
Feedforward
0 to 100% (setting resolution: 1%)
Compensation
Performance Positioning
0 to 1073741824 reference units (setting resolution: 1 ref-
Completed Width
erence unit)
Setting
Sign + pulse train, 90° phase difference 2-phase pulse
Type
(phase A + phase B), or CW + CCW pulse train
Position Control Form For line driver, open collector

Refer- Line driver
ence Sign + pulse train, CW + CCW phase train: 4 Mpps
Input Pulse Max. Input
Signals 90° phase difference 2-phase pulse: 1 Mpps
Pulse
Open Collector
Frequency
Sign + pulse train, CW + CCW phase train: 200 kpps
90° phase difference 2-phase pulse: 200 kpps
Error pulse clear.
Clear Signal
For line driver, open collector
• Max. input voltage: ±12 V
(forward force reference with positive reference)
Reference Voltage
• Factory setting: 3 VDC at rated force
Input
Force Control Input gain setting can be varied.
Signals
Input Impedance About 14 kΩ minimum
Circuit Time Constant 16 μs
1-6
1.4 SERVOPACK Internal Block Diagrams

1.4.1 Single-phase 100 V, SGDV-R70F05A, -R90F05A, -2R1F05A Models
Single-phase
100 to 115 V +10%
−15%
(50/60 Hz) B1/ + B2 Fan
Noise
filter Servomotor
1KM +12 V
L1 Varistor U
+
L2 − V
+
− CHARGE
W M
- Dynamic
brake circuit
Voltage Relay Voltage Gate Temperature Gate drive Current

sensor overcurrent
sensor drive sensor drive protector sensor
ENC
CN2
L1C Varistor ±12 V

CN5
Control Analog Analog monitor
+ +5V voltage output
power ASIC converter
L2C − CN1
supply +17V (PWM control, etc.) Reference pulse
input
Encoder output
pulse
Power Power Open during

OFF ON servo alarm Speed/force
A/D
1KM reference input
CPU
1Ry (Position/speed
1KM Surge Panel operator calculation, etc.) I/O I/O signal
absorber
CN3 CN7 CN8

Digital operator Personal Signal for safety fuction
computer
1.4.2 Single-phase 100 V, SGDV-2R8F05A Model

Single-phase
100 to 115 V +10%
Outline
−15%
(50/60 Hz)
B1/ + B2 Fan
Noise
1
filter Servomotor
1KM +12 V
L1 Varistor U
+
V
L2
− CHARGE
W M
- Dynamic
brake circuit
Relay Gate Gate drive Temperature Current

Voltage Voltage overcurrent
sensor drive sensor drive protector sensor sensor
ENC
CN2
L1C Varistor ±12 V

Analog
CN5
+
Control voltage
Analog monitor
+5V output
L2C − CN1
input
Encoder output
pulse

A/D
1KM CPU reference input
1Ry (Position/speed
1KM Surge Panel operator calculation, etc.)
absorber I/O I/O signal
CN3 CN7 CN8

computer
1-7
1 Outline
1.4.3 Three-phase 200 V, SGDV-R70A05A, -R90A05A, -1R6A05A Models
1.4.3 Three-phase 200 V, SGDV-R70A05A, -R90A05A, -1R6A05A Models

Three-phase
200 to 230 V+10%
−15%
(50/60 Hz) B1/ + B2 B3 Fan
Noise
filter Servomotor
1KM +12 V
L1 Varistor U
L2 + V
−
L3
CHARGE
W M
−1 Dynamic
brake circuit
−2
overcurrent sensor
sensor drive sensor drive sensor protector
ENC
CN2
L1C Varistor +17V CN5

+ voltage output
−
L2C supply (PWM control, etc.)
CN1 Reference pulse
+5V input
±12V Encoder output
pulse

A/D
1KM reference input
CPU
1Ry (Position/speed
CN3 CN7 CN8

computer
1.4.4 Three-phase 200 V, SGDV-2R8A05A Model

Three-phase
200 to 230 V +10%
−15%
(50/60 Hz) B1/+ B2 B3 Fan
Noise
filter Servomotor
1KM +12 V
L1 Varistor U
L2 + V
−
L3
CHARGE
W M
−1 Dynamic
brake circuit
−2
sensor overcurrent sensor
sensor drive sensor drive protector
ENC
CN2
L1C Varistor +17V CN5

+
voltage
power ASIC converter output
L2C − CN1
input
±12V
Encoder output
pulse

OFF ON servo alarm
A/D Speed/force
1KM reference input
CPU
1Ry (Position/speed
1KM Surge Panel operator
absorber calculation, etc.) I/O I/O signal
CN3 CN7 CN8

computer
1-8
1.4.5 Three-phase 200 V, SGDV-3R8A05A, -5R5A05A, -7R6A05A Models

Three-phase
200 to 230 V +10%
−15%
(50/60 Hz) B1/ + B2 B3 Fan
Noise
filter Servomotor
1KM
L1 Varistor ±12 V U
L2
+ V
−
CHARGE
W M
L3
−1 Dynamic
brake circuit
−2
sensor overcurrent
sensor drive sensor drive protector sensor
ENC
CN2
L1C Varistor +17V CN5 Analog monitor

Control Analog
voltage output
+
−
L2C supply (PWM control, etc.)
CN1 Reference pulse
+5V input
Encoder output
±12V pulse

servo alarm Speed/force
OFF ON A/D reference input
1KM
CPU
1Ry (Position/speed
absorber
CN3 CN7 CN8

computer
1.4.6 Three-phase 200 V, SGDV-120A05A Model

Three-phase
200 to 230 V +10%
−15%
(50/60 Hz) B1/ + B2 B3 Fan
Outline
Noise
filter Servomotor
1KM ±12 V
L1 Varistor U
L2
+ V
CHARGE
−
W M 1
L3
−1 Overheat protector, Dynamic
overcurrent protector brake circuit
−2
Voltage Relay Voltage Gate drive Current
sensor drive sensor sensor
ENC
CN2
L1C Varistor +15V × 4 CN5

+ voltage output
L2C − CN1
supply +5V
(PWM control, etc.) Reference pulse
input
pulse

A/D
1Ry (Position/speed
CN3 CN7 CN8

computer
1-9
1 Outline
1.4.7 Three-phase 200 V, SGDV-180A05A, -200A05A Models

Three-phase
200 to 230 V +10%
−15%
(50/60 Hz)
B1/ + B2 B3 Fan 1 Fan 2
Noise
filter Servomotor
1KM
L1 Varistor ±12 V ±12 V U
L2
+ V
−
CHARGE
W M
L3
−1 Overheat protector,
overcurrent protector
Dynamic
brake circuit
−2
Voltage Relay Voltage Gate drive Current
sensor drive sensor sensor
ENC
CN2
L1C Varistor +15V × 4 CN5

+ voltage output
−
L2C supply (PWM control, etc.) CN1 Reference pulse
+5V
input
±12V
Encoder output
pulse

A/D
1KM reference input
CPU
1Ry (Position/speed
absorber
CN3 CN7 CN8

computer
1.4.8 Three-phase 200 V, SGDV-330A05A Model

Three-phase
200 to 230 V+10%
−15%
(50/60 Hz) B1/ + B2 B3 Fan 1 Fan 2
Noise
filter Servomotor
1KM
L1 Varistor ±12 V ±12 V U
L2
+ V
−
CHARGE
W M
L3
−1 Overheat protector,
Dynamic
brake circuit
−2
Voltage Thyristor Voltage Gate drive Temperature Current
sensor drive sensor sensor sensor
ENC
CN2
L1C Varistor +15V × 4

CN5
+ voltage output
−
L2C supply +5V (PWM control, etc.) CN1 Reference pulse
input
±12V
Encoder output
pulse

A/D
1KM reference input
CPU
1Ry (Position/speed
absorber
CN3 CN7 CN8

computer
1-10

Three-phase
200 to 230 V+10%
−15%
(50/60 Hz) B1/ B2 Fan1 Fan2 Fan3
Noise
filter Servomotor
1KM
L1 Varistor ±12 V ±12 V ±12 V U
L2
㧗 V
CHARGE 㧙
W M
L3
Overheat protector Dynamic

Voltage Gate Temperature Current
Voltage Thyristor sensor drive sensor sensor
sensor drive
ENC
CN2

CN5
㧗 voltage
L2C 㧙
supply +5V (PWM control, etc.) CN1 Reference pulse
input
r12V
Encoder output
pulse

A/D
1Ry (Position/speed
Surge Panel operator calculation, etc.)
CN3 CN7 CN8

computer
1.4.10 Three-phase 200 V SGDV-590A05A, -780A05A Models

Three-phase
200 to 230 V+10%
−15%
(50/60 Hz) B1/ B2 Fan1 Fan2 Fan3
Outline
Noise
filter Servomotor
1KM
L1 Varistor ±12 V ±12 V ±12 V U
㧗 V
L2
CHARGE
㧙
M
1
W
L3

Voltage Thyristor Voltage Gate Temperature Current
sensor drive sensor drive sensor sensor
ENC
CN2

CN5
Control Analog
Analog monitor
㧗 ASIC voltage
power converter output
L2C 㧙
supply +5V (PWM control, etc.) CN1
Reference pulse
r12V input
Encoder output
pulse

OFF ON servo alarm
A/D Speed/force
1Ry (Position/speed
1KM Surge Panel operator calculation, etc.) I/O
absorber I/O signal
CN3 CN7 CN8

computer
1-11
1 Outline
1.4.11 Three-phase 400 V, SGDV-1R9D05A, -3R5D05A, -5R4D05A Models
1.4.11 Three-phase 400 V, SGDV-1R9D05A, -3R5D05A, -5R4D05A Models

Three-phase
380 to 480 V +10%
−15%
(50/60 Hz) B1/ + B2 B3
Fan
Noise
filter Servomotor
1KM Varistor ±12 V
L1 U
+
− V
L2
+
−
CHARGE
W M
L3
Overheat protector,
−1 overcurrent protector
Dynamic
brake circuit
−2
Voltage Relay Voltage
sensor drive sensor Gate Current
drive sensor
ENC
Not included
Control power
supply (+24 V)
+ − CN2
+24V +15V × 4 CN5

+ voltage
0V − CN1
supply (PWM control, etc.) Reference pulse
+5V input
pulse
AC power supply
Power Power Open during (100 V/200 V)
(1RY) A/D
CPU reference input
2RY
1KM
(Position/speed
Panel operator calculation, etc.) I/O I/O signal
2RY High speed 1KM
diode
CN3 CN7 CN8
Surge absorber
computer
1.4.12 Three-phase 400 V, SGDV-8R4D05A, -120D05A Models

Three-phase
380 to 480 V +10%
−15%
(50/60 Hz)
B1/ B2 B3
Fan1 Fan2
Noise
filter Servomotor
1KM ±12 V ±12 V
L1 Varistor U
+
− V
L2
+
−
CHARGE
W M
L3
Overheat protector,
overcurrent protector Dynamic
brake circuit
1
2 Relay Voltage Gate drive
Current
drive sensor sensor
Voltage
Not included sensor ENC
Control power
supply (+24 V)
+ −
CN2
+24V +15V × 4
Control Analog CN5 Analog monitor
+ voltage
0V −
supply (PWM control, etc.) CN1 Reference pulse
+5V input
pulse
AC power supply
Power Power Open during (100 V/200 V)
(1RY) A/D
2RY CPU reference input
1KM (Position/speed
Panel operator calculation, etc.) I/O
1KM I/O signal
2RY High speed
diode
Surge absorber
CN3 CN7 CN8
computer
1-12
1.4.13 Three-phase 400 V, SGDV-170D05A Model

Three-phase
380 to 480 V +10%
−15%
(50/60 Hz)
B1/ + B2 B3 Fan
Noise
filter Servomotor
1KM ±12 V
L1 Varistor U
+
−
L2 V
+
− CHARGE
W M
L3
Overheat protector, Dynamic
brake circuit
−1
−2 Relay Voltage Gate Current
drive sensor drive sensor
Voltage
Not included sensor
ENC
Control power
supply (+24 V)
+ − CN2
+24V +15V × 4
Control
Analog CN5
0V power voltage Analog monitor
supply ASIC converter output
+5V CN1
±12V input
Encoder output
pulse
AC power supply
Power Power Open during (100 V/200 V) A/D Speed/force
OFF ON servo alarm CPU reference input
(1RY)
2RY (Position/speed
1KM I/O signal
2RY High speed 1KM

diode CN3 CN7 CN8
Surge absorber
computer
1.4.14 Three-phase 400 V, SGDV-210D05A, -260D05A Models

Three-phase
380 to 480 V +10%
−15%
(50/60 Hz)
B1/ B2 Fan1 Fan2 Fan3
Outline
Noise
filter Servomotor
1KM +24 V +24 V +24 V
L1 Varistor U
㧗
㧙 V
1
L2 㧗
㧙 CHARGE
W M
L3
Overheat protector
overcurrent protector Dynamic
brake circuit
1
2 Relay Voltage Gate Current
drive sensor drive sensor
Voltage
Not included sensor ENC
Control power
supply (+24 V)
㧗㧙 CN2
+24V +15V × 4
㧗
Control
power Analog
CN5
0V 㧙 Analog monitor
voltage
supply ASIC converter output
+5V CN1
r12V
input
Encoder output
pulse
AC power
supply
Power Power Open during (100 V/200 V) Speed/force
A/D
(1RY) (Position/speed
2RY
1KM I/O signal
2RY High speed 1KM

diode CN3 CN7 CN8
Surge Digital operator Personal Signal for safety fuction
absorber computer
1-13
1 Outline
1.4.15 Three-phase 400 V SGDV-280D05A, -370D05A Models
1.4.15 Three-phase 400 V SGDV-280D05A, -370D05A Models

Three-phase
380 to 480 V 10%
15%
(50/60 Hz)
B1/ B2 Fan1 Fan2 Fan3
Noise
filter Servomotor
1KM +24 V +24 V +24 V
L1 Varistor U
㧗
㧙 V
L2 㧗
㧙 CHARGE
W M
L3
1 brake circuit
2
Thyristor
Not included drive Voltage Gate Current
sensor drive sensor
Control Voltage
sensor
Power ENC
Supply
(+24 V)
㧗㧙 CN2
+24V +15V × 4
㧗 Control
power Analog
CN5
0V 㧙
voltage Analog monitor
supply +5V
ASIC converter output
(PWM control, etc.) CN1
r12V Reference pulse
input
Encoder output
pulse
AC power
supply
Power Power Open during (100 V/200 V) A/D Speed/force
(1RY) (Position/speed
2RY
Panel operator calculation, etc.)
1KM I/O
I/O signal
2RY High speed 1KM CN3 CN7 CN8

diode
Surge Digital operator Personal Signal for safety fuction
absorber computer
1-14
1.5 Examples of Servo System Configurations

This section describes examples of basic servo system configuration.
1.5.1 Connecting to SGDV-F05A SERVOPACK

Power supply
Single-phase 100 VAC
R T
Molded-case
circuit breaker
(MCCB)
Protects the power supply
line by shutting the
circuit OFF when
overcurrent is
detected.
Noise filter
Used to eliminate
external noise from SGDV-F05A Digital
the power line. operator
Magnetic
SERVOPACK
contactor
Turns the servo
ON and OFF.
Install a surge
absorber.
100 V Connection cable Personal
for digital operator computer
SGDV-2R1F05A
Connection cable
for personal computer
Host controller
I/O signal cable
Regenerative
resistor* When not using the safety
function, use the SERVOPACK
with the safety function jumper
connector (JZSP-CVH05-E,
provided as an accessory)
Connection cable for inserted.
serial converter unit
Outline
Main circuit cable When using the safety function,
for linear servomotor Serial converter unit insert a connection cable
specifically for the safety function.
Safety function
devices
1
Encoder Connection cable

cable for hall sensor
Linear scale
(not included)
Linear servomotor with core
∗ Before connecting an external regenerative resistor to the SERVOPACK, refer to 3.6 Connecting Regenerative Resis-
tors.
1-15
1 Outline
1.5.2 Connecting to SGDV-A05A SERVOPACK
1.5.2 Connecting to SGDV-A05A SERVOPACK

Power supply
Three-phase 200 VAC
R S T
Molded-case
circuit breaker
(MCCB)
Protects the power supply
line by shutting the
circuit OFF when
overcurrent is
detected.
Noise filter
Used to eliminate
external noise from SGDV-A05A Digital
the power line. operator
SERVOPACK
Magnetic
contactor
Turns the servo
ON and OFF.
Install a surge
absorber.
Connection cable
for digital operator Personal
computer
Connection cable
Host controller
I/O signal cable
Regenerative When not using the safety function,

resistor* use the SERVOPACK with the safety
function jumper connector
(JZSP-CVH05-E, provided as an
accessory) inserted.
Connection cable for
serial converter unit
When using the safety function,
insert a connection cable specifically
Serial converter unit for the safety function.
Safety function
devices
Main circuit cable
for linear servomotor

Linear scale
(not included)
∗ Before connecting an external regenerative resistor to the SERVOPACK, refer to 3.6 Connecting Regenerative Resis-
tors.
1-16
1.5.3 Connecting to SGDV-D05A SERVOPACK

Power supply
Three-phase 400 VAC
R ST
Molded-case
circuit breaker
(MCCB)
Protects the power
supply line by shutting
the circuit OFF when
overcurrent is
detected.
Noise filter Digital

operator
Used to eliminate
external noise from SGDV-D05A
the power line. Magnetic SERVOPACK
contactor
Turns the servo
ON and OFF.
Install a surge
absorber.
Personal
Connection cable computer
for digital operator
Connection cable
I/O signal cable

Host controller
DC power
supply (24 VDC)*1
When not using the safety function,
use the SERVOPACK with the safety
function jumper connector
(JZSP-CVH05-E, provided as an
accessory) inserted.
Regenerative
resistor*2 When using the safety function,
Connection cable for insert a connection cable specifically
serial converter unit for the safety function.
Outline
Serial converter unit Safety function
devices
Main circuit cable 1

for linear servomotor

Linear scale
(not included)
∗1. Use a 24 VDC power supply with double insulation or reinforced insulation. (The power supply is not included)
∗2. Before connecting an external regenerative resistor to the SERVOPACK, refer to 3.6 Connecting Regenerative Resis-
tors.
1-17
1 Outline
1.6 SERVOPACK Model Designation

Select the SERVOPACK according to the applied servomotor.
1st + 2nd + 4th 5th + 6th 7th 8th to13th digits

3rd digits digit digits digit
SGDV – 2R8 A 05 A
Series 7th digit: Design
SGDV Σ-V Series Revision Order
8th to 13th digits: Option

Blank Base-mounted type (standard)
1st + 2nd + 3rd digits: Current 4th digit: Voltage Rack-mounted type
001000
or duct-ventilated type (option)
Max. Allowable Code Voltage
Voltage Code Motor Capacity
(kW) F 100 V
R70 0.05 A 200 V
R90 0.1 D 400 V
100 V
2R1 0.2
2R8 0.4
R70 0.05 5th + 6th digits: Interface Specifications
R90 0.1 Code Interface
1R6 0.2 01 Analog voltage and pulse train
reference, rotational servomotor
2R8 0.4
MECHATROLINK-II communications
11
3R8 0.5 reference, rotational servomotor
5R5 0.75 Analog voltage and pulse train
05
reference, linear servomotor
7R6 1 MECHATROLINK-II communications
15 reference, linear servomotor
200 V 120 1.5
180 2
200 3
330 5
470 6
550 7.5
590 11
780 15
1R9 0.5
3R5 1
5R4 1.5
8R4 2
120 3
400 V
170 5
210 6
260 7.5
280 11
370 15
1-18
1.7 Inspection and Maintenance
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 terminal
Loose Screws block and connector Tighten any loose screws.
screws.
(2) SERVOPACK’s Parts Replacement Schedule

The following electric or electronic parts are subject to mechanical wear or deterioration over time. To avoid
failure, replace these parts at the frequency indicated.
Refer to the standard replacement period in the following table, contact your Yaskawa representative. After an
examination of the part in question, we will determine whether the parts should be replaced or not.
The parameters of any SERVOPACKs overhauled by Yaskawa are reset to the factory
settings before shipping. Be sure to confirm that the parameters are properly set before
starting operation.
Standard Replacement
Part Operating Conditions
Period
Cooling Fan 4 to 5 years
Smoothing Capacitor 7 to 8 years • Surrounding Air Temperature: Annual average of
Outline
Other Aluminum Electrolytic 30°C
5 years
Capacitor • Load Factor: 80% max.
Relays - • Operation Rate: 20 hours/day max.
Fuses 10 years
1
1-19
2
Panel Operator
2.1 Panel Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.2 Display Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.3 Status Display Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.4 Utility Function Mode (Fn ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.5 How to Read a Parameter Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.5.1 Explanation Method for Parameter Setting Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.5.2 Explanation Method for Function Selection Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.5.3 Explanation Method for Tuning Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2.6 Parameter Setting Mode (Pn) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

2.6.1 Parameter Setting Mode for Parameter Setting Type . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
Panel Operator
2.6.2 Parameter Setting Mode for Function Selection Type . . . . . . . . . . . . . . . . . . . . . . . . 2-10
2.7 Monitor Mode (Un) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
2-1
2 Panel Operator
2.1 Panel Operator

Panel operator consists of display part and keys.
Parameter setting, status display and execution of utility function are enabled using the panel operator.
The names and functions of the keys on the panel operator are as follows.
Key
Key Name Function
No.
MODE/SET • To select a display mode.
c
Key • To set the set value.
d UP Key To increase the set value.
e DOWN Key To decrease the set value.
Display part
• To display the set value.
DATA/SHIFT
f • To move to the next digit
Key
on the left when blinking.
Ԙ ԙ Ԛ ԛ
Keys
Note: To reset the servo alarm, press the UP Key and the
DOWN Key simultaneously. Be sure to remove the
cause and then reset the alarm.
2.2 Display Mode Selection

Press the MODE/SET Key to select a display mode in the following order.
Power ON
(Refer to
Status Display Mode (Refer to 2.3)
2.3)
Press
MODE/SET
Press for one second. Fn: Utility Function Mode

DATA/

DATA/SHIFT
(Refer
(Refer to
to 2.4)
2.4)
Press
MODE/SET
Return to Press for one second. Pn: Parameter Setting Mode

DATA/ (Refer
(Refer to
to 2.6)
2.6)

DATA/SHIFT
Press
MODE/SET
Press for one second. Un: Monitor Mode

DATA/ (Refer
(Refer to
to 2.7)
2.7)

DATA/SHIFT
Press
MODE/SET
2-2
2.3 Status Display Mode
2.3 Status Display Mode

The display shows the following status.
Bit Data Code
Code Meaning Code Meaning

Baseblock Reverse Run Prohibited
Servo OFF (servomotor power OFF) N-OT is OFF.
Hard Wire Base Block
Run
The SERVOPACK is baseblocked by the
Servo ON (servomotor power ON) safety function.
(Example: Run Status)
Run Mode Test without Motor
Status Status display differs depending on the
status of motor and SERVOPACK. Refer
Forward Run Prohibited to 4.5 Test Without Motor Function.
Test without
P-OT is OFF. Motor
Alarm
Blinks the alarm number.
Display Meaning
Control Power ON
Light when SERVOPACK control power is ON.
Does not light when SERVOPACK control power is OFF.
Baseblock
Light for baseblock. Does not light when servo is ON.
Panel Operator
In speed/force control: Speed Coincidence (/V-CMP)
Light when the difference between the servomotor speed and reference speed is the same as or less than the
value set in Pn503. (Factory setting: 10 mm/s)
∗ Always light in force control mode.
In position control: Positioning Completion (/COIN)
Light if error between position reference and actual motor position is less than the value set in Pn522. (Fac-
tory setting: 7 reference units)
2
Movement Detection (/TGON)
Light if motor speed exceeds the value set in Pn502. (Factory setting: 20 mm/s)
In speed/force control mode: Speed Reference Input

Light if input speed reference exceeds the value set in Pn502. (Factory setting: 20 mm/s).
In position control mode: Reference Pulse Input
Light if reference pulse is input. Does not light if no reference pulse is input.
In speed/force control mode: Force Reference Input
Light if input force reference exceeds preset value (10% of the rated force). Does not light if input force ref-
erence is below preset value.
In position control mode: Clear Signal Input
Light when clear signal is input. Does not light when clear signal is not input.
Power Ready
Light when main power supply circuit is normal. Does not light when power is OFF.
2-3
2 Panel Operator
2.4 Utility Function Mode (Fn )

The operation and adjustment functions of the servomotor are executed in this mode.
The panel operator displays numbers beginning with Fn.
Display Example for Origin Search
An operation example in Utility Function Mode is shown below for Origin Search (Fn003).
Display after
Step Keys Description
Operation
Press the MODE/SET Key to select the utility function

1
mode.
MODE/SET DATA/
2 Press the UP or the DOWN Key to select the Fn003.

MODE/SET DATA/
Press the DATA/SHIFT Key for approximately one sec-

3
ond, and the display shown on the left appears.
MODE/SET DATA/
Press the MODE/SET Key.

4
The servomotor is turned to Servo ON.
MODE/SET DATA/
When the parameter is set to Pn000.0 = 0 (default), press-

ing the UP Key will run the motor in the forward direction.
5 Pressing the DOWN Key will run the motor in the reverse
MODE/SET DATA/ direction. When the parameter is set to Pn000.0 = 1, the
movement direction of the motor is reversed.
When the servomotor origin search is completed, the dis-
play blinks.
6
At this moment, the motor is servo-locked at the origin
Display blinks. pulse position.

7
ond. "Fn003" is displayed again.
MODE/SET DATA/
8 To enable the change in the setting, turn OFF the power and ON again.
2-4
2.5 How to Read a Parameter Explanation
2.5 How to Read a Parameter Explanation

In this manual, each parameter is explained using the following example.
2.5.1 Explanation Method for Parameter Setting Type

Control mode for which the parameter is
available
Speed : Speed control and
internally set speed control
Position : Position control
Force : Force control
Emergency Stop Force Speed Position Force

Pn406
Setting Range Setting Unit Factory Setting When Enabled Classification
0 to 800 1 800 After restart Setup
Indicates setting range Indicates minimum Indicates parameter Indicates if the power "Setup" indicates the
for the parameter. setting unit for the value before shipment has to be turned OFF parameter used for basic
The range is decided parameter. (Factory setting). and ON again to setting for operation.
so that the maximum validate setting "Tuning" indicates the
value can be set even changes. parameter used for tuning
in combination with a "After restart" of servo performance.
servomotor with indicates the change Note: The parameters
different specifications. will be effective after classified as "tuning" are
turning OFF the power not displayed at
and ON again, or shipment. For displaying
resetting software the tuning parameters,
(Fn030). refer
refer to
to2.5.3
2.5.3Explanation
Explanation
Method
Method forfor Tuning
Tuning
Parameters..
Parameters
2.5.2 Explanation Method for Function Selection Type
Panel Operator
Parameter Meaning When Enabled Classification
n.2 Input the forward run prohibited signal (P-OT) from
CN1-42 (Factory setting).
Pn50A After restart Setup
n.8 Forward run prohibited signal (P-OT) is disabled
(Forward rotation allowed).
This blank shows the setting 2

The number of the value of the function selection,
parameter as well as the status condition This section explains the
on the panel operator and the details of the function selection.
digital operator (JUSP-OP05A).
Parameters of the function selection type are used to select and set the function allocated to each digit dis-
played on the panel operator. Each digit is expressed as explained below.
Display Example for Pn000

Indications Meaning
Indicates the value for the 1st digit of
1st digit Pn000.0 or n.x
parameter Pn000.
Indicates the value for the 2nd digit of
2nd digit Pn000.1 or n.x
parameter Pn000.
Indicates the value for the 3rd digit of
3rd digit Pn000.2 or n.x
parameter Pn000.
Indicates the value for the 4th digit of
4th digit Pn000.3 or n.x
parameter Pn000.
2-5
2 Panel Operator
2.5.3 Explanation Method for Tuning Parameters
2.5.3 Explanation Method for Tuning Parameters

Only setup parameters are displayed at shipment. To display tuning parameters, change the following parame-
ter.
Application Function Selection Switch B

n.0 Displays only setup parameters. (Factory setting)
Pn00B After restart Setup
n.1 Displays all parameters.
2-6
2.6 Parameter Setting Mode (Pn)

Parameters related to the operation and adjustment of the servomotor are set in this mode.
The panel operator displays numbers beginning with Pn.
Display Example for Speed Loop Gain
There are two types of parameters. One type requires value setting (parameter setting type) and the other
requires selecting the function allocated to each digit (function selection type).
The operation method differs between two types.

As for the operation method of parameter setting type, refer to 2.6.1.
As for the operation method of function selection type, refer to 2.6.2.
2.6.1 Parameter Setting Mode for Parameter Setting Type

This section describes how to set parameters for the parameter setting type in parameter setting mode.
(1) Parameters with Setting Ranges of Up to Five Digits

The example below shows how to change parameter Pn100 (speed loop gain) from "40.0" to "100.0."
Display after
Operation
Press the MODE/SET Key to select the parameter setting
1 mode. If Pn100 is not displayed, press the UP or the
MODE/SET DATA/ DOWN Key to select Pn100.

2
ond. The current data of Pn100 is displayed.
MODE/SET DATA/
Press the DATA/SHIFT Key to select "4."

3
Panel Operator
"4" will blink and be able to be changed.
MODE/SET DATA/
Press the UP or the DOWN Key to change the data.

4 Keep pressing the UP or the DOWN Key until "0100.0" is
MODE/SET DATA/ displayed.
Press the DATA/SHIFT Key.
The value blinks and is saved.
5
The data for the speed loop gain (Pn100) is changed from 2
MODE/SET DATA/
Display blinks "40.0" to "100.0."

6
ond. "Pn100" is displayed again.
MODE/SET DATA/
2-7
2 Panel Operator
2.6.1 Parameter Setting Mode for Parameter Setting Type
(2) Parameters with Setting Ranges of Six Digits or More

Panel operator displays five digits. When the parameters have more than six digits, values are displayed and
set as shown below.
Leftmost blinks display shows digit's
position. The digit's display and value
means parameter's value.
Top two digits Middle

four Bottom
digits four digits
Displays when negative

number is displayed
Procedures for setting of "Pn522 = 0123456789" are shown below.
Display after
Operation
1 mode (Pn). If Pn522 is not displayed, press the UP
MODE/SET DATA/ Key or the DOWN Key to select Pn522.
Before changing
bottom four digits
ond. The current data for bottom four digits of Pn522 are
displayed. (In this case, "0007" is displayed.)
2
Press the DATA/SHIFT Key to move to other digits, and
After changing
MODE/SET DATA/
change the value by pressing the UP/DOWN Key. (In this
bottom four digits case, "6789" is set.)
Before changing
middle four digits
ond. The current data for middle four digits are displayed.
(In this case, "0000" is displayed.)
3
Press the DATA/SHIFT Key to move to other digits, and
After changing
MODE/SET DATA/
change the value by pressing the UP/DOWN Key. (In this
middle four digits case, "2345" is set.)
Before changing
top two digits
ond. The current data for top two digits are displayed. (In
this case, "00" is displayed.)
4 Press the DATA/SHIFT Key to move to other digit, and
MODE/SET DATA/ change the value by pressing the UP/DOWN Key. (In this
After changing case, "01" is set.)
top two digits
The value "0123456789" is set.
2-8
Display after
Operation
Press the MODE/SET Key to save the value to the SER-

VOPACK. During saving, top two digits blink. After the
5
saving is completed, press the DATA/SHIFT Key for
MODE/SET DATA/
approximately one second. "Fn522" is displayed again.
<Note>
Setting negative numbers
• For the parameters that accept a negative value setting, display "0000000000" and then press the DOWN
Key to set negative numbers.
• When setting negative numbers, the value increases by pressing the DOWN Key and decreases by pressing
the UP Key.
• Press the DATA/SHIFT Key to move to other digits.
• A - (minus) sign is displayed when the top two digits are displayed.
Panel Operator
2
2-9
2 Panel Operator
2.6.2 Parameter Setting Mode for Function Selection Type
2.6.2 Parameter Setting Mode for Function Selection Type

The parameter setting mode of the function selection type is used to select and set the function allocated to
each digit displayed on the panel operator.
(1) Changing Function Selection Parameter Settings

The example below shows how to change the setting of control method selection (Pn000.1) of the function
selection basic switch Pn000 from speed control to position control.
Display after
Operation
1 mode. If Pn000 is not displayed, press the UP or the
MODE/SET DATA/ DOWN Key to select Pn000.

2
ond. The current data of Pn000 is displayed.
MODE/SET DATA/
Press the DATA/SHIFT Key once to select the second digit

3
of current data.
MODE/SET DATA/
Press the UP Key once to change "n.0010."

4
(Set the control method to position control.)
MODE/SET DATA/
Press the DATA/SHIFT Key.

5 The value blinks and is saved.
The control method is changed to position control.
Display blinks MODE/SET DATA/

6
ond. "Pn.000" is displayed again.
MODE/SET DATA/
2-10
2.7 Monitor Mode (Un)
2.7 Monitor Mode (Un)

The monitor mode can be used for monitoring the reference values, I/O signal status, and SERVOPACK inter-
nal status.
For details, refer to 8.2 Operation in Monitor Mode.
The panel operator display numbers beginning with Un.
Display Example for Motor Speed
The example below shows how to display the contents of monitor number Un000.
Display after
Operation
1 Press the MODE/SET Key to select the monitor mode.

MODE/SET DATA/
2 Press the UP or the DOWN Key to select Un000.

MODE/SET DATA/
Press the DATA/SHIFT Key for approximately one second

3
to display the data of Un000.
MODE/SET DATA/

4
to return to the display of monitor number (step 1).
MODE/SET DATA/
Panel Operator
2
2-11
3
Wiring and Connection
3.1 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3.1.1 Names and Functions of Main Circuit Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.1.2 SERVOPACK Main Circuit Wire Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3.1.3 Typical Main Circuit Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.1.4 General Precautions for Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3.1.5 Precautions When Using the SERVOPACK with a DC Power Input . . . . . . . . . . . . . 3-10
3.1.6 Precautions When Using the SERVOPACK with Single-phase, 200 V Power Input . 3-12
3.1.7 Precautions When Using More Than One SERVOPACK . . . . . . . . . . . . . . . . . . . . . 3-15
3.1.8 Designing a Power ON Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
3.2 I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17

3.2.1 I/O Signal (CN1) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
3.2.2 I/O Signal Connector (CN1) Terminal Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
3.2.3 Safety Function Signal (CN8) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . 3-20

3.2.4 Safety Function Signal (CN8) Terminal Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20
3.2.5 Example of I/O Signal Connections in Speed Control . . . . . . . . . . . . . . . . . . . . . . . . 3-21
3.2.6 Example of I/O Signal Connections in Position Control . . . . . . . . . . . . . . . . . . . . . . 3-22
3.2.7 Example of I/O Signal Connections in Force Control . . . . . . . . . . . . . . . . . . . . . . . . 3-23
3.3 I/O Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24

3.3.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24
3.3.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28
3.4 Examples of Connection to Host Controller . . . . . . . . . . . . . . . . . . . . . . 3-32

3.4.1 Connection Examples of Reference Input Circuits to SERVOPACK . . . . . . . . . . . . . 3-32 3
3.4.2 Connection Examples of Sequence Input Circuits to SERVOPACK . . . . . . . . . . . . . 3-34
3.4.3 Connection Examples of Output Circuits to SERVOPACK . . . . . . . . . . . . . . . . . . . . 3-35
3.5 Examples of Linear Scale Connection . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38

3.5.1 Connection Example of a Linear Scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38
3.5.2 CN2 Linear Scale Connector Terminal Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-39
3.6 Connecting Regenerative Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-40

3.6.1 Connecting Regenerative Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-40
3.6.2 Setting Regenerative Resistor Capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-42
3.7 Noise Control and Measures for Harmonic Suppression . . . . . . . . . . . . 3-43

3.7.1 Wiring for Noise Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-43
3.7.2 Precautions on Connecting Noise Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-45
3.7.3 Connecting DC Reactor for Harmonic Suppression . . . . . . . . . . . . . . . . . . . . . . . . . 3-47
3-1
3 Wiring and Connection
3.1 Main Circuit Wiring

The names, specifications, and functions of the main circuit terminals are given on the following page.
Also this section describes the general precautions for wiring and precautions under special environments.
3-2
3.1.1 Names and Functions of Main Circuit Terminals

Names, functions and specifications are shown in the following table.
㧢
CN3
CN7
CN1
CN8
CN2
: Main terminals
Name Terminal Symbols Model SGDV- Description

Single-phase 100 to 115 V,
L1, L2 F
+10% to –15% (50/60 Hz)
Main circuit input Three-phase 200 to 230 V,
A
terminals +10% to –15% (50/60 Hz)
L1, L2, L3
Three-phase 380 to 480 V,
D
+10% to –15% (50/60 Hz)

F
+10% to –15% (50/60 Hz)
Control power input L1C, L2C
terminals A
+10% to –15% (50/60 Hz)
24V, 0V D 24 VDC, ±15%
If the regenerative capacity is insufficient,
R70F, R90F, 2R1F, 2R8F, connect an external regenerative resistor
R70A, R90A, 1R6A, 2R8A
(option) between B1/ and B2.
3R8A, 5R5A, 7R6A, 120A,

If the internal regenerative resistor is 3
B1/ , B2, insufficient, remove the wire between B2
External regenerative 180A, 200A, 330A, 1R9D, and B3 and connect an external regenera-
resistor terminals or 3R5D, 5R4D, 8R4D, 120D,
B1, B2 170D tive resistor (option) between B1/ and
B2, or B1 and B2.
Connect a regenerative resistor unit
470A, 550A, 590A, 780A,
210D, 260D, 280D, 370D (option) between B1/ and B2, or B1
and B2.
DC reactor Normally short 1 and 2.
connection terminal A If a countermeasure against power supply
for power supply 1, 2 D harmonic waves is needed, connect a DC
harmonic
suppression reactor between 1 and 2.
Main circuit plus A
terminal B1/ or B1
D
Use when DC power supply input is used.
Main circuit minus A
terminal 2 or D
3-3
3.1.2 SERVOPACK Main Circuit Wire Size
Name Terminal Symbols Model SGDV- Description

Linear Servomotor
U, V, W Use for connecting to the linear servomotor.
connection terminals
Ground terminals Use for connecting the power supply ground terminal and servomotor
(× 2) ground terminal.
3.1.2 SERVOPACK Main Circuit Wire Size

This section describes the SERVOPACK Main Circuit Wire Size.
1. Wire sizes are selected for three cables per bundle at 40°C surrounding air tempera-
ture with the rated current.
2. Use a wire with a minimum withstand voltage of 600 V for the main circuit.
3. If wires are bundled in PVC or metal ducts, take into account the reduction of the
allowable current.
4. Use a heat-resistant wire under high surrounding air or panel temperatures, where
polyvinyl chloride insulated wires will rapidly deteriorate.
(1) Wire Types

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

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

Nominal Allowable Current at Surrounding Air
Configuration Conductive
Cross Section Temperature (A)
AWG Size (Number of Resistance
Diameter
2 Wires/mm2) (Ω/km) 30°C 40°C 50°C
(mm )
20 0.5 19/0.18 39.5 6.6 5.6 4.5
19 0.75 30/0.18 26.0 8.8 7.0 5.5
18 0.9 37/0.18 24.4 9.0 7.7 6.0
16 1.25 50/0.18 15.6 12.0 11.0 8.5
14 2.0 7/0.6 9.53 23 20 16
12 3.5 7/0.8 5.41 33 29 24
10 5.5 7/1.0 3.47 43 38 31
8 8.0 7/1.2 2.41 55 49 40
6 14.0 7/1.6 1.35 79 70 57
4 22.0 7/2.0 0.85 91 81 66
Note: The values in the table are for reference only.
3-4
(2) Single-phase, 100 V

Terminal SERVOPACK Model SGDV-
External Terminal Name
Symbols R70 R90 2R1 2R8
Main circuit power input
L1，L2 HIV1.25 HIV2.0
terminals
Control power input terminals L1C，L2C HIV1.25
Servomotor connection
U，V，W HIV1.25
terminals
External regenerative resistor
B1/ ，B2 HIV1.25
connection terminals
Ground terminal HIV2.0 or higher
(3) Three-phase, 200 V

External Terminal Terminal SERVOPACK Model SGDV-
Name Symbols R70 R90 1R6 2R8 3R8 5R5 7R6 120 180 200 330 470 550 590 780
Main circuit power L1, L2, HIV HIV HIV
HIV1.25 HIV2.0 HIV3.5 HIV22.0
input terminals L3 5.5 8.0 14.0
Control power input L1C,
HIV1.25
terminals L2C
Servomotor
HIV HIV HIV
connection U, V, W HIV1.25 HIV2.0 HIV14.0 HIV22.0
3.5 5.5 8.0
terminals
External
regenerative B1/ , HIV HIV HIV
HIV1.25 HIV8.0 HIV22.0
resistor connection B2 2.0 3.5 5.5
terminals
(4) Three-phase, 400 V

Terminal SERVOPACK Model SGDV-

External Terminal Name
Symbols 1R9 3R5 5R4 8R4 120 170 210 260 280 370
Main circuit power input HIV HIV HIV
L1, L2, L3 HIV1.25 HIV2.0 HIV3.5
terminals 5.5 8.0 14.0
Control power input terminals 24V, 0V HIV1.25
Servomotor connection HIV HIV HIV
U, V, W HIV1.25 HIV2.0 HIV5.5
terminals 3.5 8.0 14.0
External regenerative resistor B1/ , B2 HIV HIV HIV
HIV1.25 HIV3.5
connection terminals (B1, B2) 2.0 5.5 8.0
3
3-5
3.1.3 Typical Main Circuit Wiring Examples

This section describes the typical main circuit wiring examples.
WARNING
• Do not touch the power terminals while the charge indicator is ON after turning OFF the power. High volt-
age may still remain in the SERVOPACK. When the voltage is discharged, the charge indicator will turn
OFF. Make sure the charge indicator is OFF before starting wiring or inspections.
Single-phase 100 V, SGDV-F (SGDV-R70F, R90F, 2R1F, 2R8F)

R T SERVOPACK
SGDV-F
1QF
3SA
U
1FIL V M
2KM
W
L1
L2
1KM
ENC
L1C
L2C
+24V
(For servo CN1 1Ry
alarm display) B1/ ALM+ 31
1Ry
B2
1PL
Servo power Servo power ALM− 32 1D 0V
supply ON supply OFF 1KM
1KM 1SA
1KM 1Ry 2KM
2SA
1QF: Molded-case circuit breaker 1PL: Indicator lamp

1FIL: Noise filter 1SA: Surge absorber
1KM: Magnetic contactor (for control power supply) 2SA: Surge absorber
2KM: Magnetic contactor (for main power supply) 3SA: Surge absorber
1Ry: Relay 1D: Flywheel diode
3-6
Three-phase 200 V, SGDV-A

• SGDV-R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, 120A, 180A, 200A, 330A
R S T SERVOPACK
SGDV-A
1QF
3SA
U
1FIL V M
2KM
L1 W
L2
L3
1KM
L1C ENC
L2C
(For servo +24 V

alarm display) B1/ CN1 1Ry
1Ry B2 ALM+ 31
∗
1PL B3
Servo power Servo power 1 1D 0V
ALM− 32
supply ON supply OFF 1KM 2
1KM 1SA
1KM 1Ry 2KM
2SA

∗ For SGDV-R70A, -R90A, -1R6A, -2R8A, terminals B2 and B3 are not short-circuited.
• SGDV-470A, 550A, 590A, 780A
R S T
SERVOPACK
SGDV-A

1QF
3SA
U
1FIL V M
2KM
L1 W
L2
L3
1KM
L1C ENC
L2C
(For servo
alarm display) B1/ CN1
+24 V 3
1Ry 1Ry
B2 ALM+ 31
1PL
Servo power Servo power 1D 0V
supply ON supply OFF ALM− 32
1KM
1KM 1SA
Regenerative
1KM 1Ry 2KM resistor unit
2SA

3-7
Three-phase 400 V, SGDV-D

• SGDV-1R9D, 3R5D, 5R4D, 8R4D, 120D, 170D
R S T
SERVOPACK
1QF SGDV-D
3SA
U
1FIL V M
2KM
L1 W
L2
L3
1KM
DC power + 24V ENC
supply

24V − 0V
(For servo +24 V

1Ry B2 ALM+ 31
B3
1PL
ALM− 32
supply ON supply OFF 2
1KM
1KM 1SA
1KM 1Ry 2KM
2SA
• SGDV-210D, 260D, 280D, 370D

R S T
SERVOPACK
1QF SGDV-D
3SA
U
1FIL V M
2KM
L1 W
L2
L3
1KM
DC power + 24V
supply ENC
(24 V) − 0V
(For servo +24 V

1Ry B2 ALM+ 31
1PL
ALM− 32
supply ON supply OFF 2
1KM
1KM 1SA
Regenerative
1KM 1Ry 2KM resistor unit
2SA
3-8
3.1.4 General Precautions for Wiring

Use a molded-case circuit breaker (1QF) or fuse to protect the main circuit.
• The SERVOPACK connects directly to a commercial power supply; it is not isolated
through a transformer or other device.
Always use a molded-case circuit breaker (1QF) or fuse to protect the servo system
from accidents involving different power system voltages or other accidents.
Install a ground fault detector.
• The SERVOPACK does not have a built-in protective circuit for grounding. To config-
ure a safer system, install a ground fault detector against overloads and short-circuit-
ing, or install a ground fault detector combined with a molded-case circuit breaker.
Do not turn power ON and OFF frequently.
• The power supply in the SERVOPACK contains a capacitor, which causes a high
charging current to flow when power is turned ON. Frequently turning power ON and
OFF will causes the main circuit elements in the SERVOPACK to deteriorate.
To ensure safe, stable application of the servo system, observe the following precautions when wiring.
Use the connecting cables specified in the Σ-V Series Product Catalog (KAEP S800000 42). Design
and arrange the system so that each cable will be as short as possible.
Observe the following precautions when wiring the main circuit.

• Use shielded twisted-pair wires or shielded multi-core twisted-pair wires for signal lines and encoder lines
for serial converter unit.
• The maximum wiring length is 3 m for signal lines and 50 m for encoder lines for serial converter unit.
Observe the following precautions when wiring the ground.

• Use a cable as thick as possible (at least 2.0 mm2)
• Grounding to a resistance of 100Ω or less is recommended.
• Be sure to ground at only one point.
• Ground the servomotor directly if the servomotor is insulated from the machine.

The signal cable conductors are as thin as 0.2 mm or 0.3 mm. Do not impose excessive bending
force or tension.
3-9
3.1.5 Precautions When Using the SERVOPACK with a DC Power Input
3.1.5 Precautions When Using the SERVOPACK with a DC Power Input

When using the SERVOPACK with a DC power input, set parameter Pn001.2 to 1, and pay attention to the
following items.
WARNING
• Either AC or DC power can be input to the 200 V, 400 V SERVOPACKs. Always set Pn001.2 to 1 to spec-
ify a DC power input before inputting DC power. Only AC power can be input to the 100 V SERVOPACKs.
If DC power is input without changing the parameter setting, the SERVOPACK’s internal elements will burn and
may cause fire or equipment damage.
• With a DC power input, time is required to discharge electricity after the main power supply is turned OFF.
A high residual voltage may remain in the SERVOPACK after the power supply is turned OFF. Be careful
not to get an electric shock.
• Install fuses on the wires if DC power is used.
• Linear servomotor returns a regenerated energy to the power supply. The SERVOPACK that can use a
DC power supply is not capable of processing the regenerated energy. Provide measures to process the
regenerated energy on the power supply.
• With a DC power input, connect an external inrush current limit circuit.
(1) DC Power Supply Input Terminals for the Main and Control Circuits
Three-phase, 200 V
Terminal Name and Description
SERVOPACK model Main circuit minus Control power supply
Main circuit plus terminal
SGDV- terminal input terminal
270 to 320 VDC 0 VDC 200 to 230 VAC
R70A，R90A，1R6A，
2R8A，3R8A，5R5A，
B1/ 2 L1C, L2C
7R6A，120A，180A，
200A，330A
470A, 550A, 590A, 780A B1/ L1C, L2C
Three-phase, 400 V
Terminal Name and Description
SERVOPACK model Main circuit minus Control power supply
Main circuit plus terminal
SGDV- terminal input terminal
513 to 648 VDC 0 VDC 24 VDC ± 15%
1R9D, 3R5D, 5R4D,
8R4D, 120D, 210D, B1/ 2 24 V, 0 V
260D, 280D, 370D
170D 2 24 V, 0 V
3-10
(2) Wiring Example with DC Power Supply Input

200 V SERVOPACK SGDV-A
R S T
1QF
SERVOPACK
3SA SGDV-A
1FIL
U
2KM 1FU V M
*
B1/ + W
AC/DC
2
ENC
1KM
L1C
L2C +24 V
CN1 1Ry
(For servo ALM+ 31
alarm display)
1Ry
ALM− 32 1D 0V
1PL
Servo power Servo power
supply ON supply OFF
1KM
1KM 1SA
1KM 1Ry 2KM
2SA
400 V SERVOPACK SGDV-D

R S T
1QF
3SA SERVOPACK

SGDV-D
1FIL U
2KM 1FU V M
*
B1 W
AC/DC
2
ENC
1KM
24 V
AC/DC 0V +24 V
CN1 1Ry
ALM+ 31
(For servo
alarm display) ALM− 32 1D 0V 3
1Ry
1PL
supply ON supply OFF
1KM
1KM 1SA
1KM 1Ry 2KM
2SA
∗ Terminal names differ from model of SERVOPACK. Refer to (1) DC Power Supply Input Terminals for the Main and Con-
trol Circuits.
Note: The SERVOPACK that can use a DC power supply is not capable of processing the regenerated energy. Provide
measures to process the regenerated energy on the power supply.
3-11
3.1.6 Precautions When Using the SERVOPACK with Single-phase, 200 V Power Input
(3) Parameter Setting

When using a DC power supply, make sure to set the parameter Pn001.2 to "1" (DC power input supported)
before inputting DC power.

n.0 Enables use of AC power input.
Pn001 After restart Setup
n.1 Enables use of DC power input.
3.1.6 Precautions When Using the SERVOPACK with Single-phase, 200 V Power
Input
Some models of Σ-V series three-phase 200 V power input SERVOPACK can be used also with a single-phase
200 V power supply.
The following models support single-phase 200 V power input.

SGDV-R70A, -R90A, -1R6A, -2R8A, -5R5A
When using the SERVOPACK with single-phase, 200 V power input, set parameter Pn00B.2 to 1.

Single-phase Power Input Selection
Enables use of three-phase power supply for three-phase
n.0
SERVOPACK. [factory setting]
Pn00B After restart Setup
Enables use of single-phase power supply for three-phase
n.1
SERVOPACK.
WARNING
• If a single-phase 200 V is input to a SGDV-R70A, -R90A, -1R6A, -2R8A, or -5R5A single-phase power
input supported SERVOPACK without having changed the setting of Pn00B.2 to 1 (single-phase power
input), the main circuit cable open phase alarm (A.F10) will be detected.
• The SERVOPACK models, SGDV-R70A, -R90A, -1R6A, -2R8A, and -5R5A, support single-phase 200 V
power input. If a single-phase 200 V is input to the SERVOPACK models that do not support single-phase
power input, the main circuit cable open phase alarm (A.F10) will be detected.
• When using a single-phase 200 V power supply, the SGDV-R70A, -R90A, -1R6A, -2R8A, or -5R5A SER-
VOPACK may not be able to produce the same servomotor force-speed characteristics as using a three-
phase 200 V power input. Refer to the diagram of each motor force-speed characteristics in Σ-V Series
Product Catalog (KAEPS80000042).
(2) Main Circuit Power Input

Connect a single-phase 200 V power supply of the following specifications to L1 and L2 terminals.
The specifications of the power supplies other than the main circuit power supply are the same as for three-
phase power supply input.
Terminal
Name Model SGDV- Rating
Symbols
Main circuit power Single-phase 200 V to 230 V,
L1, L2, R70A, R90A,
input terminals +10% to –15% (50/60 Hz)
1R6A, 2R8A, 5R5A
L3* – None
∗ Do not use L3 terminal.
3-12
(3) Wiring Example with Single-phase 200 V Power Supply Input

Single-phase 200 V SERVOPACK SGDV-R70A, -R90A, -1R6A, -2R8A, -5R5A
R T
SERVOPACK
1QF SGDV-A
3SA
U
1FIL V M
2KM
W
L1
L2
1KM L3 ENC
L1C
L2C
+24 V
(For servo B1/ CN1 1Ry
alarm display) B2 ALM+ 31
1Ry
B3
1PL 1 ALM− 1D 0V
32
Servo power Servo power 2
supply ON supply OFF 1KM
1KM 1SA
1KM 1Ry 2KM
2SA
1QF : Molded-case circuit breaker 1PL : Indicator lamp
1FIL : Noise filter 1SA : Surge absorber
1KM: Magnetic contactor (for control power supply) 2SA : Surge absorber
2KM: Magnetic contactor (for main power supply) 3SA : Surge absorber
(4) Power Supply Capacities and Power Losses

The following table shows SERVOPACK’s power supply capacities and power losses when using single-
phase 200 V power supply.

Maximum
Power Supply Regenerative Control Total
Applicable SERVOPACK Output Main Circuit
Main Power Capacity per Resistor Circuit Power
Servomotor Model Current Power Loss
Supply SERVOPACK Power Loss Power Loss Loss
Capacity SGDV- [Arms] [W]
[kVA] [W] [W] [W]
[kW]
0.05 R70A 0.2 0.66 5.2 22.2
0.1 R90A 0.3 0.91 7.4 24.4
Single-phase –
0.2 1R6A 0.7 1.6 13.7 17 30.7
200 V
0.4 2R8A 1.2 2.8 24.9 41.9
0.75 5R5A 1.9 5.5 52.7 8 77.7
3
Note 1. SGDV-R70A, -R90A, -1R6A, and -2R8A SERVOPACKs do not have built-in regenerative resistors. If the regen-
erative energy exceeds the specified value, connect an external regenerative resistor.
2. Regenerative resistor power losses are allowable losses. Take the following action if this value is exceeded.
• Remove the lead from the internal regenerative resistor in the SERVOPACK. (SGDV-5R5A)
• Install an external regenerative resistor.
3. External regenerative resistors are options.
3-13
3.1.6 Precautions When Using the SERVOPACK with Single-phase, 200 V Power Input
(5) Molded-case Circuit Breaker and Fuse Capacities

The following table shows the molded-case circuit breaker and fuse capacities when using single-phase 200 V
power supply.
Maximum Current Capacity Inrush Current

Power Supply
Applicable SERVOPACK
Main Power Capacity per Control Control
Servomotor Model Main Circuit Main Circuit
Supply SERVOPACK Circuit Circuit
Capacity SGDV- [Arms] [A0-p]
[kVA] [Arms] [A0-p]
[kW]
0.05 R70A 0.2 2
0.1 R90A 0.3 2
Single-phase 70
0.2 1R6A 0.7 3 0.2 33
200 V
0.4 2R8A 1.2 5
0.75 5R5A 1.9 9 33
Note: To comply with the low voltage directive, connect a fuse to the input side. Select the fuse for the input side from
among models that are compliant with UL standards.
The table above also provides the net values of current capacity and inrush current. Select a fuse and a molded-case
circuit breaker which meet the breaking characteristics shown below.
• Main circuit, control circuit: No breaking at three times the current values shown in the table for 5 s.
• Inrush current: No breaking at the current values shown in the table for 20 ms.
3-14
3.1.7 Precautions When Using More Than One SERVOPACK

This section shows an example of the wiring when more than one SERVOPACK is used and the precautions.
(1) Wiring Example

Connect the alarm output (ALM) terminals for the three SERVOPACKs in series to enable alarm detection
relay 1RY to operate.
When the alarm occurs, the ALM output signal transistor is turned OFF.
Power supply
R S T
1QF
3SA
1FIL 1KM
2KM
Relay L1
L2 SERVOPACK Servomotor
terminal
L3
Relay
terminal M
L1C
(For servo alarm
display) L2C
1Ry
+24V
CN1 1Ry
1PL ALM+ 31
supply ON supply OFF ALM - 32 ID
1KM

1KM
L1 SERVOPACK
1SA L2 Servomotor
1KM 1Ry 2KM L3
Relay
Relay terminal M
terminal L1C
2SA
L2C
1QF: Molded-case circuit breaker CN1

ALM+ 31
1FIL: Noise filter
1KM: Magnetic contactor ALM- 32
(for control power supply)
2KM: Magnetic contactor
3
(for main power supply)
1Ry: Relay
1PL: Indicator lamp L1 SERVOPACK
1SA: Surge absorber L2 Servomotor
L3
2SA: Surge absorber
3SA: Surge absorber M
1D: Flywheel diode L1C
L2C
CN1
ALM+ 31
ALM - 32
0V
(2) Precautions
Multiple servos can share a single molded-case circuit breaker (1QF) or noise filter. Always select a QF or
noise filter that has enough capacity for the total power capacity (load conditions) of those servos.
3-15
3.1.8 Designing a Power ON Sequence

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 is output.
• The ALM signal is output for five seconds max. when the power is turned ON. Take this into consideration when
designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop main circuit power
supply to the SERVOPACK.
Control power supply 5.0 s max.
Servo alarm (ALM)

output 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 after the control power supply. When turning OFF the
power supplies, first turn OFF the power for the main circuit and then turn OFF the
control power supply.
3-16
3.2 I/O Signal Connections

This section describes the names and functions of I/O signals (CN1). Also terminal layout and 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-
Control Signal
Pin No. Function ence
Method Name
Section
/S-ON 40 Servo ON/OFF: Turns ON/OFF the servomotor. 5.2.1
Function selected by parameter. −
Proportional control Switches the speed control loop from PI (proportional/
6.8.4
reference integral) to P (proportional) control when ON.
For the internal set speed selection: Switches the movement
Direction reference 5.6.1
direction.
Position ↔ speed
/P-CON 41
Control switching Position ↔ force Enables control switching. 5.7.3
Force ↔ speed
Speed control with zero-clamp function: Reference

Zero-clamp reference 5.3.5
speed is zero when ON.
Reference pulse Position control with reference pulse stop: Stops reference
5.4.7
block pulse input when ON.
Common Forward run
P-OT 42 prohibited, Overtravel prohibited: Stops servomotor when movable part
5.2.3
N-OT 43 Reverse run travels beyond the allowable range of motion.
prohibited
Function selected by parameter. 5.10.1
Forward external

force limit ON, 5.8.2
/P-CL 45 Force limit function used when ON.
Reverse external 5.8.4
/N-CL 46 force limit ON
Internal speed With internal reference speed selected: Switches the
5.6.1
switching internal speed settings.
/ALM-
44 Alarm reset: Releases the servo alarm state. −
RST
Control power supply input for sequence signals: The 24 V power supply is not
+24VIN 47 included. 3.4.2
Allowable voltage fluctuation range: 11 to 25 V 3
SEN 4 (2) Initial data request signal when using an absolute encoder. 5.9.2
5.3.1
Speed V-REF 5 (6) Inputs speed reference. Input voltage range: ± 12 V max.
5.5.3
Input pulse modes: Set one of them.
PULS 7
• Sign + pulse string
/ PULS 8
• CCW/CW pulse 5.4.1
SIGN 11
Position • Two-phase pulse (90° phase differential)
/SIGN 12
Reference pulse input for only line driver
CLR 15
Position error pulse clear: Clears position error pulse during position control. 5.4.2
/CLR 14
5.5.1
Force T-REF 9 (10) Inputs force reference. Input voltage range: ± 12 V max. 5.8.3
5.8.5
Note 1. Pin numbers in parentheses () indicate signal grounds.
2. The functions allocated to /S-ON, /P-CON, P-OT, N-OT, /ALM-RST, /P-CL, /N-CL, and /P-DET input signals
can be changed by using the parameters. Refer to 3.3.1 Input Signal Allocations.
3-17
3.2.1 I/O Signal (CN1) Names and Functions
(2) Output Signals

Refer-
Control Signal
Pin No. Function ence
Method Name
Section
ALM+ 31
Servo alarm: Turns OFF when an error is detected. 5.10.1
ALM- 32
/TGON+ 27 Detection during servomotor movement: Turns ON when the servomotor is moving
5.10.3
/TGON- 28 at a speed higher than the motor speed setting.
/S-RDY+ 29 Servo ready: ON if there is no servo alarm when the control/main circuit power
5.10.4
/S-RDY- 30 supply is turned ON.
PAO 33
Phase-A signal
/PAO 34
Two-phase pulse encoder output pulse signals
Common PBO 35 5.3.6
Phase-B signal
/PBO 36 5.9.6
PCO 19
Phase-C signal Origin pulse signal
/PCO 20
ALO1 37 (1)
ALO2 38 (1) Alarm code output: Outputs 3-bit alarm codes. 5.10.1
ALO3 39 (1)
Connected to frame ground if the shield wire of the I/O signal cable is connected
FG Shell −
to the connector shell.
/V-CMP+ 25 Turns ON when whether the motor speed is within the setting range is detected and if
Speed 5.3.8
/V-CMP- 26 it matches the reference speed value.
/COIN+ 25
Position Turns ON when the number of position error pulse reaches the value set. 5.4.5
/COIN- 26
/CLT
5.8.5
/VLT Reserved terminals 5.5.3
/BK − The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN) can be changed by
5.10.2
/WARN using the parameters.
5.4.6
/NEAR
PL1 3
PL2 13 Signals of power supply for open-collector reference −
PL3 18
Reserved
16
17
18
23 Terminals not used.
− −
24 Do not connect.
48
49
50
Note 1. Pin numbers in parentheses () indicate signal grounds.
2. The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN) output signals can be changed by using the
parameters. Refer to 3.3.2 Output Signal Allocations.
3-18
3.2.2 I/O Signal Connector (CN1) Terminal Layout

The following table shows the terminal layout of I/O signal connectors (CN1).
Speed
/V-CMP- coincidence
1 SG GND 26
(/COIN-) detection
TGON signal output
2 SG GND 27 /TGON+
output
Power supply
for open- TGON signal
3 PL1 28 /TGON-
collector output
SEN signal reference Servo ready
4 SEN 29 /S-RDY+
input output
Speed
Servo ready
5 V-REF reference 30 /S-RDY-
output
input Servo alarm
6 SG GND 31 ALM+
output
Reference Servo alarm
7 PULS 32 ALM-
pulse input Encoder output
Reference
8 /PULS 33 PAO output pulse
pulse input Force Encoder
Phase A
9 T-REF reference 34 /PAO output pulse
input Encoder Phase A
10 SG GND 35 PBO output pulse
Phase B Encoder
Reference
11 SIGN 36 /PBO output pulse
sign input
Reference Alarm code Phase B
12 /SIGN 37 ALO1
sign input Power supply output
for open- Alarm code
13 PL2 38 ALO2
collector output
reference Alarm code
14 /CLR Clear input 39 ALO3
output
Servo ON
15 CLR Clear input 40 /S-ON
input
16 − − 41 /P-CON P control input
Forward run
17 − − 42 P-OT
Power supply prohibit input
for open- Reverse run
18 PL3 43 N-OT

collector Encoder prohibit input
reference /ALM- Alarm reset
19 PCO output pulse 44
RST input
Encoder Phase C Forward
20 /PCO output pulse 45 /P-CL external force
Phase C limit input Reverse
21 − − 46 /N-CL external force
+24 V External input limit input
22 − − 47
IN power supply
23 − − 48 − −
24 − − 49 − − 3
Speed
coincidence
25 /V-CMP+ 50 − −
(/COIN+) detection
output
Note 1. Do not use unused terminals.

2. Connect the shield of the I/O signal cable to the connector shell.
Connect to the FG (frame ground) at the SERVOPACK connector.
3. The functions allocated to the following input and output signals can be changed by using the parameters. Refer
to 3.3.1 Input Signal Allocations and 3.3.2 Output Signal Allocations.
Input signals: /S-ON, /P-CON, P-OT, N-OT, /ALM-RST, /P-CL, /N-CL, and /P-DET
Output signals: /TGON, /S-RDY, and /V-CMP (/COIN)
3-19
3.2.3 Safety Function Signal (CN8) Names and Functions
3.2.3 Safety Function Signal (CN8) Names and Functions

The following table shows the names and functions of safety function signals (CN8).
Signal Name Pin No. Function

/HWBB1+ 4
/HWBB1- 3 Hard wire baseblock input
/HWBB2+ 6 Baseblock (motor current off) when OFF
/HWBB2- 5
EDM1+ 8 Monitored circuit status output
EDM1- 7 ON when the hard wire baseblock function is normally activated.
3.2.4 Safety Function Signal (CN8) Terminal Layout

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

1 − Unused terminal *
2 − Unused terminal *
3 /HWBB1- Hard wire baseblock input 1
4 /HWBB1+ Hard wire baseblock input 1
5 /HWBB2- Hard wire baseblock input 2
6 /HWBB2+ Hard wire baseblock input 2
7 EDM1- Monitored circuit status output 1
8 EDM1+ Monitored circuit status output 1
∗ Do not use unused terminals. (connected to the internal circuits)
3-20
3.2.5 Example of I/O Signal Connections in Speed Control

Connection example in speed control mode is as shown below.
SERVOPACK
Speed reference
∗1 ∗2 CN1
(Max. input
V-REF 5 LPF
voltage range:
± 12 V) SG 6
A/D
* ∗2 37 ALO1
External force 4
limit/Force feed T-REF 9 LPF Alarm code output
38 ALO2 Max. operating voltage:
forward
(Max. input SG 10 30 VDC
39 ALO3 Max. output current:
voltage range: 20 mA DC
± 12 V)
33 PAO
34 /PAO
35 PBO Encoder output pulses

SEN 4 Applicable line receiver
+5 V 36 /PBO SN75ALS175 or MC3486
∗
SEN signal input 3 SG 2 manufactured by Texas
0V 19 Instruments or the equivalent
PCO
∗ 20 /PCO
+24 V 5 3.3 kΩ
+24 VIN 47 SG
1
Servo ON /S-ON 40 (SI0)

(Servo ON when ON) (SO1) /V-CMP+
25
Speed coincidence detection
P control /P-CON 41 (SI1) 26 /V-CMP- (ON when speed coincides.)
(P control when ON)
P-OT 42 (SI2) (SO2) 27 /TGON+

Forward run prohibited TGON output
(Prohibited when OFF)
28 /TGON- (ON when the motor speed
exceeds the settings.)
Reverse run prohibited N-OT 43 (SI3)
(Prohibited when OFF) (SO3) 29 /S-RDY+
Servo ready output
Alarm reset /ALM-RST 44 (SI4) 30 /S-RDY- (ON when ready)
(Reset when ON)
Forward current limit /P-CL 45 (SI5) 31 ALM+

(Limit when ON) Servo alarm output
32 ALM- (OFF for an alarm)

Reverse current limit /N-CL 46 (SI6) Photocoupler output
(Limit when ON) Max. operating voltage:
Switch 30 VDC
CN8
/HWBB1+ 4 Max. output current:
24 V 8 EDM1+ 50 mA DC
fuse
/HWBB1- 3
Safety device ∗6 /HWBB2+ 6

7 EDM1-
/HWBB2- 5
0V
SERVOPACK
Connector
shell 3
FG Connect shield to
connector shell.
∗1. represents twisted-pair wires.

∗2. The time constant for the primary filter is 30 μs.
∗3. Connect when using an absolute linear scale manufactured by Mitutoyo.
∗4. Enabled by the parameter setting.
∗5. The 24 VDC power supply is not included. Use a power supply with double insulation or reinforced insulation.
∗6. For servo ON, connect to safety device and set wiring to enable safety function. When not using the safety function,
use the SERVOPACK with the plug (JZSP-CVH05-E, provided as an accessory) inserted into the CN8.
Note: The functions allocated to the input signals SI0 to SI6 and the output signals SO1 to SO3 can be changed by using
the parameters. Refer to 3.3.1 Input Signal Allocations and 3.3.2 Output Signal Allocations.
3-21
3.2.6 Example of I/O Signal Connections in Position Control
3.2.6 Example of I/O Signal Connections in Position Control

Connection example in position control mode is as shown below.
SERVOPACK
∗1. 150Ω CN1
PULS 7
PULS
CW
Phase A
/PULS 8
150Ω 37 ALO1
SIGN 11
Position SIGN Alarm code output
reference CCW 38 ALO2 Max. operating voltage:
Phase B 30 VDC
/SIGN 12 39 ALO3 Max. output current:
CLR 15 150Ω 20 mA DC
CLR
/CLR 14
33 PAO
34 /PAO
Encoder output pulses

35 PBO
Applicable line receiver
SEN 4 36 /PBO SN75ALS175 or MC3486
+5 V
∗ manufactured by Texas
SEN signal input 2 SG 2 Instruments or the equivalent
0V 19 PCO
∗3 20 /PCO
3.3 kΩ
+24 V +24 VIN 47
1 SG
Servo ON /S-ON 40 (SI0)

(Servo ON when ON) (SO1) 25 /COIN+
Positioning completed
P control /P-CON 41 (SI1) (ON when positioning
26 /COIN- completes.)
(P control when ON)
P-OT 42 (SI2) (SO2) 27 /TGON+

Forward run prohibited
(Prohibited when OFF) TGON output
exceeds the settings.)
Reverse run prohibited N-OT 43 (SI3)
(Prohibited when OFF) (SO3) 29 /S-RDY+
Servo ready output
Alarm reset /ALM-RST 44 (SI4) 30 /S-RDY- (ON when ready)
(Reset when ON)
Forward current limit /P-CL 45 (SI5) 31 ALM+

Reverse current limit /N-CL 46 (SI6) Photocoupler output
(Limit when ON) Max. operating voltage:
Switch 30 VDC
CN8 Max. output current:
/HWBB1+ 4
24 V 8 EDM1+ 50 mA DC
fuse
/HWBB1- 3

7 EDM1-
/HWBB2- 5
0V
SERVOPACK
Connector
shell
connector shell.

3-22
3.2.7 Example of I/O Signal Connections in Force Control

Connection example in force control mode is as shown below.
SERVOPACK
∗4 ∗1 ∗2 CN1
External speed limit V-REF 5
(Max. input LPF
voltage range: SG 6
± 12 V) A/D
∗2 37 ALO1
Force reference T-REF 9 Alarm code output
LPF 38 ALO2 Max. operating voltage:
(Max. input
voltage range: SG 10 30 VDC
39 ALO3 Max. output current:
± 12 V) 20 mA DC
33 PAO
34 /PAO
35 PBO Encoder output pulses

SEN 4 Applicable line receiver
+5 V 36 /PBO
∗ SN75ALS175 or MC3486
SEN signal input 3 SG 2 manufactured by Texas
0V 19 PCO Instruments or the equivalent
∗5 20 /PCO
+24 V +24 VIN 47 3.3 kǡ
1 SG
Servo on /S-ON 40
SI0
(Servo ON when ON)
SO1 25 /VLT+ Speed limit output
(ON when the motor's
P control /P-CON 41
SI1 26 /VLT-
(P control when ON) running speed is limited.)*4
Forward run prohibited P-OT 42

SI2
SO2 27 /TGON+
(Prohibited when OFF) TGON output
43
SI3 exceeds the settings.)
Reverse run prohibited N-OT
(Prohibited when OFF)
SO3 29 /S-RDY+
Servo ready output
Alarm reset /ALM-RST 44
SI4 30 /S-RDY- (ON when ready)
(Reset when ON)
/P-CL 45
SI5 31 ALM+
Forward current limit

Reverse current limit /N-CL 46
SI6
(Limit when ON) Photocoupler output
Switch Max. operating voltage:
CN8 30 VDC
/HWBB1+ 4 Max. output output:
24 V 8 EDM1+
fuse 50 mA DC
/HWBB1- 3

7 EDM1-
/HWBB2- 5
0V
SERVOPACK
Connector
shell
3
connector shell.

∗2. The time constant for the primary filter is 30 μs.
∗4. Enabled by the parameter setting.
3-23
3.3.1 Input Signal Allocations
3.3 I/O Signal Allocations

This section describes the I/O signal allocations.

In most cases, I/O signals can be used at the factory settings. I/O signals can also be allocated as required.
(1) Using Factory Settings

Items in cells with bold lines in the following table are the factory-set signal allocations.
If the control method is changed in Pn000.1, the signals will function as required for the control method.
The factory-set signal allocations will remain unchanged.
<Example>
When the control method is set to speed control with a contact reference, i.e., when Pn000.1 is set to 3, signal
/P-CON (CN1-41) will function as /SPD-D, signal /P-CL (CN1-45 ) as /SPD-A, and signal /N-CL (CN1-46)
as /SPD-B.
Pn000.1 CN1 Pin No.

Control Method Selection
Setting 40 41 42 43 44 45 46
0 Speed control (analog reference)
Uses as
1 Position control (pulse train reference) /P-CL /N-CL
/P-CON
2 Force control (analog reference)
3 Internal set speed control (contact reference)
Internal set speed control (contact reference) ⇔
4
Speed control (analog reference)
Uses as Uses as Uses as
Internal set speed control (contact reference) ⇔ /SPD-D /SPD-A /SPD-B
5
Position control (pulse train reference)
Speed control (contact reference) ⇔
6 /ALM-
Force control (analog reference) /S-ON P-OT N-OT
RST
Position control (pulse train reference) ⇔
7
Position control (pulse train reference) ⇔ Uses as
8
Force control (analog reference) /C-SEL
Force control (analog reference) ⇔ Uses as Uses as
9
Speed control (analog reference) /P-CL /N-CL
Uses as
A Speed control (analog reference) ⇔ Zero clamp
/ZCLAMP
Position control (pulse train reference) ⇔ Uses as
B
Position control (Inhibit) /INHIBIT
3-24
Input signal allocation can be checked using the parameters Pn50A and Pn50B.
Pn50A
Uses input terminal with factory setting.

Allocates /S-ON signal to CN1-40.
Allocates /P-CON signal to CN1-41.
Allocates /P-OT signal to CN1-42.
Pn50B
Allocates N-OT signal to CN1-43.

Allocates /ALM-RST signal to CN1-44.
Allocates /P-CL signal to CN1-45.
Allocates /N-CL signal to CN1-46.
(2) Changing Input Signal Allocations

1. When using Servo ON, Forward Run Prohibited, and Reverse Run Prohibited signals
with the setting "Polarity Reversal," the machine may not move to the specified safe
direction at occurrence of failure such as signal line disconnection. If such setting is
absolutely necessary, confirm the operation and observe safety precautions.
2. When two or more signals are allocated to the same input circuit, input signal level is
valid for all allocated signals.
When changing input signal allocations, set Pn50A.0 to 1 to enable making the changes.

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. 3
allocations are valid.
CN1 Pin Numbers Connection Not Required

Input Signal Names Validity Input (SERVOPACK judges the connection)
and Parameters Level Signal
40 41 42 43 44 45 46 Always ON Always OFF
Servo ON L /S-ON 0 1 2 3 4 5 6
7 8
Pn50A.1 H S-ON 9 A B C D E F
If always ON (7) or always OFF (8) is set, signals

will be processed in the SERVOPACK, which will
eliminate the need for wiring changes.
3-25
Connection Not
Required
CN1 Pin Numbers
Input Signal Names Validity Input (SERVOPACK judges
and Parameters Level Signal the connection)
Always Always
40 41 42 43 44 45 46
ON OFF
Servo ON L /S-ON 0 1 2 3 4 5 6
7 8
Pn50A.1 H S-ON 9 A B C D E F
Proportional Operation L /P-CON 0 1 2 3 4 5 6

Reference 7 8
Pn50A.2 H P-CON 9 A B C D E F
Forward Run Prohibited H P-OT 0 1 2 3 4 5 6

7 8
Pn50A.3 L /P-OT 9 A B C D E F
Reverse Run Prohibited H N-OT 0 1 2 3 4 5 6
7 8
Pn50B.0 L /N-OT 9 A B C D E F
Alarm Reset L ARM-RST 0 1 2 3 4 5 6
- 8
Pn50B.1 H /ARM-RST 9 A B C D E F
Forward External L /P-CL 0 1 2 3 4 5 6

Force Limit 7 8
Pn50B.2 H P-CL 9 A B C D E F
Reserve External L /N-CL 0 1 2 3 4 5 6

Force Limit 7 8
Pn50B.3 H N-CL 9 A B C D E F
Switching Servomotor L /SPD-D 0 1 2 3 4 5 6

Movement Direction 7 8
Pn50C.0 H SPD-D 9 A B C D E F
Internal Set Speed L /SPD-A 0 1 2 3 4 5 6

Selection 7 8
Pn50C.1 H SPD-A 9 A B C D E F
Internal Set Speed L /SPD-B 0 1 2 3 4 5 6

Selection 7 8
Pn50C.2 H SPD-B 9 A B C D E F
Control Method L /C-SEL 0 1 2 3 4 5 6

Selection 7 8
Pn50C.3 H C-SEL 9 A B C D E F
Zero Clamp L /ZCLAMP 0 1 2 3 4 5 6

7 8
Pn50D.0 H ZCLAMP 9 A B C D E F
Reference Pulse Inhibit L /INHIBIT 0 1 2 3 4 5 6
7 8
Pn50D.1 H INHIBIT 9 A B C D E F
Polarity Detection L /P-DET 0 1 2 3 4 5 6
7 8
Pn50D.3 H P-DET 9 A B C D E F
Gain Changeover 1 L /G-SEL 0 1 2 3 4 5 6
7 8
Pn50D.2 H G-SEL 9 A B C D E F
3-26
(3) Example of Input Signal Allocation

The procedure to replace Servo ON (/S-ON) signal allocated on CN1-40 and Forward External Force Limit (/
P-CL) allocated on CN1-45 is shown below.
Pn50A Pn50B
Before
After
Display after
Operation
1 mode. If a parameter other than Pn50A is displayed, press
MODE/SET DATA/ the UP or DOWN Key to set Pn50A.
Press the DATA/SHIFT Key for approximately one second to
2 display the current data of Pn50A.
MODE/SET DATA/ (/S-ON is allocated on CN1-40.)
Press the UP key to set to "1."

3
(Sequence input signals can be freely set.)
MODE/SET DATA/
Press the DATA/SHIFT Key to select the second digit from

4 the right. Press the UP key to set to "5."
MODE/SET DATA/ (Changes the allocation of /S-ON from CN1-40 to CN1-45.)

5
The data blinks and is saved.
MODE/SET DATA/
Display blinks.

6
return to the display Pn50A.
MODE/SET DATA/
7 Press the UP key to display Pn50B.

MODE/SET DATA/ 3

8 display the current data of Pn50B.
MODE/SET DATA/ (/P-CL is allocated on CN1-45.)
Press the DATA/SHIFT Key to select the third digit from the
9 right. Press the DOWN Key to set "0."
MODE/SET DATA/ (Changes the allocation of /P-CL from CN1-45 to CN1-40.)

10
The value blinks and is saved.
MODE/SET DATA/
Display blinks.
3-27
3.3.2 Output Signal Allocations
Display after
Operation

11 return to the display Pn50B. /S-ON is mapped on CN1-45,
MODE/SET DATA/ and /P-CL is mapped on CN1-40.
12 Turn the power OFF and ON again to enable the change of input signal selections (Pn50A and Pn50B)
<Input signal polarities>

Input signal polarities are as follows when sequence input circuit is connected to a sink circuit. If connected to
a source circuit, polarities are reversed. For details, refer to 3.4.2 Connection Examples of Sequence Input
Circuits to SERVOPACK.
Signal Level Voltage Level Contact

ON Low (L) level 0V Close
OFF High (H) level 24 V Open
(4) Checking Input Signals

Input signal status can be checked using the input signal monitor (Un005). As for the input signal monitor
(Un005), refer to 8.6 Monitoring Input Signals.

Output signals can be allocated to I/O signal connectors (CN1) in accordance with the parameter setting of
Pn50E, Pn50F, Pn510 and Pn512.
(1) Factory Setting

Factory setting can be checked using the following parameters.
Pn50E
Allocates /COIN signal to CN1-25, -26.

Allocates /V-CMP signal to CN1-25, -26.
Allocates /TGON signal to CN1-27, -28.
Allocates /S-RDY signal to CN1-29, -30.
Pn50F
Not to use /CLT signal.

Not to use /VLT signal.
Not to use /BK signal.
Not to use /WARN signal.
Pn510
Not to use /NEAR signal.

Reserved (Cannot be changed)
3-28
Pn512
Not to invert CN1-25, -26 output signals.

3-29
(2) Changing Output Signal Allocations

• When two or more signals are allocated to the same output circuit, a signal is output
with OR logic circuit.
• The signals not detected are considered as "Invalid." For example, Positioning Com-
pletion (/COIN) signal in speed control is "Invalid."
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.

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

Output Signal
and Parameters 25 (26) 27 (28) 29 (30) 㧔not use㧕
Positioning Completion /COIN 1 2 3 0
Pn50E.0
Output Signal Names CN1 Pin Numbers Invalid

Output Signal
and Parameters 25 (26) 27 (28) 29 (30) (not use)
Positioning Completion
/COIN 1 2 3 0
Pn50E.0
Speed Coincidence
Detection /V-CMP 1 2 3 0
Pn50E.1
Movement Detection
/TGON 1 2 3 0
Pn50E.2
Servo Ready
/S-RDY 1 2 3 0
Pn50E.3
Force Limit Detection
/CLT 1 2 3 0
Pn50F.0
Speed Limit Detection
/VLT 1 2 3 0
Pn50F.1
Brake
/BK 1 2 3 0
Pn50F.2
Warning
/WARN 1 2 3 0
Pn50F.3
Near
/NEAR 1 2 3 0
Pn510.0
Pn512.0=1 Polarity inversion of CN1-25 (26) 0
Pn512.1=1 Polarity inversion of CN1-27 (28) (Not invert at fac-
Pn512.2=1 Polarity inversion of CN1-29 (30) tory setting)
3-30
(3) Example of Output Signal Allocation

The procedure to set Movement Detection (/TGON) signal of factory setting to "Invalid" and allocate Brake
Interlock (/BK) signal is shown below.
Pn50E Pn50F
Before
After
Display after
Operation
1 mode. If a parameter other than Pn50E is displayed, press
MODE/SET DATA/ the UP or DOWN Key to select Pn50E.
2 to display the current data of Pn50E.
MODE/SET DATA/ (/TGON is allocated on CN1-27 (28).)
Press the DATA/SHIFT Key to select the third digit from
3 the right. Press the DOWN Key to set "0."
MODE/SET DATA/ (Sets /TGON "Invalid.")
4 The data blinks and is saved.
MODE/SET DATA/
Display blinks.
5 to return to the display Pn50E.

MODE/SET DATA/
Press the UP Key to display Pn50F.

6
MODE/SET DATA/

7 to display the current data of Pn50F.
MODE/SET DATA/ (/BK is set to "Invalid.")
Press the DATA/SHIFT Key to select the third digit from 3

8 the right. Press the UP Key to set "2."
MODE/SET DATA/ (Allocates /BK to CN1-27 (28).)

9 The value blinks and is saved.
MODE/SET DATA/
Display blinks.
10 to return to the display Pn50F. /TGON is set as "Invalid"
MODE/SET DATA/
and /BK is allocated on CN1-27 (28).
11 Turn the power OFF and ON again to enable the changes of output signal selection (Pn50E and Pn50F).
(4) Checking Output Signals

Output signal status can be checked using the output signal monitor (Un006). As for the output signal monitor
(Un006), refer to 8.7 Monitoring Output Signals.
3-31
3.4.1 Connection Examples of Reference Input Circuits to SERVOPACK
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 Connection Examples of Reference Input Circuits to SERVOPACK

(1) Analog Input Circuit
CN1 connector terminals, 5-6 (speed reference input) and 9-10 (force reference input) are explained below.
Analog signals are either speed or force reference signals at the impedance below.
• Reference speed input: About 14 kΩ or more

• Reference force input: About 14 kΩ or more
The maximum allowable voltages for input signals is ±12 V.
Analog Voltage Input Circuit Analog Voltage Input Circuit (D/A)
SERVOPACK SERVOPACK
1.8 kΩ (1/2 W) min. Host controller
3 V-REF or V-REF or
12 V 25HP-10B 2 T-REF T-REF
D/A
2 kΩ 1 About 14 kΩ About 14 kΩ
SG or more SG or more
0V 0V
(2) Position Reference Input Circuit

CN1 connector terminals, 7-8 (reference pulse input) and 11-12 (reference sign input) are explained below.
An output circuit for the reference pulse and position error pulse clear signal at the host controller can be
among line-driver or open-collector outputs. The following shows by type.
Line-driver Output Circuit
Host controller SERVOPACK

150 Ω 4.7 kΩ
Applicable line
driver
SN75ALS174 or
equivalent
2.8 V ≤ (H level) − (L level) ≤ 3.7 V
Open-collector Output, Example 1: Open-collector Output, Example 2:

The power supply in this example is not included with Built-in 12 V Power Supply: Non-insulated line
the Σ-V. receiver
Host Controller SERVOPACK

Vcc
R1 Host Controller SERVOPACK
i 150 Ω 4.7 kΩ PL1PL2PL3 terminals
1.0 kΩ +12 V
VF
150 Ω
Tr1
About
9 mA
VF = 1.5 to 1.8 V
Use the examples below to set pull-up resistor R1 so the input
current, i, falls between 7 mA and 15 mA.
1.5 V or
Application Examples less at ON 0V
R1 = 2.2 kΩ with a R1 = 1 kΩ with a R1 = 180 Ω with a
Vcc of 24 V ±5% Vcc of 12 V ±5% Vcc of 5 V ±5%
3-32
(3) Clear Input Circuit

CN1 connector terminals, 15-14: Clear input is explained below.
An output circuit for the reference pulse and position error pulse clear signal at the host controller can be
either line-driver or open-collector outputs. The following shows by type.
Line-driver Output Circuit

150 Ω 1 kΩ
Applicable line driver

SN75ALS174
or the equivalent
2.8 V ≤ CLR-/CLR ≤ 3.7 V

Input to the SERVOPACK may become
unstable and may turn OFF if the voltage
difference between the CLR signal and /CLR
signal (|CLR-/CLR|) is less than 2.8 V.
Open-collector Output, Example 1:

The power supply in this example is not included with the Σ-V.

Vcc
R1
i 150 Ω 1 kΩ
VF
Tr1
VF = 1.5 to 1.8 V
Use the examples below to set pull-up resistor R1 so the input

current, i, falls between 7 mA and 15 mA.
Application Examples
R1 = 2.2 kΩ with a R1 = 4.7 kΩ with a R1 = 180 Ω with a
Vcc of 24 V ±5% Vcc of 12 V ±5% Vcc of 5 V ±5%
(4) Safety Input Circuit

As for wiring input signals for safety function, input signals make common 0 V. It is necessary to make an
input signal redundant.
3
Input Signal Connection Example
24 V power supply Switch

SERVOPACK
/HWBB1+ 4
Fuse
/HWBB1- 3
/HWBB2+ 6
/HWBB2- 5
0V
3-33
3.4.2 Connection Examples of Sequence Input Circuits to SERVOPACK
3.4.2 Connection Examples of Sequence Input Circuits to SERVOPACK

CN1 connector terminals 40 to 47 are explained below.
The sequence input circuit interface connects through a relay or open-collector transistor circuit. Select a low-
current relay otherwise a faulty contact will result.
Relay Circuit Example Open-collector Circuit Example
SERVOPACK SERVOPACK
24 VDC +24VIN 3.3 kΩ 24 VDC +24 VIN 3.3 kΩ
/S-ON, etc. /S-ON, etc.
Note: The 24 VDC external power supply capacity must be 50 mA minimum.
For SEN input signal circuit, refer to 5.9.2 Setting the SEN Signal.
The SERVOPACK’s I/O circuit uses bidirectional photocoupler. Select either the sink circuit or the source cir-
cuit according to the specifications required for each machine.
Note: • The Connection examples in 3.2.5 to 3.2.7 show 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
3-34
3.4.3 Connection Examples of Output Circuits to SERVOPACK

There are three types of SERVOPACK output circuits:
(1) Open-collector Output Circuit

CN1 connector terminals 37 to 39 (alarm code output) are explained below.
Alarm code signals (ALO1, ALO2, ALO3) are output from open-collector transistor output circuits. Connect
an open-collector output circuit through a photocoupler, relay or line receiver circuit.
Photocoupler Circuit Example Relay Circuit Example

5 to 12 VDC
SERVOPACK
SERVOPACK Photocoupler 5 to 24 VDC
Relay
0V 0V
0V
Line Receiver Circuit Example
SERVOPACK 5 to 12 VDC
0V
Note: The maximum allowable voltage and current capacities for open-collector output circuits are as follows.
• Voltage: 30 VDC
• Current: 20 mA DC

(2) Photocoupler Output Circuit
Photocoupler output circuits are used for servo alarm (ALM), servo ready (/S-RDY), and other sequence out-
put signal circuits. Connect a photocoupler output circuit through a relay or line receiver circuit.
Relay Circuit Example Line Receiver Circuit Example
SERVOPACK SERVOPACK
5 to 24 VDC 5 to 12 VDC
Relay
3
0V
Note: The maximum allowable voltage and current capacities for photocoupler output circuits are as follows.
• Voltage: 30 VDC
• Current: 5 to 50 mA DC
3-35
3.4.3 Connection Examples of Output Circuits to SERVOPACK
(3) Line Driver Output Circuit

CN1 connector terminals, 33-34 (phase-A signal), 35-36 (phase-B signal), and 19-20 (phase-C signal) are
explained below.
Encoder serial data converted to two-phase (phases A and B) pulse output signals (PAO, /PAO, PBO, /PBO)
and origin pulse signals (PCO, /PCO) are output via line-driver output circuits. Normally, the SERVOPACK
uses this output circuit in speed control to comprise the position control system at the host controller. Connect
the line-driver output circuit through a line receiver circuit at the host controller.
Line Receiver Circuit Example
SERVOPACK Host Controller

Applicable line receiver
SN75ALS175 or the
equivalent
220 to
470 Ω
(4) Safety Output Circuit

External device monitor (EDM1), an output signal of safety function, is explained below. EDM1 is a function
for monitoring a failure of HWBB function. Connect it to safety device as a feedback signal.
The relation between EDM1 and /HWBB1, /HWBB2 signals are explained below.
When both /HWBB1 and

/HWBB2 signals are OFF,
Signal Name Logic EDM1 signal turns ON.
/HWBB1 ON ON OFF OFF
/HWBB2 ON OFF ON OFF
EDM1 OFF OFF OFF ON
EDM1 Signal
Detection of failures in the EDM1 circuit can be checked using the following four status of the EDM1 signal
in the table. Failures can be detected if the failure status can be confirmed, e.g., when the power supply is
turned ON.
WARNING
The EDM1 signal is not a safety output. Use it only for monitoring a failure.
3-36
(5) Connection Example and Specifications of EDM1 Output Signal

Connection example and specifications of EDM1 output signal are explained below.
Connection Example
EDM1 output signal is used for source circuit.
External Device
SERVOPACK 24 V Power Supply
8 EDM1+
7 EDM1-
0V
Specifications
Type Signal Name Pin No. Input Status Meaning
Both baseblocks by /HWBB1 signal and /HWBB2 signal
CN8-8 ON
Output EDM1 normally activate.
CN8-7
OFF −

Electrical characteristics of EDM1 signal are as follows.
Items Characteristic Remarks

Maximum Allowable Voltage 30 VDC −
Maximum Current 50 m ADC −
Maximum Voltage Drop at ON 1.0 V Voltage between EDM1+ to EDM1- at current is 50 mA.
Time from change of /HWBB1, /HWBB2 to change of
Maximum Delay Time 20 ms
EDM1 3
3-37
3.5.1 Connection Example of a Linear Scale
3.5 Examples of Linear Scale Connection

This section describes the connection example of output signals between linear scale, SERVOPACK and host
controller.
CN2 linear scale connector terminal layout is also described.
3.5.1 Connection Example of a Linear Scale

The following diagram shows the example of connecting linear scale.
(1) Linear Scale Made by Heidenhain

Linear scale
made by Heidenhain Serial converter unit SERVOPACK Host controller (User's)
∗
∗ CN2 CN1 ∗ CN2 CN1 Line receiver
1 COS 1 2 PS 5 Phase A 33 PAO 2 3 Phase
34 /PAO R 1 A
9 /COS 9 6 /PS 6
Phase B 35 PBO 6 5 Phase
3 SIN 3 36 /PBO R 7 B
11 /SIN 11 Phase C 19 PCO 10 11
R Phase
20 /PCO 9 C
14 14 Output line-driver
REF
SN75ALS194 manu- 8 16
7 /REF 7 factured by Texas C
Instrument or the 0V +5V
4 5V 4 1 PG5V 1 equivalent Choke
PG5V coil
2 0V 2 5 PG0V 2 +5V
PG0V
CN1 +
Connector Connector -
shell shell Connector 0V 1 SG
Shielded wire 0V
Connector shell Smoothing
shell Connector capacitor
Shielded wire shell
∗ represents shielded twisted-pair wires
(2) Linear Scale Made by Renishaw

Linear scale
made by
Renishaw Serial converter unit SERVOPACK Host controller (User's)
∗
∗ CN2 CN1 ∗ CN2 CN1 Line receiver
9 COS 9 2 PS 5 Phase A 33 PAO 2 3
Phase
34 /PAO R 1 A
1 /COS 1 6 /PS 6
Phase B 35 PBO 6 5
Phase
10 SIN 10 36 /PBO R 7 B
2 /SIN 2 Phase C 19 PCO 10 11
20 R Phase
/PCO 9 C
Output line-driver
3 REF 3
11 /REF 11 factured by Texas
0V C +5V
Instruments or the
equivalent.
4 5V 4 1 PG5V 1 Choke
PG5V coil
12 0V 12 5 PG0V 2 +5V
PG0V
CN1 +
Connector Connector -
shell shell 0V 1 SG
Shielded wire Connector 0V
Connector shell Smoothing
shell capacitor
Shielded wire Connector
shell
Applicable line receiver: SN75ALS175 manufactured
∗ represents shielded twisted-pair wires. by Texas Instruments or
MC3486, or the equivalent
R (Terminator)220 to 470Ω
C (Decoupling Capacitor)0.1μF
3-38
3.5 Examples of Linear Scale Connection
(3) Absolute Linear Scale Made by Mitutoyo

Absolute linear scale
made by Mitutoyo SERVOPACK Host controller (User's)
∗
∗ CN2 CN1 Line receiver
2 PS 5 Phase A 33 PAO 2 3 Phase
34 /PAO R 1 A
6 /PS 6
Phase B 35 PBO 6 5 Phase
36 /PBO R 7 B
Phase C 19 PCO 10 11
R Phase
20 /PCO 9 C
Output line-driver
factured by Texas C
0V +5V
Instrument or equivalent
1 PG5V 1
PG5V Choke coil
5 PG0V 2 +5V
PG0V
+
CN1 -
4 SEN +5V
2 SG
1 SG 0V
Smoothing
0V capacitor
Connector 0V
Connector shell
shell
Shielded wire Connector
shell Applicable line receiver : SN75ALS175 manufactured
by Texas Instrument or
MC3486, or the equivalent
∗ : represents shielded twisted-pair wires. R
Terminator: 220 VQ470Ω
C
Decoupling Capacitor: 0.1μF
3.5.2 CN2 Linear Scale Connector Terminal Layout

PG power supply PG power supply
1 PG 5 V 2 PG 0 V
+5 V 0V
3 − − 4 − −
5 PS PG serial signal input 6 /PS PG serial signal input

SHELL Shield −
3-39
3.6.1 Connecting Regenerative Resistors
3.6 Connecting Regenerative Resistors

This section describes how to connect the regenerative resistor and set the regenerative resistor capacity. As
for precautions on selecting a regenerative resistor and its specifications, refer to Σ-V series Product Catalog
(KAEP S800000 42).
WARNING
• Be sure to connect the regenerative resistor correctly.
Failure to observe this warning may result in fire or damage to the product.
3.6.1 Connecting Regenerative Resistors

The following instructions show how to connect the regenerative resistors and SERVOPACKs.
(1) SERVOPACKs: Model SGDV-R70F, R90F, 2R1F, 2R8F, R70A, R90A, 1R6A,
2R8A
Connect an external regenerative resistor between B1/ and B2 terminals. After connecting a resistor, select
the capacity. For more information on how to set the capacity of regenerative resistors, refer to 3.6.2 Setting
Regenerative Resistor Capacity.
Enlarged View
(2) SERVOPACKs: Model SGDV-3R8A, 5R5A, 7R6A, 120A, 180A, 200A, 330A,
1R9D, 3R5D, 5R4D, 8R4D, 120D, 170D
Disconnect the wiring between the SERVOPACK’s B2 and B3 terminals and connect an external regenerative
resistor between the B1/ and B2 terminals or between the B1 and B2 terminals. After connecting a resistor,
select the capacity. For more information on how to set the capacity of regenerative resistors, refer to 3.6.2
Setting Regenerative Resistor Capacity.
Note: Be sure to take out the lead wire between the B2 and B3 terminals.
Enlarged View
3-40
3.6 Connecting Regenerative Resistors
(3) SERVOPACKs: Model SGDV-470A, 550A, 590A, 780A, 210D, 260D, 280D, 370D
No built-in regenerative resistor is provided, so the external regenerative resistor is required. The regenerative
resistor units are as follow:
Applicable Applicable
Main Circuit Resistance
SERVOPACK Model Regenerative Specifications
Power Supply (Ω)
SGDV Resistor Unit
470A JUSP-RA04-E 6.25 25 Ω (220 W); 4 resistors in parallel
Three-phase
200 V 550A, 590A, 780A JUSP-RA05-E 3.13 25 Ω (220 W); 8 resistors in parallel
210D, 260D JUSP-RA18-E 18 18 Ω (220 W); 2 resistors in series with 2 in

Three-phase parallel.
400 V 280D, 370D JUSP-RA19-E 14.25 28.5 Ω (220 W); 2 resistors in series with 4
in parallel.
Connect a regenerative resistor unit between B1/ and B2 terminals.
When using a regenerative resistor unit, set Pn600 to 0W (factory setting).
SERVOPACK
Regenerative Resistor Unit

JUSP-RA-E
3-41
3.6.2 Setting Regenerative Resistor Capacity
3.6.2 Setting Regenerative Resistor Capacity

When an external regenerative resistor is connected, make sure to set the regenerative resistor capacity using
the parameter Pn600.
WARNING
• If 0 is set to the parameter Pn600 while an external regenerative resistor is connected, the generative
overload alarm (A.320) may not be detected. If the generative overload alarm (A.320) is not detected cor-
rectly, the external regenerative resistor may be damaged and an injury or fire may result.
Regenerative Resistor Capacity

Pn600 Setting Range Unit Factory Setting When Enabled
0 to SERVOPACK
10 W 0 Immediately
capacity
Be sure to set this parameter when installing an external regenerative resistor to the SERVOPACK.
When set to the factory setting of "0," the SERVOPACK’s built-in resistor has been used.
Set the regenerative resistor capacity within tolerance value. When the set value is improper, alarm A.320 is
detected.
The set value differs depending on the cooling method of external regenerative resistor:
• For natural air cooling method: Set the value maximum 20% of the actually installed regenerative resistor
capacity (W).
• For forced air cooling method: Set the value maximum 50 % of the actually installed regenerative resistor
capacity (W).
Example: Set 20 W (100 W × 20% ) for the 100 W external regenerative resistor with natural cooling method:
Pn600 = 2 (units: 10 W)
1. When the external regenerative resistors for power are used at the rated load ratio,
the resistor temperature increases to between 200 °C and 300 °C. The resistors must
be used at or below the rated values. Check with the manufacturer for the resistor’s
load characteristics.
2. For safety, use the external resistors with thermoswitches.
3-42
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

The SERVOPACK uses high-speed switching elements in the main circuit. It may receive "switching noise"
from these high-speed switching elements if wiring or grounding around the SERVOPACK is not appropriate.
To prevent this, always wire and ground the SERVOPACK correctly.
Because the SERVOPACK is designed as an industrial device, it provides no mecha-

nism to prevent noise interference.
If the equipment is to be used near private houses or may receive noise interference,
install a noise filter on the input side of the power supply line.
To prevent malfunction due to noise, take the following actions:
• 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.
• The distance between a power line (servomotor main circuit cable) and a signal line must be at least 30 cm.
Do not put the power and signal lines in the same duct or bundle them together.
• Do not share the power supply with an electric welder or electrical discharge machine. When the SERVO-
PACK is placed near a high-frequency generator, install a noise filter on the input side of the power supply
line. As for the wiring of noise filter, refer to (1) Noise Filter shown below.
• Take the grounding measures correctly. As for the grounding, refer to (2) Correct Grounding.
3-43
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.
SERVOPACK
Noise filter ∗3
Servomotor
L1 U
V M
200 VAC L2 (FG)
L3 W
2 L1C CN2 Enc

3.5 mm
min. ∗1 L2C CN1
2.0 mm2
Operation relay min .
sequence
Signal generation
circuit (not included)
∗3 ∗2
AVR
1LF (Ground) 3.5 mm 2
min.
2
2 mm min.
2 ∗1
(Casing) (Casing) (Casing) 3.5mm‫ޓ‬min.
Wires of 3.5 mm 2
or more ∗1 (Casing)
(Ground plate)
Ground: Ground to an independent ground

(at least class-D grounding (100 Ω max.)
∗1. For ground wires connected to the casing, use a thick wire with a thickness of at
least 3.5 mm2 (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 Con-
necting 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 .
Ground both coil assembly and magnetic way of the linear servomotor.
If the servomotor is grounded via the machine, a switching noise current will flow from the SERVOPACK
power unit through servomotor stray capacitance. The above grounding is required to prevent the adverse
effects of switching noise.
Noise on the I/O Signal Line

If the I/O signal line receives noise, ground the 0 V line (SG) of the reference input line. If the main circuit
wiring for the motor is accommodated in a metal conduit, ground the conduit and its junction box. For all
grounding, ground at one point only.
3-44
3.7.2 Precautions on Connecting Noise Filter

This section describes the precautions on installing a noise filter.
(1) Precautions on Using Noise Filters

Always observe the following installation and wiring instructions.
Do not put the input and output lines in the same duct or bundle them together.
×
Noise Noise
Filter Filter
Box Box
Noise Noise
Filter Filter
Box Box
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.
×

Noise Noise
Filter Filter
The ground wire

can be close to
input lines.
3
Box Box
3-45
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.
×
Noise Noise
Filter Filter
SERVOPACK SERVOPACK SERVOPACK SERVOPACK
Shielded
ground wire Thick and
short
Box Box
If a noise filter is located inside a control panel, 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 first, then
ground these wires.
Control Panel
SERVOPACK
Noise
Filter
SERVOPACK
Ground
Box
3-46
3.7.3 Connecting DC Reactor for Harmonic Suppression

The SERVOPACK has reactor connection terminals for power supply harmonic suppression.
As for the precautions on selecting a DC reactor and its specifications, refer to Σ-V series Product Catalog
(KAEP S800000 42).
Connect a reactor as shown in the following diagram.
DC Reactor
Three-phase input
SERVOPACK
DC reactor
1
2
3-47
4
Trial Operation
4.1 Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . 4-2

4.2 Trial Operation for Linear Servomotor without Load . . . . . . . . . . . . . . . . . 4-2
4.3 Trial Operation for Linear Servomotor without Load from Host
Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.4 Trial Operation with the Linear Servomotor Connected to the Machine . . 4-3
4.5 Test Without Motor Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.5.1 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.5.2 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.5.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4.5.4 Operator Display during Testing without Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
Trial Operation
4-1
4 Trial Operation
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) Linear 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 1.7 Inspection and Maintenance.
(2) SERVOPACKs
Inspect and check the following items, and take appropriate measures before performing trial operation if any
problem exists.
• Are all wiring and connections correct?

• Is the correct power supply voltage being supplied to the SERVOPACK?
4.2 Trial Operation for Linear Servomotor without Load

For the trial operation for linear servomotor without load, refer to Σ-V series User’s Manual, Setup, Linear
Motor (SIEP S800000 44).
4.3 Trial Operation for Linear Servomotor without Load from Host
Reference
For the trial operation for linear servomotor without load from host reference, refer to Σ-V series User’s Man-
ual, Setup, Linear Motor (SIEP S800000 44).
4-2
4.4 Trial Operation with the Linear Servomotor Connected to the Machine
4.4 Trial Operation with the Linear Servomotor Connected to the

Machine
Perform the following steps for trial operation when the linear servomotor is connected to the machine.
The steps are specified on the condition that trial operation has been completed in each control.
WARNING
• Malfunctions that occur after the servomotor is connected to the machine not only damage the machine,
but may also cause an accident resulting death or injury.
During trial operation in each control, the overtravel signals (P-OT and N-OT) are OFF.
Take an appropriate protective action, such as turning the overtravel signals (P-OT and
N-OT) ON.
Step Operation Reference

Turn ON the control power and main circuit power and make the settings for
mechanical configuration related to protective function such as safety function, over-
travel and brake.
Note:
1 • When not using the safety function, use the SERVOPACK with the safety function 5.11 Safety Function
jumper connector (JZSP-CVH05-E provided as an accessory) inserted. If the 5.2.3 Overtravel
SERVOPACK is used without the jumper connector inserted into CN8, no
current will flow to the motor and no force will be output. In this case, "Hbb"
will be displayed on the Panel Operator or the Digital Operator.
Set the necessary parameters for control mode. 5.3 Operating Using
Speed Control with Ana-
log Voltage Reference
5.4 Operating Using
2 Position Control with
Pulse Train Reference
5.5 Operating Using
Force Control with Ana-
log Voltage Reference
Connect the servomotor to the machine, while the power is turned OFF.
Trial Operation
To power CN1
supply
To host controller
CN8
3
4
Check that the SERVOPACK is servo OFF status and then turn ON the power to the
machine (host controller). Check again that the protective function in step 1 operates 5.2.4 Stopping Servomo-
normally. tors after /S_ON Turned
4
OFF or Alarm Occur-
Note: For steps 4 to 8, take advance measures for emergency stop so that the servo-
rence
motor can stop safely when an error occurs during operation.
Perform trial operation for the servomotor without load from host reference. Σ-V series User’s Man-
5 Check that the trial operation is completed with as the trial operation for servomotor ual, Setup, Linear Motor
without load. Also check the settings for machine such as reference unit. (SIEPS80000044).
4-3
4 Trial Operation

Check the settings of parameters for control used set in step 2 again.
6
Check that the servomotor rotates matching the machine operating specifications.
Adjust the servo gain and improve the servomotor response characteristics, if neces-
sary.
7 Note: The servomotor will not be broken in completely during the trial operation. 6 Adjustments
Therefore, let the system run for a sufficient amount of additional time to
ensure that it is properly broken in.
Write the parameters set for maintenance in 10.4 Parameter Recording Table.
Then the trial operation with the servomotor connected to the machine is completed.
8 Note: If the JUSP-OP05A digital operator is used, parameters can be saved. Sig-
maWin+, which is a tool for supporting the servo drive, can then manage the
saved parameters in files.
4-4
4.5 Test Without Motor Function

The test without motor function is used to check the operation of the host and peripheral devices by simulating
the operation of the motor in the SERVOPACK, i.e., without actually operating the motor. This function
enables checking wiring and verifying the system and parameters when errors occur while debugging the
system, thus shortening the time required for setup work and preventing damage to the equipment that may
result from possible malfunctions. The operation of the motor can be checked while using this function
regardless of whether the motor is actually connected or not.
Note: The direction in which the motor is moving can only be checked with this function if the motor is connected.
4.5.1 Limitations
The following functions cannot be used during the test without motor.
• Regeneration and dynamic brake operation

• Brake output signal (The brake output signal can be checked with the I/O signal monitor function of the Sig-
maWin+.)
• Items marked with "X" in the utility function table on the next page.
If the encoder cable is disconnected and then connected again during the test without motor after having
started the test with the encoder cable connected, the utility functions that can be executed are limited to:
Items marked with "{" in the "Motor not connected" column in the following utility function table.
Can be
used or not
Fn No. Contents
Motor not Motor
connected connected
Fn000 Alarm traceback data display { {
Fn002 JOG operation { {
Fn003 Origin search { {
Fn004 Program JOG operation { {
Fn005 Initialize parameter settings { {
Fn006 Clear alarm traceback data { {
Fn008 Absolute encoder multi-turn reset and encoder alarm reset × {
Fn009 Automatic tuning of analog (speed, force) reference offset { {
Trial Operation
Fn00A Manual servo tuning of speed reference offset { {
Fn00B Manual servo tuning of force reference offset { {
Fn00C Manual zero-adjustment of analog monitor output { {
Fn00D Manual gain-adjustment of analog monitor output { {
Fn00E Automatic offset-adjustment of motor current detection signal × {
4
Fn00F Manual offset-adjustment of motor current detection signal × {
Fn010 Write prohibited setting { {
Fn011 Check servomotor models { {
Fn012 Software version display { {
Fn014 Reset configuration error of option module { {
Fn01B Initialize vibration detection level × ×
Fn01E SERVOPACK and servomotor ID display { {
Fn01F Display of servomotor ID for feedback option { {
Fn200 Tuning-less level setting × ×
Fn201 Advanced autotuning × ×
Fn202 Advanced autotuning by reference × ×
4-5
4 Trial Operation
4.5.2 Operating Procedure
Can be
used or not
Fn No. Contents
Motor not Motor
connected connected
Fn203 One-parameter tuning × ×
Fn204 Anti-resonance control adjustment function × ×
Fn205 Vibration suppression function × ×
Fn206 EasyFFT × ×
Fn207 Online vibration monitor × ×
Fn020 Origin setting × {
Fn030 Software reset { {
Fn080 Polarity Detection × ×
{: can be used
× : cannot be used
4.5.2 Operating Procedure

Follow the steps below to execute the test without motor using panel operator.
Step Display after Operation Keys Description

1
mode.
MODE/SET DATA/
2 Press the UP or DOWN Key to select the Pn00C.

MODE/SET DATA/

3
ond. The current data of Pn00C is displayed.
MODE/SET DATA/
To enable the test without motor, press the UP Key to

change the setting from n.0 (factory setting) to
4 n.1.
MODE/SET DATA/ n.0: Test without motor disabled.
n.1: Test without motor enabled.
Press the MODE/SET Key for approximately one sec-

5 ond. The display began to blink and the test without
MODE/SET DATA/ motor is enabled.
(Display blinks)
Press the DATA/SHIFT Key once to select the second

6
digit of the data.
MODE/SET DATA/
Press the UP or DOWN Key to select the encoder type.

7 n.0 : incremental encoder (factory setting)
MODE/SET DATA/ n.1 : absolute encoder
Press the MODE/SET Key for approximately one sec-
8 ond. The display began to blink and the incremental
MODE/SET DATA/ encoder is selected.
4-6
4.5.3 Related Parameters

The following parameters are used for the test without motor.
(1) Application Function Select Switch C

When
Parameter Meaning Classification
Enabled
n.0 Disables the test without motor. (factory setting)
n.1 Enables the test without motor.
Pn00C After restart Setup
n.0 Sets the linear scale type to incremental for the test without motor.
n.1 Sets the linear scale type to absolute for the test without motor.
(2) Mass Ratio

Mass Ratio Speed Position 　 Force
Pn103 Setting Range Setting Unit Factory Setting When Enabled Classification
0 to 20000 1% 100 Immediately Tuning
4.5.4 Operator Display during Testing without Motor

The status display changes as shown below to show that the test without motor is in progress.
(1) Display on Panel Operator

∗ The test without motor operation is indicated with tSt.
　　
Displayed alternately
Display Status
run ⇔ tSt Power is supplied to the motor.
bb ⇔ tSt Power to the motor is OFF.
P-dt ⇔ tSt The polarity is being detected.
Pot ⇒ not ⇒ tSt Forward or reverse run is prohibited.
Pot ⇔ tSt Driving in the forward direction is prohibited.
not ⇔ tSt Driving in the reverse direction is prohibited.
Trial Operation
Hbb ⇔ tSt In hard-wire base block (safety) state.
4-7
4 Trial Operation
4.5.4 Operator Display during Testing without Motor
The test without motor status is not displayed in the following status.
Display Status
A. Alarm occurs.
AdJ
Executing advanced autotuning (Fn201).
(Blinks)
no_oP
Utility function disabled.
(Blinks one second)
Error
Error occurs during executing the utility function.
(Blinks one second)
done
Utility function executed correctly.
(Blinks one second)
End
Program JOG operation executed correctly.
(Blinks one second)
(2) Display on Digital Operator

∗ mark is displayed before status display to indicate the test without motor operation is in progress.
∗BB −PRM/MON−
Un0 0 0= 0 0 0 000
Un0 0 2= 0 0 0 000
Un0 0 8= 0 0 0 00000000
Un0 0 D= 0 0 0 00000000
(Example: Status of power to the motor is OFF)
Display Status
*RUN Power is supplied to the motor.
*BB Power to the motor is OFF.
*P DET The polarity is being detected.
*PT NT Forward or reverse run is prohibited.
*P-OT Driving in the forward direction is prohibited.
*N-OT Driving in the reverse direction is prohibited.
*HBB In hard-wire base block (safety) state.
The test without motor status is not displayed in the following status.
Display Status
A. Alarm occurs.
AdJ
Executing advanced autotuning (Fn201).
(Blinks)
NO_OP
Utility function disabled.
(Blinks one second)
ERROR
Error occurs during executing the utility function.
(Blinks one second)
doNE
Utility function executed correctly.
(Blinks one second)
END
Program JOG operation executed correctly.
(Blinks one second)
4-8
5
Operation
5.1 Control Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

5.2 Setting Common Basic Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.2.1 Servo ON Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.2.2 Servomotor Movement Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.2.3 Overtravel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5.2.4 Stopping Servomotors after /S_ON Turned OFF or Alarm Occurrence . . . . . . . . . . . 5-9
5.2.5 Power Loss Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.2.6 Motor Maximum Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.2.7 SEMI F47 Function (Force Limit Function for Low Power Supply Volt-
age for Main Circuit) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
5.2.8 Setting Motor Overload Detection Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15
5.3 Operating Using Speed Control with Analog Voltage Reference . . . . . . 5-17
5.3.1 Basic Settings for Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
5.3.2 Reference Offset Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19
5.3.3 Soft Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21
5.3.4 Speed Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22
5.3.5 Zero Clamp Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23
5.3.6 Encoder Pulse Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
5.3.7 Encoder Pulse Output Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27
5.3.8 Speed Coincidence Signal Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
Operation
5.4 Operating Using Position Control with Pulse Train Reference . . . . . . . . 5-29
5.4.1 Basic Settings for Position Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-29
5.4.2 Clear Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-34
5.4.3 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35
5.4.4 Smoothing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-37 5
5.4.5 Positioning Completed Output Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-38
5.4.6 Positioning Near Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-39
5.4.7 Reference Pulse Inhibit Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-40
5.5 Operating Using Force Control with Analog Voltage Reference . . . . . . . 5-42
5.5.1 Basic Settings for Force Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-42
5.5.2 Adjustment of Reference Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43
5.5.3 Speed Limit in Force Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-45
5.6 Operating Using Speed Control with an Internally Set Speed . . . . . . . . . 5-48
5.6.1 Basic Settings for Speed Control with an Internally Set Speed . . . . . . . . . . . . . . . . . 5-48
5.6.2 Example of Operating with Internally Set Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-50
5-1
5 Operation
5.7 Control Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-52

5.7.1 Combination of Control Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-52
5.7.2 Switching Internally Set Speed Control (Pn000.1 = 4, 5, or 6) . . . . . . . . . . . . . . . . . .5-52
5.7.3 Switching Other Than Internally Set Speed Control (Pn000.1 = 7, 8, 9, A, or B) . . . .5-53
5.8 Limiting Force . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-54

5.8.1 Internal Force Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-54
5.8.2 External Force Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-55
5.8.3 Force Limiting Using an Analog Voltage Reference . . . . . . . . . . . . . . . . . . . . . . . . .5-56
5.8.4 Force Limiting Using an External Force Limit and Analog Voltage Reference . . . . .5-57
5.8.5 Checking Output Force Limiting during Operation . . . . . . . . . . . . . . . . . . . . . . . . . . .5-59
5.9 Setting Absolute Linear Scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-60

5.9.1 Setup Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-60
5.9.2 Setting the SEN Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-61
5.9.3 Designing a Power ON Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-62
5.9.4 Polarity Detection (Fn080) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-62
5.9.5 Origin Setting (Fn020) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-63
5.9.6 Absolute Encoder Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-64
5.10 Output Signals Used in All Control Modes . . . . . . . . . . . . . . . . . . . . . . 5-68

5.10.1 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals
(ALO1, ALO2, and ALO3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-68
5.10.2 Warning Output Signal (/WARN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-69
5.10.3 Movement Detection Output Signal (/TGON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-70
5.10.4 Servo Ready Output Signal (/S-RDY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-70
5.11 Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71

5.11.1 Hard Wire Base Block (HWBB) Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-71
5.11.2 External Device Monitor (EDM1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-75
5.11.3 Application Example of Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-77
5.11.4 Confirming Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-78
5.11.5 Precautions for Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-78
5-2
5.1 Control Selection

The controls supported by the SGDV SERVOPACK are described below.
Control can be selected with parameter Pn000.
Control Selection
Reference
Pn.000 Control Description
Section
Controls servomotor speed by means of an analog voltage speed
reference. Use in the following instances. 5.3 Operating Using
Speed Control
n.0 Speed Control with
(Analog voltage • To control speed
(Factory setting) reference) Analog Voltage Refer-
• For position control using the encoder pulse output from the ence
SERVOPACK to form a position loop in the host controller.
Controls the position of the machine by means of a pulse train
position reference. 5.4 Operating Using
Position Control
n.1 Controls the position with the number of input pulses, and con- Position Control with
(Pulse train reference)
trols the speed with the input pulse frequency. Use when posi- Pulse Train Reference
tioning is required.
5.5 Operating Using
Force Control Controls the servomotor’s output force by means of an analog
Force Control with
n.2 (Analog voltage refer- voltage force reference. Use to output the required amount of
Analog Voltage Refer-
ence) force for operations such as pressing.
ence
Uses the three input signals /P-CON (/SPD-D), /P-CL (/SPD-A),
Speed Control and /N-CL (/SPD-B) to control the speed as set in advance in the 5.6 Operating Using
n.3 (Internally set speed SERVOPACK. Three operating speeds can be set in the SER- Speed Control with an
selection) VOPACK. Internally Set Speed
When selecting this control, an analog reference is not necessary.
n.4
x These are switching modes for using the four controls described
x Control Switching above in combination. Select the control switching mode that 5.7 Control Selection
x best suits the application.
n.B
Operation
5-3
5 Operation
5.2.1 Servo ON Signal
5.2 Setting Common Basic Functions

5.2.1 Servo ON Signal
This sets the servo ON signal (/S-ON) that determines whether the servomotor power is ON or OFF.
(1) Signal Setting

Connector
Type Name Setting Meaning
Pin Number
Servomotor power ON. Servomotor
ON
CN1-40 can be operated.
Input /S-ON
[Factory setting] Servomotor power OFF. Servomotor
OFF
cannot be operated.
A parameter can be used to re-allocate the input connector number for the /S-ON signal. Refer to 3.3.1 Input
Signal Allocations.
Always input the servo ON signal before inputting the position/speed/force reference to
start or stop the servomotor. Do not input the input reference first and then use the /S-ON
signal to start or stop. Doing so will degrade internal elements and lead to malfunction.
(2) Servo ON Condition Constantly

Parameter Pn50A can be used to enable the Servo ON condition constantly.

n.0 Inputs the /S-ON signal from the input terminal CN1-
Pn50A 40. [Factory setting] After restart Setup
n.7 Constantly enables the /S-ON signal.
SERVOPACK will be possible (i.e., power will be supplied) when the main circuit power
is turned ON if the servo ON is set to be always enabled. When inputting position/speed/
force reference, be sure to implement safety measures for unexpected operation of the
servomotor.
Operation will be possible when an alarm is reset or after an alarm occurs. The servomo-
tor or machine may operate unexpectedly if an alarm is reset while a reference is being
input. The servo will be turned OFF, if a reference is not sent during an alarm or if Pn50A
is changed so the servo ON signal is not enabled. Confirm that the servo is turned OFF.
5-4
5.2.2 Servomotor Movement Direction

The servomotor movement direction can be reversed with parameter Pn000.
This causes the travel direction (+, -) of the shaft reverse, but the encoder pulse output and analog monitor sig-
nal polarity do not change.
Before performing this operation. Motor Phase (Pn080.1) must be set correctly. For the setting method, refer
to Σ-V series User’s Manual, Setup, Linear Motor (SIEPS80000044).
By selecting the movement direction with this parameter, the polarity of the reference can be adjusted to the
movement direction without changing the polarity of reference pulses and reference voltage to the SERVO-
PACK.
Parameter Meaning
Forward Reference
Analog monitor
force reference Encoder output pulse
Moves in PAO
forward
n.0 direction PBO Phase B advanced
Standard setting Motor movement
(Forward movement is the speed
linear scale counting up Reverse Reference
direction.) Analog monitor
(Factory setting) force reference
Encoder output pulse
PAO Phase A advanced

Moves in
reverse PBO
direction Motor movement
speed
Pn000
Forward Reference
Analog monitor
force reference
PAO
Moves in
n.1 reverse PBO Phase B advanced
direction Motor movement
Reverse movement Mode speed
(Forward movement is the Reverse Reference
linear scale counting down
Analog monitor
direction.) force reference
PAO Phase A advanced

Moves in
forward PBO
Motor movement
direction
speed
Operation
Note 1. The count of linear scale can be checked with Feedback Pulse Counter (Un00D).
2. According to the change of motor movement direction, the direction of overtravel forward/reverse is also
switched.
For Pn000 = n.0: The linear scale counting up direction is forward movement (P-OT).
For Pn000 = n.1: The linear scale counting down direction is forward movement (P-OT). 5
5-5
5 Operation
5.2.3 Overtravel
5.2.3 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.
CAUTION
• Installing Limit Switches
Connect limit switches as shown below to prevent damage to the devices during linear motion.
It is recommended to use the normally closed contacts for the limit switches with a minute current applied to prevent
the oxidation of the contacts.
Linear Servomotor
Forward direction
SERVOPACK
Limit Limit CN1

P-OT
switch switch 42
N-OT
43
(1) Signal Setting

Connector
Type Name Setting Meaning
Pin Number
Forward run allowed. Normal operation sta-
ON
P-OT CN1-42 tus.
Input OFF Forward run prohibited. Forward overtravel.
ON Reverse run allowed. Normal operation status.
N-OT CN1-43
OFF Reverse run prohibited. Reverse overtravel.
Movement in the opposite direction is possible during overtravel by inputting the reference.
When the servomotor stops due to overtravel during position control, the position error
pulses are held. A clear signal (CLR) input is required to clear the error pulses.
For the clear signal, refer to 5.4.2 Clear Signal.
5-6
(2) Overtravel Function Setting

Parameters Pn50A and Pn50B can be set to specify either using or not using the overtravel function.
If the overtravel function is not used, forward and reverse operation will always be possible for the servomo-
tor, and no wiring for overtravel input signals will be required.

Inputs the Forward Run Prohibited (P-OT) signal from
n.2 CN1-42.
Pn50A (Factory setting)
Disables the Forward Run Prohibited (P-OT) signal.
n.8
(Allows constant forward movement.)
After restart Setup
Inputs the Reverse Run Prohibited (N-OT) signal from
n.3 CN1-43.
Pn50B (Factory setting)
Disables the Reverse Run Prohibited (N-OT) signal.
n.8
(Allows constant reverse movement.)
• 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.
(3) Motor Stopping Method When Overtravel is Used
The stopping method when an overtravel (P-OT, N-OT) signal is input while the servomotor is operating can
be set with parameter Pn001.
Mode
Parameter Stop Mode After Meaning When Enabled Classification
Stopping
n.00 Immediately stops the ser-
Stop by
vomotor by dynamic brak-
dynamic
n.01 ing (DB), then places it into
brake
Coast (power OFF) Mode.
Coast
Stops the servomotor by
Coast to a coast stop, then places it
n.02
stop into Coast (power OFF)
Mode.
Pn001 Decelerates the servomotor After restart Setup
with emergency stop force
Zero
n.1 (Pn406), then places it into
Clamp
Zero Clamp (Servolock)
Decelerate Mode.
to stop
Decelerates the servomotor
with emergency stop force
n.2 Coast
(Pn406), then places it into
Operation
Coast (power OFF) Mode.
• A servomotor under force control cannot be decelerated to a stop. The servomotor is stopped with the
dynamic braking (DB) or coasts to a stop according to the setting of Pn001.0. After the servomotor stops,
the servomotor will enter a coast state.
5
• For details on stopping methods when the servo turns OFF or when an alarm occurs, refer to 5.2.4 Stopping
Servomotors after /S_ON Turned OFF or Alarm Occurrence.
5-7
5 Operation
5.2.3 Overtravel
(4) Emergency Stop Force for Overtravel

Emergency Stop Force Speed 　 Position
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 force (i.e., the rated force is 100%)
• The factory setting is 800% so that the setting is large enough a value to operate the servomotor at maximum
force. The maximum value of emergency stop force that is actually available, however, is limited to the
maximum force of the servomotor.
(5) Terms
Dynamic Brake (DB)
Linear
Dynamic braking (DB) is a standard method for stopping the servomotor in SERVOPACK servomotor
emergencies. By short-circuiting the electric circuits, the servomotor comes to

a quick stop. The dynamic braking circuit is built into the SERVOPACK.
Coast to a stop
Stops naturally, with no brake, by using the friction resistance of the motor in
operation.
Decelerate to stop
Stops by using deceleration (braking) force.
Zero Clamp Mode

A mode forms a position loop by using the position reference zero.
5-8
5.2.4 Stopping Servomotors after /S_ON Turned OFF or Alarm Occurrence

The stopping method can be selected after the /S_ON (Servo ON) signal turns OFF or an alarm occurs.
• Dynamic braking (DB) is used for emergency stops. The DB circuit will operate fre-
quently if the power is turned ON and OFF with a reference input applied, which may
result in deterioration of the internal elements in the SERVOPACK.
Use speed input references or position references to start and stop the servomotor.
• If the main circuit power supply (L1, L2, and L3) or the control power supply (L1C,
L2C or 24V, 0V depending on the SERVOPACK model) is turned OFF, but the /S_ON
signal is not OFF, the stopping method for servomotor cannot be set by parameters.
Use the following method to stop the servomotor.
If turning OFF the main circuit power supply, but the /S_ON signal is not OFF, the ser-
vomotor will be stopped by dynamic braking.
If turning OFF the control power supply, but the /S_ON signal is not OFF, the stopping
method will vary with the SERVOPACK model. Two stopping methods are available.
• SERVOPACKs stop by coasting
Applicable models: SGDV-330A, 470A, 550A, 590A, 780A, 280D, 370D
• SERVOPACKs stop by dynamic braking
Applicable models: All SERVOPACKs other than those listed for coasting.
• If the servomotor must be stopped by coasting rather than by dynamic braking when
the main circuit power supply or the control power supply is OFF, but the /S_ON sig-
nal is not OFF, arrange the sequence externally so the current will be cut off for wires
U, V, and W.
• To minimize the coasting distance of the motor to come to a stop, the zero-speed
stopping method is factory-set for alarms to which the zero-speed stop method is
applicable. The DB stopping method may be more suitable than the zero-speed stop-
ping method, however, depending on the application.
For example, for multiple axes coupling operation (a twin-drive operation), machinery
damage may result if a zero-speed stop alarm occurs for one of the coupled shafts
and the other shaft stops by dynamic brake. In such cases, change the method to the
DB stopping method.
(1) Stopping Method for Servomotor after /S-ON signal is Turned OFF
Use Pn 001.0 to select the stopping method for the servomotor after the /S_ON signal is OFF.
Mode After
Parameter Stop Mode Meaning When Enabled Classification
Stopping
Dynamic dynamic braking (DB), then
n.0
Brake holds it in Dynamic Brake
Operation
Stop by Mode. [Factory setting]

dynamic
brake Stops the servomotor by
Pn001 dynamic braking (DB), then After restart Setup
n.1 Coast
places it into Coast (power OFF)
Mode.
5
Stops the servomotor by coast-
Coast to a
n.2 Coast ing and continues in Coast mode
stop
(power off).
Note: Similar to the Coast Mode, the n.0 setting (which stops the servomotor by dynamic braking and then holds it
in Dynamic Brake Mode) does not generate any braking force when the servomotor stops or when it moves at very
low speed.
5-9
5 Operation
5.2.4 Stopping Servomotors after /S_ON Turned OFF or Alarm Occurrence
(2) Stopping Method for Servomotor When an Alarm Occurs

If an alarm occurs, the servomotor can be stopped by doing either of the following operations.
Gr.1: The servomotor is stopped according to the settings in Pn001.0 if an alarm occurs. Pn001.0 is factory-set
to stop the servomotor by applying the DB.
Gr.2: The servomotor is stopped according to the setting in Pn00B.1 if an alarm occurs. Pn00B.1 is factory-set
to stop the servomotor by setting the speed reference to "0." The servomotor under force 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 alarm stop method to prevent
machine damage that may result due to differences in the stop method.
Note: Refer to the information on alarm stopping methods in 9.1.1 List of Alarms.
Stopping Method for Servomotor for Gr.1 Alarms (Alarms that Result in a DB Stop)
The stopping method of the servomotor when a Gr.1 alarm occurs is the same as that for the Servomotor when
the servo is turned OFF.
Mode After
Parameter Stop Mode Meaning When Enabled Classification
Stopping
Dynamic dynamic braking (DB), then
n.0
Brake holds it in Dynamic Brake
Stop by Mode. [Factory setting]
dynamic
brake Stops the servomotor by
Pn001 dynamic braking (DB), then After restart Setup
n.1 Coast
places it into Coast (power OFF)
Mode.
Stops the servomotor by coast-
Coast to a
n.2 Coast ing and continues in Coast mode
stop
(power off).
Stopping Method for Servomotor for Gr.2 Alarms (Alarms that Result in a Zero-speed Stop)
Parameter Mode After When Classifica-
Stop Mode Meaning
Pn00B Pn001 Stopping Enabled tion
n.0 Dynamic Stops the servomotor by zero-speed stop,
[Factory setting] Brake then holds it in Dynamic Brake Mode.
Stops the servomotor by zero-speed stop,
n.0
n.1 Zero-speed then places it into Coast (power OFF)
[Factory
stopping Mode.
setting] Coast
Stops the servomotor by zero-speed stop,
n.2 then places it into Coast (power OFF)
Mode. After
Setup
Stops the servomotor by dynamic braking restart
n.0 Dynamic
(DB), then holds it in Dynamic Brake
[Factory setting] Stops by Brake
Mode.
dynamic
brake Stops the servomotor by dynamic braking
n.1
n.1 (DB), then places it into Coast (power
Coast OFF) Mode.
Stops the servomotor by coasting and
n.2 Coast to stop
continues in Coast mode (power off).
Note: The setting of Pn00B.1 is effective for position control and speed control. Pn00B.1 will be ignored for force control
and only the setting of Pn001.0 will be valid.
<Terms>
Dynamic brake (DB) Linear
SERVOPACK servomotor
A common method for quickly stopping a servomotor. The servomotor is
stopped by short-circuiting the servomotor circuit. This circuit is built into the
SERVOPACK.
5-10
5.2.5 Power Loss Settings

Determines whether to continue operation or turn the servo OFF when the power supply voltage is interrupted.
Instantaneous Power Cut Hold Time Speed Position Force

Classification
20 to 1000 1 ms 20 Immediately Setup
An instantaneous power interruption will be detected when the main circuit power supply is turned OFF. If the
time required to restore the main circuit power supply is less than the parameter set value, the servo will con-
tinue operation. If the restoration time is the equal to or greater than the set value, the servo will be turned
OFF.
Momentary power interruption
Power supply
OFF time t
voltage
Operation
Pn509
continued
Pn509 > t Servo ON
Pn509
Servo OFF
Pn509 < t Servo ON
Power supply voltage is interrupted.
• The holding time of the control power supply for the 200 V SERVOPACKs is approxi-
mately 100 ms, but the time of the control power supply for the 100 V SERVOPACKs
is approximately 65 ms. If the control power supply makes control impossible during
an instantaneous power interruption, the same operation will be performed as for nor-
mally turning OFF the power supply, and the setting of the parameter will be ignored.
• The holding time of the main circuit power supply varies with the output of the SER-
VOPACK. If the load on the servomotor is large and an undervoltage alarm (A.410)
occurs, the parameter will be ignored.
• The holding time of the control power supply (24 VDC) for the 400 V SERVOPACKs
depends on the capability of the power supply (not included). Check the power supply
before using the application.
If the uninterruptible power supplies are used for the control power supply and main circuit power supply, the
SERVOPACK can withstand an instantaneous power interruption period in excess of 1000 ms.
Operation
5.2.6 Motor Maximum Speed

By setting a lower speed, the following effects can be obtained.
• More delicate speed control and more strict protection by generating the overspeed alarm (A.510) 5
• Allows the upper limit of Encoder Output Pulse (Pn281) to be set higher.
For details, refer to 5.3.6 Encoder Pulse Output.
Motor Maximum Speed Speed 　 Position 　 Force

Classification
1 to 100 100 mm/s 50 After restart Setup
5-11
5 Operation
5.2.7 SEMI F47 Function (Force Limit Function for Low Power Supply Voltage for Main Circuit)
5.2.7 SEMI F47 Function (Force Limit Function for Low Power Supply Voltage for
Main Circuit)
The force limit function detects a low voltage and limits the output current if the power supply voltage for the
main circuit drops to a specified value or below.
This function complies with SEMI F47 standards for semiconductor production equipment.
Combining this function with the parameter for Instantaneous Power Cut Hold Time allows the servomotor to
continue operating without stopping for an alarm or without recovery work even if the power supply voltage
drops.
• The function is able to cope with instantaneous power interruptions in the voltage and
time ranges stipulated in SEMI F47. An uninterruptible power supply (UPS) is
required as a backup for instantaneous power interruptions that exceed these voltage
and time ranges.
• The function is intended for voltage drops in the main circuit power supply. The follow-
ing restrictions apply when it is used to provide an instantaneous power cut hold time
in the control power supply. (There are no restrictions for the 200 V SERVOPACKs.)
<Control Power Supply Restrictions>

400 V SERVOPACKs: Provide the control power supply from a 24 VDC power supply
that complies with SEMI F47 standards.
100 V SERVOPACKs: Provide the control power supply from an uninterruptible power
supply (UPS).
• Set the host controller and SERVOPACK force limit so that a force reference that
exceeds the specified acceleration will not be output when the power supply for the
main circuit is restored.
• Do not limit the force to values lower than the holding force for the vertical axis.
• This function controls force within the range of the SERVOPACK's capability when the
power is cut. It is not intended for use under all load and operating conditions. Use the
actual device to set parameters while confirming correct operation.
• Setting the Instantaneous Power Cut Hold Time lengthens the amount of time from
when the power supply is turned OFF until the motor current turns OFF. Use the input/
output of the servo ON signal to stop the motor current.
5-12
(1) Execution Method

This function can be executed either with the host controller or independently with the SERVOPACK.
Execution with Host Controller

The host controller limits the force in response to a low-voltage warning.
The limited force is reset when the low-voltage warning is cleared.
Interruption time for the power
supply of the main circuit
Power supply for

main circuit
280 V*1 The bus voltage for the main circuit is
lowered slowly, because the output force
200 V*2 is limited.
Bus voltage The bus voltage for the main
for main circuit increases after the
circuit power supply is restored.
SERVOPACK 165 V
Low-voltage
warning is detected
The force limit is started.

Force limit
0%
The force is limited in response
Low-voltage to a low-voltage warning
warning status The force is limited in
response to a
Host low-voltage warning.
controller The low-voltage warning is cleared
Force limit and force limit is stopped.
reference
0%
∗1. 560 V for 400 V power supply.

Execution Independently with SERVOPACK
The force is limited in the SERVOPACK in response to a low-voltage warning.
The SERVOPACK resets the limited force in the set time when the low-voltage warning is cleared. Pn008.1 is
used to specify whether the function is executed with the host controller or independently with the SERVO-
PACK.
Interruption time for the power
supply of the main circuit
Power supply for

main circuit
The bus voltage for the main circuit is
280 V*1 lowered slowly, because the output force
is limited.
200 V*2
Bus voltage for
main circuit The bus voltage for the main
circuit increases after the
power supply is restored.
Operation
SERVOPACK
165 V
Low-voltage
warning is detected The force limit Setting value of Pn425
is started.
Force limit Setting value

of Pn424 5
0%

5-13
5 Operation
5.2.7 SEMI F47 Function (Force Limit Function for Low Power Supply Voltage for Main Circuit)
(2) Related Parameters

A main circuit low voltage is not detected.
n.0
[Factory setting].
A main circuit low voltage is detected, and the host
n.1
Pn008 controller limits the force. After restart Setup
A main circuit low voltage is detected, and the SER-
n.2 VOPACK independently limits the force using Pn424
and Pn425.
Force Limit at Main Circuit Voltage Drop Speed 　 Position 　 Force

Classification
0 to 100 1% * 50 Immediately Setup
Release Time for Force Limit at Main Circuit
Speed 　 Position 　 Force
Voltage Drop Classification
∗ The setting unit is a percentage of the rated force.
5-14
5.2.8 Setting Motor Overload Detection Level

In this SERVOPACK, the detection timing of the warnings and alarms can be changed by changing how to
detect a overload warning (A.910) and overload (continuous overload) alarm (A.720).
The overload characteristics and the detection level of the overload (instantaneous overload) 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 parameter (Pn52B). This protective function enables the
overload warning output signal (/WARN) 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% Force reference [%]
Overload Warning Level Speed Position Force

Classification
Pn52B Setting Range Setting Unit Factory Setting When Enabled
1 to 100 1% 20 Immediately Setup Operation
5-15
5 Operation
5.2.8 Setting Motor Overload Detection Level
(2) Changing Detection Timing of Overload Alarm (A.720)

An overload alarm (continuous overload) can be detected earlier to protect the motor from overloading. The
time required to detect an overload alarm can be shortened by using the derated motor base current obtained
with the following equation. The detection level of the overload (instantaneous overload) alarm (A.710) can-
not be changed.
Motor base current × Derating of base current at detecting motor overload of Motor (Pn52C)
= Derated motor base current
Motor base current: Threshold value of motor current to start calculation for overload alarm
Derating of motor base current at detecting motor 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 alarm 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% Force reference [%]
Derating of Base Current at Detecting Overload of Motor Speed Position Force

Classification
Pn52C Setting Range Setting Unit Factory Setting When Enabled
10 to 100 1% 100 After restart Setup
5-16
5.3 Operating Using Speed Control with Analog Voltage Reference
5.3 Operating Using Speed Control with Analog Voltage

Reference
This section describes the operation in speed control with analog voltage reference.
Select the speed control with the parameter Pn000.

Control mode selection: Speed control (analog volt-
Pn000 n.0 After restart Setup
age reference) [Factory setting]
5.3.1 Basic Settings for Speed Control

Set the following signal and parameter for speed control with analog voltage reference.
(1) Speed Reference Input

Input the speed reference to the SERVOPACK using the analog voltage reference to control the servomotor
speed in proportion to the input voltage.
Connector
Type Signal Name Name
Pin Number
V-REF CN1-5 Speed Reference Input
Input
SG CN1-6 Signal Ground
Input Specifications
Maximum allowable input voltage: ±12 VDC
<Setting Example>
Pn300 = 600: 6 V input/Motor rated speed [Factory setting]
Speed
Movement
Reference Motor Speed SGLGW-30A Servomotor
Direction
Input
+6 V Forward Rated motor speed 1500 mm/s
-3 V Reverse 1/2 rated motor speed -750 mm/s
+1 V Forward 1/6 rated motor speed 250 mm/s
Connect V-REF and SG to the speed reference output terminals on the host controller when using a host con-
troller, such as a programmable controller, for position control.
Host SERVOPACK
controller
Operation
CN1
V-REF
5
D/A
6 Approx. 14 kΩ
SG or more
0V 5
Note: Always use twisted-pair cable to control noise.
5-17
5 Operation
5.3.1 Basic Settings for Speed Control
(2) Setting Speed Reference Input Gain

Sets the analog voltage level for the speed reference (V-REF) necessary to operate the servomotor at the rated
speed.
Speed Reference Input Gain Speed Position Force

Classification
150 to 3000 0.01 V/rated speed 600 Immediately Setup
Rated motor speed

Factory setting
-12 -8 -4
4 8 12
Input voltage (V)
Rated motor speed
The slope is set in Pn300.
5-18
5.3.2 Reference Offset Adjustment

In speed control, the servomotor may move at a very low speed with an analog voltage reference of 0 V. This
occurs because the reference voltage of the host or external circuit has a slight offset of a few millivolts.
If the servomotor moves at a very low speed, the offset needs to be eliminated using the offset adjustment
function.
Use either automatic adjustment or manual adjustment. Automatic adjustment uses the automatic adjustment
parameter for analog (speed and force) reference offset (Fn009). Manual adjustment uses the manual adjust-
ment parameter for speed reference offset (fn00A).
(1) Automatic Adjustment of the Speed Reference Offset

The automatic adjustment of the offset automatically measures the amount of offset and adjusts the reference
voltage.
Reference Reference
voltage voltage Offset automatically
adjusted in SERVOPACK.
Offset
Speed Speed
Automatic
reference reference
offset
adjustment
After completion of the automatic adjustment, the amount of offset is stored in the SERVOPACK.
Adjust the speed reference offset automatically using the following steps.
The speed reference offset must be automatically adjusted with the servo OFF.
Operation
5-19
5 Operation
5.3.2 Reference Offset Adjustment
Display after
Operation
Turn OFF the servo ON (S/_ON) signal, and input the 0 V
reference voltage from the host controller or external cir-
cuit.
SERVOPACK Linear servomotor
1
0 V force
Host reference
controller
Small movement
Servo OFF (Servo ON)

2
mode.
MODE/SET DATA/
3 Press the UP or the DOWN Key to select Fn009.

MODE/SET DATA/
Press the DATA/SHIFT Key for approximately one second.

4
"rEF_o" is displayed.
MODE/SET DATA/

The reference offset is automatically adjusted.
5
MODE/SET DATA/ When completed, "donE" blinks for approximately one sec-
ond.
6 After "donE" is displayed, "rEF_o" is displayed again.

7
"Fn009" is displayed again.
MODE/SET DATA/
Note: The automatic adjustment of reference offset (Fn009) cannot be used when a position loop has been formed with a
host controller. Use the speed reference offset adjustment manual mode described in (2) Manual Servo Tuning of the
Speed Reference Offset.
(2) Manual Servo Tuning of the Speed Reference Offset

This method adjust the offset inputting the amount of offset.
Use the speed reference offset manual servo tuning (Fn00A) in the following situations:
• If a position loop is formed with the host controller and the error is zeroed when servolock is stopped.
• To deliberately set the offset to some value.
• To check the offset data set in the speed reference offset automatic adjustment mode.
The offset setting range and setting units are as follows:

Speed reference
Offset adjustment
range Offset Adjustment Range: ±15000
(Speed Reference: ±750 mV)
Offset setting unit Analog

Offset Setting Unit
input
(Speed Reference: 0.05 mV)
voltage
Adjust the speed reference offset using following steps.
5-20
Display after
Operation

1
mode.
MODE/SET DATA/
2 Press the UP or the DOWN Key to select Fn00A.

MODE/SET DATA/

3
The display shown on the left appears.
MODE/SET DATA/
Turn ON the servo ON (/S-ON) signal from the host con-

4
troller. The display shown on the left appears.
Press the DATA/SHIFT Key for less than one second. The
5
speed reference offset amount is displayed.
MODE/SET DATA/
Press the UP or the DOWN Key to adjust the amount of off-

6
set.
MODE/SET DATA/
Press the MODE/SET Key for less than one second. The
7 display shown on the left appears. Then "don E" blinks on
MODE/SET DATA/ the display, and offset amount is set.

8
"Fn00A" is displayed again.
MODE/SET DATA/
5.3.3 Soft Start

The soft start is a function to convert stepped speed reference input into constant acceleration and decelera-
tion. The time can be set separately for acceleration and deceleration.
Use this function to smooth speed control in speed control (including selection of internally set speeds).
Note: Set both parameters Pn305 and Pn306 to "0" (factory setting) for normal speed control.
Soft Start Acceleration Time Speed

Classification
Soft Start Deceleration Time Speed

Operation
Classification
Pn305: The time interval from the time the motor starts until the motor maximum speed is reached.
Pn306: The time interval from the time the motor is operating at the motor maximum speed until it stops. 5
Maximum speed of Servomotor
After soft start

Before soft start
Pn305 Pn306
5-21
5 Operation
5.3.4 Speed Reference Filter
Actual accel/decel time can be calculated with the following equation.
Speed reference
Actual (accel/decel) time = × Soft start time (accel time Pn305/decel time Pn306)
Max. speed
Max. speed
Actual Actual
accel time decel time
Pn305 Pn306
5.3.4 Speed Reference Filter

This smoothens the speed reference by applying a first order lag filter to the analog speed reference (V-REF)
input.
Note: A value that is too large, however, will slow down response.
Speed Reference Filter Time Constant Speed Position Force

Classification
0 to 65535 0.01 ms 40 Immediately Setup
5-22
5.3.5 Zero Clamp Function

The zero clamp function locks the servo when the input voltage of the speed reference (V-REF) drops below
the set speed in the zero clamp level parameter (Pn501) while the zero clamp signal (/P-CON or /ZCLAMP) is
ON. The SERVOPACK internally forms a position loop, ignoring the speed reference.
The servomotor is clamped within one pulse of when the zero clamp function is turned ON, and will still
return to the zero clamp position even if it is forcibly moved by external force.
The zero clamp function is used for systems where the host controller does not form a position loop for the
speed reference input.
<Terms>
Servo lock: A stopped state of the motor in which a position loop is formed with a position reference of 0.
When the /ZCLAMP signal is turned ON, a
speed reference below the Pn501 setting is detected.
Host controller
Speed reference
V-REF
Zero clamp
/P-CON
Stops precisely!
(/ZCLAMP)
V-REF speed reference

Speed
Preset value
for zero clamping
SERVOPACK
Pn501
CN1
V-REF 5
Time
Speed reference
Closed (ON)
/P-CON (/ZCLAMP) input Open (OFF)
/P-CON 41
Zero clamp
(/ZCLAMP)
Zero clamp is performed. OFF OFF
ON ON ON
Adjust the position loop gain in Pn102 if the servomotor oscillates in the zero clamp state. If the gain switch-
ing function is used, adjusting the 2nd position loop gain in Pn106 is required as well. For details, refer to
6.8.6 Switching Gain Settings.
Operation
5-23
5 Operation
5.3.5 Zero Clamp Function
(1) Signal Setting

Factory-set Sequence Signal Allocations (Pn50A.0 = 0)
Use the /P-CON signal to switch to the zero clamp state.
Connector
Type Setting Meaning
Pin Number
If the input voltage of the speed reference (V-REF) drops
CN1-41 ON below the set speed in the zero clamp level (Pn501), the zero
Input /P-CON clamp function will turn ON.
[Factory setting]
OFF Turns OFF the zero clamp function.
To use the zero clamp function, set Pn000.1 to A.
Input Signal
Parameter Control Method When Enabled Classification
Used
Pn000 n.A The zero clamp function uses /P- /P-CON After restart Setup
CON.
Note: If Pn000.1 is set to A, the /P-CON signal cannot be used for any function other than the zero clamp function.
Changing Sequence Signal Allocations for Each Signal (Pn50A.0 = 1)

Use the /ZCLAMP signal when switching to zero clamp operation.
To use the /ZCLAMP signal, the input signal must be allocated. For details, refer to 3.3.1 Input Signal Alloca-
tions.
Connector
Pin Number
The zero clamp function will be turned ON if the input volt-
CN1- ON age of the speed reference (V-REF) drops below the set speed
Input /ZCLAMP in the zero clamp level (Pn501).
Must be allocated.
OFF Turns OFF the zero clamp function.
To use the zero clamp function, set Pn000.1 to 0, 3, 4, 5, 6, 7 or 9.
Input Signal
Used
n.0 Speed control (analog reference) /ZCLAMP
Internally set speed control (contact
n.3 /ZCLAMP
reference)
n.4 reference) <=> Speed control (analog /ZCLAMP
reference）
Pn000 n.5 reference) <=> Position control (pulse /ZCLAMP After restart Setup
strain reference)
n.6 reference) <=> Force control (analog /ZCLAMP
reference)
n.7 /ZCLAMP
<=> Speed control (analog reference)
Force control (analog reference) <=>
n.9 /ZCLAMP
5-24
Note: If Pn000.1 is set to 5, 6, 7, or 9, the zero clamp function will become invalid when the control is changed to any
modes other than speed control.
Set the speed at which to enter zero clamp operation.
Zero Clamp Level Speed

Classification
0 to 10000 1 mm/s 10 Immediately Setup
Note: Even if a value that exceeds the speed of the servomotor is set, the actual speed will be limited to the maximum
speed of the servomotor.
5.3.6 Encoder Pulse Output

Encoder pulse output shows the feedback of position.
This signal processes the encoder output inside the SERVOPACK and then outputs externally in the pulse
form.
Signals and output phase form are as shown below.
(1) Signals
Signal Connector
Type Name
Name Pin Number
PAO CN1-33 Encoder output phase A
/PAO CN1-34 Encoder output phase /A
PBO CN1-35 Encoder output phase B
Output
/PBO CN1-36 Encoder output phase /B
PCO CN1-19 Encoder output phase C*
/PCO CN1-20 Encoder output phase /C*
∗ Phase C: Refer to (3) Encoder Output Signals from SERVOPACK with a Linear Scale by Reinshaw.
These outputs are
explained here.
SERVOPACK Host controller

Linear
scale Analog CN2 ∗ CN1
Phase A (PAO)
signal Serial DATA Frequency
Enc Phase B (PBO)
converter dividing
unit circuit Phase C (PCO)
(2) Output Phase Form

Operation
Forward movement (phase B leads by 90°) Reverse movement (phase A leads by 90° 㧕
90° 90°
5
Phase A Phase A
Phase B Phase B
Phase C Phase C
t t
Note: The pulse width of the (Phase C origin pulse) changes according to the setting of the Pn212 and becomes the same
as that for phase A.
Even in reverse movement mode (Pn000.0 = 1), the output phase form is the same as that for the standard setting
(Pn000.0 = 0).
5-25
5 Operation
5.3.6 Encoder Pulse Output
(3) Encoder Output Signals from SERVOPACK with a Linear Scale by Reinshaw
The output position of the zero point signal (Ref) may vary in some models of the linear scale made by Ren-
ishaw.
If using a Renishaw model, the phase-C pulses of the SERVOPACK are output at two positions.
For details on the specifications of the zero-point signals for a linear scale, refer to the manual for the Ren-
ishaw linear scale.
• When Passing the 1st Zero Point Signal (Ref) in Forward Direction after Power ON
Machine position (Forward direction)
Power ON Time
Zero point signal

㧔Ref㧕
Phase-C
No zero point signal (Ref) is sent from the linear scale.

However, a phase-C pulse will be sent from the SERVOPACK Second pulse is half as wide
when moving in the reverse direction, because it is the same as the phase-A pulse.
position from which a phase-C pulse was sent from the
SERVOPACK when moving in a forward direction.
• When Passing the 1st Zero Point Signal (Ref) in Reverse Direction after Power ON
Machine position (Forward direction)
Power ON Time
Zero point signal

㧔Ref㧕
Phase C
No zero point signal (Ref) is sent from the linear scale.

However, a phase-C pulse will be sent from the SERVOPACK Second pulse is half as wide
when moving in the reverse direction, because it is the same as the phase-A pulse.
position from which a phase-C pulse was sent from the
SERVOPACK when moving in a forward direction.
5-26
(4) When Using an Absolute Encoder

When absolute encoder is used, add the following signals.
Signal
Type Connector Pin Number Name
Name
SEN CN1-4 SEN Signal Input
Input
Output SG* CN1-1, CN1-2 Signal Ground
∗ SG (CN1-1, 2): Connect to 0 V on the host controller.
5.3.7 Encoder Pulse Output Setting

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

Classification
1 to 4096 1 P{(Pn282) × 4} 20 After restart Setup
Set the encoder output pulse for encoder pulse output signals (PAO, /PAO, PBO, /PBO) externally from the
SERVOPACK.
Feedback pulses per linear scale pitch (Pn282) are divided inside the SERVOPACK by the value set in Pn281
before being output. Set according to the system specifications of the machine or host controller.
The setting range varies with the linear servomotor maximum speed (Pn385) and linear scale pitch (Pn282).
The upper limit value for Pn281 can be obtained by the following equation.
Pn282
Upper limit value for Pn281 = × 72
Pn385
Note 1. When the scale pitch is 4 μm, the motor maximum speed is limited to 1 ms/s because of the maximum response
frequency of serial converter unit.
2. If the set value is out of the setting range or does not satisfy the setting conditions, the alarm "Encoder Output
Pulse Setting Error" (A.041) is output.
If the motor speed exceeds the upper limit value according to the set encoder output pulse, the alarm "Overspeed
of Encoder Output Pulse Rate" (A.511) is output.
3. The upper limit of encoder output pulse is limited by the frequency dividing specification of serial converter unit.
4. When an absolute linear scale is used, the linear scale pitch becomes the value which is obtained by "resolution
(μm/pulse)×29". (The set value in Pn282 becomes invalid.)
Setting Example (Incremental Encoder)
Operation
When the linear scale pitch = 20 μm (Pn282 = 20.00) and the motor maximum speed = 5 m/s (Pn385 = 50),
Pn281 = 28 is accepted, but Pn281 = 29 is not accepted and A.041 is output.
Output Example (Incremental Encoder)

When Pn281 = 20 (20-edge output (5-pulse output) per linear scale pitch), 5
Preset value㧦20
PAO
PBO
Linear scale
pitch (Pn282)
5-27
5 Operation
5.3.8 Speed Coincidence Signal Setting
5.3.8 Speed Coincidence Signal Setting

The speed coincidence (/V-CMP) output signal is output when the actual servomotor speed during speed con-
trol is the same as the speed reference input. The host controller uses the signal as an interlock.
Signal Connector Pin

Name Number
ON (close) Speed coincides.
Output /V-CMP CN1-25, 26
OFF (open) Speed does not coincide.
This output signal can be allocated to another output terminal with parameter Pn50E.
Refer to 3.3.2 Output Signal Allocations.
Speed Coincidence Signal Output Width Speed

Classification
The /V-CMP signal is output when the difference between the speed reference and actual motor speed is below
this setting.
Motor speed
Pn582
Reference speed
/V-CMP is output in
this range.
/V-CMP is a speed control output signal. With the factory setting without mapping output terminal in Pn50E,
this signal is automatically used as the positioning completed signal /COIN for position control, and it is
always OFF (open) for force control.
<Example>
The /V-CMP signal is output at 1900 to 2100 mm/s if the Pn582 is set to 100 and the reference speed is 2000
mm/s.
5-28
5.4 Operating Using Position Control with Pulse Train Reference

This section describes the operation in position control with pulse train reference.
Select the position control with Pn000.

Pn000 n.1 Control mode: Position control (pulse train reference) After restart Setup
Block Diagram for Position Control

A block diagram for position control is shown below.
SERVOPACK (in position control)
Pn109 Pn10A
Differ- Feed-
1st order
ential forward lag filter
gain
Pn200.0 Pn216 Linear
Pulse Pn20E Pn217
×1 Pn102 servomotor
input B + +
×2 Smoothing
+ Speed Current
×4 A Error Kp M
Pn210 - counter loop loop
Encoder
pulse Enc
output Pn212
Dividing Linear scale
5.4.1 Basic Settings for Position Control Mode

Set the following signal and parameter for position control with pulse train reference.
(1) Signal Setting

Set the input form for the SERVOPACK using Pn200.0 according to the host controller specifications.
Type Signal Name Connector Pin Number Name

PULS CN1-7 Reference Pulse Input
/PULS CN1-8 Reference Pulse Input
Input
SIGN CN1-11 Sign Input
/SIGN CN1-12 Sign Input
(2) Reference Input Filter for Signals

The noise margin for input signals will drop if an open-collector pulse reference is input. Set Pn200.3 to 1 if
Operation
position error occurs due to a reduced noise margin.

Uses the reference input filter for line driver signal.
n.0 (Maximum reference frequency: 1 Mpps)
[Factory setting]
5
Pn200 Uses the reference input filter for open-collector sig- After restart Setup
n.1
nal. (Maximum reference frequency: 200 kpps)
Uses the reference input filter for line driver signal.
n.2
(Maximum reference frequency: 4 Mpps)
Note: • Set Pn200 to n.2 if the maximum reference frequency exceeds 1 Mpps.
• Use a shielded cable for I/O signals and ground both ends of the shield.
• Connect the shield at the SERVOPACK to the connector shell so that the shield will be connected to the frame
ground (FG) through the connector.
5-29
5 Operation
(3) Connection Example

Applicable line driver: SN75ALS174 manufactured by Texas Instruments Inc., or MC3487 or equivalent
Line Driver Output

Line driver CN1

∗ Photocoupler
PULS 7
PULS
Forward 150Ω
direction /PULS 8
Phase A
SIGN Photocoupler
SIGN 11
Reverse 150Ω
direction /SIGN 12
Phase B
CLR 15 Photocoupler
CLR
150Ω
/CLR 14
FG FG
∗ represents twisted-pair wires.
Open-collector Output
Set limit resistor R1 so the input current, i, falls between 7 mA to 15 mA.

Vcc CN1 Example
R1 i ∗
PULS 7 150Ω Photocoupler When Vcc is +24 V: R1 = 2.2 kΩ
When Vcc is +12 V: R1 = 1 kΩ
When Vcc is +5 V: R1 = 180 Ω
/PULS 8
Tr1 Note: In case of open-collector outputs,
the signal logic is as follows.
R1 i
SIGN 11 150Ω H level input or
When Tr1 is ON
equivalent
/SIGN 12
L level input or
R1 i CLR 15 150Ω When Tr1 is OFF equivalent
/CLR 14
5-30
The built-in power supply of the SERVOPACK can be used. With an external power supply, a photocoupler
isolation circuit will be used. A non-isolated circuit will be used if the built-in power supply is used.

CN1
+12V
PL1 3 1kΩ
7 Photocoupler
PULS 150Ω
∗ /PULS 8
Tr1
PL2 13
1.5 V or 11
less at ON SIGN
/SIGN 12
PL3 18
15
CLR
/CLR 14
(4) Pulse Reference Input Signal Form

Set the pulse reference input signal form using Pn200.0.
Parameter Reference Pulse Form Input Forward Movement Reverse Movement

Pulse Reference Reference
Multi-
plier
Sign + pulse train − PULS PULS

(CN1-7) (CN1-7)
n.0 (Positive logic)
SIGN H level SIGN
(Factory setting) (CN1-11) (CN1-11)
L level
Forward direction pulse + − PULS PULS

L level (CN1-7)
n.1 Reverse direction pulse (CN1-7)
SIGN SIGN
(Positive logic) (CN1-11) (CN1-11)
L level
n.2 ×1 90 90
Two-phase pulse train with PULS PULS
Pn200 n.3 ×2 (CN1-7)
90° phase differential (CN1-7)
SIGN
SIGN
n.4 ×4 (CN1-11) (CN1-11)
Operation
− PULS PULS
Sign + pulse train (CN1-7)
n.5 (CN1-7)
(negative logic) SIGN L level SIGN
H level
(CN1-11) (CN1-11)
Forward direction pulse + − PULS PULS 5

n.6 Reverse direction pulse (CN1-7) H level (CN1-7)
SIGN SIGN H level
(negative logic) (CN1-11) (CN1-11)
The input pulse multiplier can be set for the 2-phase pulse train with 90° phase differential reference pulse form.
5-31
5 Operation
Forward movement Reverse movement
PULS
(CN1-7)
SIGN
(CN1-11)
×1
Internal Servomotor movement
×2 reference pulses
processing
×4
(5) Reference Pulse Input Timing

Reference pulse form and input timing are as shown below.
Reference Pulse Form Electrical Specifications Remarks

Sign + pulse train input t1 t2 t1, t2, t3, t7 ≤ 0.025 μs Sign (SIGN)
SIGN t7
(SIGN + PULS signal) t3
t4, t5, t6 ≥ 0.5 μs H = Forward
PULS reference
Maximum reference fre- t4 Ǽ t5 t6 τ ≥ 0.125 μs
quency: 4 Mpps* T
L = Reverse
Forward reference Reverse reference
T-τ = 0.125 μs
(In case of open-collector reference
output, maximum refer-
ence frequency: 200 kpps)
Forward direction pulse + t1 t1, t2 ≤ 0.025 μs

T
reverse direction pulse t3 ≥ 0.5 μs
Maximum reference fre- CCW
t2
Ǽ
τ ≥ 0.125 μs
quency: 4 Mpps* CW t3
T-τ = 0.125 μs
(In case of open-collector Forward reference Reverse reference

Two-phase pulse train with t1 t2 t1 ≤ 0.1 μs Switching of the

90° phase differential t2 ≥ 0.1 μs input pulse multi-
Phase A
(phase A + phase B) plier mode is
Phase B τ ≥ 0.5 μs
Maximum reference fre- Ǽ done with
quency: 1 Mpps*
T
T-τ = 0.5 μs Pn200.0 setting.
Forward reference Reverse reference
(In case of open-collector Phase B leads
phase A by 90°
Phase B lags
phase A by 90°
∗ Maximum reference frequency by each multiplier are as follows.

×1 input pulse multiplier: 1 Mpps
5-32
(6) I/O Signal Timing Example

Input/Output signal timing are as shown below.
Servo ON ON
Release
t1 ≤ 36 ms
Baseblock t1 t2 t2 ≤ 6 ms
H (When Pn506 is set to 0.)
CN1-11
t3 ≥ 40 ms
H
Sign + pulse train t3
L
CN1-7
Note: The interval from the time the servo ON signal is turned ON until a reference pulse is input is must be at least 40 ms.
Otherwise the reference pulse may not be received by the SERVOPACK (t3).
Operation
5-33
5 Operation
5.4.2 Clear Signal
5.4.2 Clear Signal

Clear input signal sets SERVOPACK error counter to zero.
(1) Signal Setting

Type Signal Name Connector Pin Number Name
CLR CN1-15 Clear Input
Input
/CLR CN1-14 Clear Input
(2) Clear Input Signal Form

Set the clear input signal form using Pn200.1.
Parameter Description Timing When Enabled Classification

Clears at ON.
CLR Clears at
Position error pulses do ON
n.0 not accumulate while the (CN1-15)
signal is at ON.
[Factory setting]
CLR ON
n.1 Clears at the rising edge. (CN1-15)
Pn200 Clears here just once. After restart Setup

Clears at OFF.
CLR Clears at
Position error pulses do (CN1-15)
n.2 OFF
not accumulate while the
signal is at OFF.
CLR OFF
n.3 Clears at the falling edge. (CN1-15)
Clears here just once.
The following are executed when the clear operation is enabled.
• The SERVOPACK error counter is set to 0.

• Position loop operation is disabled.
Note: Holding the clear status may cause the servo clamp to stop functioning and the servomotor to move slowly due to
drift in the speed loop.
Pulse Width of Clear Signal
When the parameter Pn200.1 is set to 0 or 2, the width of a clear signal must be at least 250 μs to reset the
error counter.
When the parameter Pn200.1 is set to 1 or 3, the width of a clear signal must be at least 20 μs to reset the error
counter.
(3) Clear Operation

This parameter determines when the error pulse should be cleared according to the condition of the SERVO-
PACK. Either of three clearing modes can be selected with Pn200.2.
Parameter Description When Enabled Classification

Clears the error pulse during the baseblock
n.0 (at the Servo OFF and alarm occurred).
[Factory setting]
Does not clear the error pulse. Clears only with the/
n.1
CLR signal.
n.2 Clears the error pulse when an alarm occurs.
5-34
5.4.3 Electronic Gear

(1) Scale Feedback Resolution
• Incremental Encoder
The scale feedback resolution from the SERVOPACK is 1/256 of the scale pitch (Pn282).
Scale Pitch Pulse Resolution

40 μm 0.156 μm
20 μm 0.078 μm
4 μm 0.016 μm
• Absolute Encoder
Model Resolution
ST781A
0.5 μm
ST782A
ST783A
0.1 μm
ST784A
(2) Electronic Gear

The electronic gear enables the workpiece travel distance per input reference pulse from the host controller to
be set to any value. One reference pulse from the host controller, i.e., the minimum position data unit, is called
a reference unit.
When the Electronic Gear When the Electronic Gear
is Not Used is Used
Linear scale Linear scale

Reference unit1μm
To move a workpiece 10 mm To move a workpiece 10 mm using reference units
The scale pitch is 20 μm. Therefore, 1 reference unit is 1 μm.
101000¸20256=128000 pulses To move a workpiece 10 mm (10000 μm),
128000 pulses are input as reference 1 pulse = 1 μm,
pulses. 10000/1=10000 pulses.
The equation must be calculated at Input 10000 pulses as reference input.
the host controller.
(3) Electric Gear Ratio

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

Classification
Operation
Pn20E Setting Range Setting Unit Factory Setting When Enabled

1 to 1073741824
- 4 After restart Setup
(230)
Electronic Gear Ratio (Denominator) Position

5
Classification
1 to 1073741824
- 1 After restart Setup
(230)
The electronic gear ratio to be set can be calculated by the following equation:
5-35
5 Operation
5.4.3 Electronic Gear
B Pn20E Travel distance per reference unit

Electronic gear ratio: = = × 256
A Pn210 Scale pitch
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 (A.040) will be
output, and the SERVOPACK will not operate properly. In this case, modify the load con-
figuration or reference unit.
(4) Procedure for Setting the Electronic Gear Ratio

Set value electric gear differs depending on the machine specifications. Use the following procedure to set the
electronic gear ratio.
Step Operation
Check the scale pitch.
1
Check the scale pitch of linear scale used.
Determine the reference unit used.
2 Determine the reference unit from the host controller, considering the
machine specifications and positioning accuracy.
Calculate the electronic gear ratio.
3
Use the electronic gear ratio equation to calculate the ratio.
Set parameters.
4
Set parameters Pn20E and Pn210 using the calculated values.
(5) Electronic Gear Ratio Equation

Refer to the following equation to determine the electric gear ratio.
Reference pulse B + Posi- Speed

Linear servomotor
tion loop
A − loop
Δ㧔mm/P㧕
Movement distanceL㧔mm㧕
×256
Δ㧔mm/P㧕㧦Reference unit L

mm/scale pitch㧕
L㧔mm㧕㧦Movement distance Ps
Ps㧔mm㧕㧦Scale pitch
L B ) L
× ( = 256 ×
Δ A Ps
( B ) = 256 × L × Δ 256 × Δ Set A and B with the following parameters.

=
A Ps × L Ps A 㧦Pn210 B 㧦Pn20E
(6) Electronic Gear Ratio Setting Example

An example of electronic gear ratio setting is given below.
Step Operation Load Configuration

1 Check the scale pitch. 0.02 mm (20 μm)
2 Determine the reference 1 reference unit: 0.001 mm (1 μm)

unit.
3 Calculate the electronic B 1(μm)

gear ratio. = × 256
A 20(μm)
4 Set parameters. Pn20E 256
Pn210 20
5-36
5.4.4 Smoothing
Applying a filter to a reference pulse input, this function provides smooth servomotor operation in the follow-
ing cases.
• When the host controller that outputs a reference cannot perform acceleration/deceleration processing.
• When the reference pulse frequency is too low.
• When the reference electronic gear ratio is too high (i.e., 10 times or more).
Note: This function does not affect the travel distance (i.e., the number of pulses).

Set the following filter-related parameters.
Position Reference Acceleration/Deceleration Time

Position
Constant Classification
0 to 65535 0.1 ms 0* Immediately Setup
Average Movement Time of Position Reference Position

Classification
0 to 10000 0.1 ms 0* Immediately Setup
∗ When set to 0, a filter becomes ineffective.
While the motor is rotating, changes in Pn216 or Pn217 will not be reflected. The
changes will be effective after the motor comes to a stop with no reference pulse input.
<Note>
The difference between the position reference acceleration/deceleration time constant (Pn216) and the position reference
movement averaging time (Pn217) is shown below.
Acceleration/Deceleration Filter Average Movement Time Filter
Before filter applied Before filter applied

After filter applied After filter applied
100% 100%
63.2%
36.8% Operation
t t
Pn216 Pn216 Pn217 Pn217
Response waveform for stepwise input Response waveform for stepwise input
Pn217
5
Before filter applied
After filter applied
Pn217
t
Response waveform for ramp reference input
5-37
5 Operation
5.4.5 Positioning Completed Output Signal
5.4.5 Positioning Completed Output Signal

This signal indicates that servomotor movement has been completed during position control.
If the difference between the number of reference pulses from the host controller and the movement of the ser-
vomotor (the number of position error pulses) drops below the set value in the parameter, the positioning com-
pletion signal will be output.
Use this signal to check the completion of positioning from the host controller.
Signal Connector
Type Output Status Close Meaning
Name Pin Number
CN1-25, 26 ON (close) Positioning has been completed.
Output /COIN
[Factory setting] OFF (open) Positioning is not completed.
• This output signal can be allocated to another output terminal with Pn50E. Refer to 3.3.2 Output Signal Alloca-
tions.
• If the servomotor is used with the factory settings, the function will be automatically set to /V-CMP while in
speed control mode and always OFF while in force control mode.
Positioning Completed Width Position

Classification
0 to 1073741824(230) 1 reference unit 7 Immediately Setup
• Set the number of error pulses in reference units (the number of input pulses defined using the electronic
gear.)
• The positioning completed width setting has no effect on final positioning accuracy.
Reference Servomotor
Speed speed
Pn522
Error pulse
(Un008)
ON
/COIN OFF ON (close) is effective.
(CN1-25)
Note: Too large a value at this parameter may output only a small error during low-speed operation that will cause the
/COIN signal to be output continuously.
If a servo gain is set that keeps the position error small when the positioning completed width is small, use
Pn207 = 3 to change output timing for the COIN signal.
Parameter Name Meaning When Enabled Classification

When the absolute value of the posi-
tion error is below the positioning
n.0
completed width setting.
[Factory setting]
/COIN Output
Pn207 n.1 completed width setting, and the refer- After restart Setup
Timing
ence after applying the position refer-
ence filter is 0.
n.2
completed width (Pn522) setting, and
the position reference input is 0.
5-38
5.4.6 Positioning Near Signal

The host controller receives the positioning near signal prior to confirming the positioning-completed signal,
and performs the following operating sequence after positioning has been completed to shorten the time
required for operation.
This signal is generally used in combination with the positioning completed output signal.
Signal Connector
Name Pin Number
The servomotor has reached a point near to
ON (close)
positioning completed.
Output /NEAR Must be allocated
The servomotor has not reached a point near
OFF (open)
to positioning completed.
The output terminal must be allocated with Pn510 in order to use Positioning Near signal. Refer to 3.3.2 Output Signal
Allocations for details.
NEAR Signal Width Position

Classification
• Set the number of error pulses in reference units (the number of input pulses defined using the electronic
gear.)
• The positioning near (/NEAR) signal is output when the difference (error) between the number of reference
pulses output by the host controller and the travel distance of the servomotor is less than the value set in this
parameter.
Reference
Servomotor
Speed speed
Pn524 Pn522
Error pulse
0
/NEAR
/COIN
Note: Normally, the setting should be larger than that for the positioning completed width (Pn522).
Operation
5-39
5 Operation
5.4.7 Reference Pulse Inhibit Function
5.4.7 Reference Pulse Inhibit Function

This function inhibits the SERVOPACK from counting input pulses during position control. The servomotor
remains locked (clamped) while pulse are inhibited.
<Terms>
Servo lock: A stopped state of the motor in which a position loop is formed with a position reference of 0.
SERVOPACK
Pn000.1
Pn000 = n.1
Reference pulse OFF +
Pn000 = n.B Error
ON - counter
/P-CON /P-CON (/INHIBIT)

(/INHIBIT)
Feedback pulse
(1) Signal Setting

Factory-set Sequence Signal Allocations (Pn50A.0 = 0)
Use the /P-CON signal to switch to the reference pulse inhibit function.
Signal Connector
Name Pin Number
Turns ON the INHIBIT function to inhibit the SER-
ON
CN1-41 VOPACK from counting reference pulses.
Input /P-CON
[Factory setting] Turns OFF the INHIBIT function to count reference
OFF
pulses.
To use the reference pulse inhibit function, set Pn000.1 to B.
Input Signal
Used
The INHIBIT function in position
Pn000 n.B /P-CON After restart Setup
control mode uses /P-CON.
Note: If Pn000.1 is set to B, the /P-CON signal cannot be used for any function other than the reference pulse inhibit func-
tion.
Use the /INHIBIT signal to switch to the reference pulse inhibit function.
To use the /INHIBIT signal, the input signal must be allocated. For details, refer to 3.3.1 Input Signal Alloca-
tionss to Input Terminals.
Reference pulse inhibit function is effective only with position control.
Signal Connector
Name Pin Number
Turns ON the INHIBIT function to inhibit the SER-
ON
CN1- VOPACK from counting reference pulses.
Input /INHIBIT
Must be allocated. Turns OFF the INHIBIT function to count reference
OFF
pulses.
To use the reference pulse inhibit function, set Pn000.1 to 1, 5, 7 or 9.
5-40
Input Signal
Used
n.1 Position control (pulse train reference) /INHIBIT
Internal set speed control (contact ref-
n.5 erence)⇔Position control (pulse train /INHIBIT
reference)
Pn000 Position control (pulse train refer- After restart Setup
n.7 ence)⇔Speed control (analog refer- /INHIBIT
ence)
Position control (pulse train refer-
n.8 ence)⇔Force control (analog refer- /INHIBIT
ence)
Operation
5-41
5 Operation
5.5.1 Basic Settings for Force Control Mode
5.5 Operating Using Force Control with Analog Voltage Reference

This section describes the operation in force control with analog voltage reference.
Input the force reference using analog voltage reference and control the SERVOPACK operation with the
force in proportion to the input voltage.
Select the force control with analog voltage reference with Pn000.

Pn000 n.2 Control mode: Force control (analog voltage reference) After restart Setup
5.5.1 Basic Settings for Force Control Mode

Set the following signal and parameter for force control with analog voltage reference.
(1) Signal Setting

Set the following input signals.
Connector
Pin Number
T-REF CN1-9 Force Reference Input
Input
SG CN1-10 Signal Ground for Force Reference Input
Max. allowable input voltage is ±12 VDC. 300

Reference force (%)
200
100
- 12 -8 -4
Factory setting 0 34 8 12
Input voltage (V)
- 100
- 200
Set the slope
- 300
with Pn400.
<Input Circuit Example>
Use twisted-pair wires as a countermeasure against noise.
Variable resistor example: Model 25HP-10B manufactured by Sakae Tsushin Kogyo Co., Ltd.
SERVOPACK
470 Ω 1/2 W min.
CN1
+12 V *
T-REF 9
2 kΩ
SG 10
• Checking the Internal Force Reference

Use the following method to check the internal force reference.
1.With the panel operator:

Use the Monitor Mode (Un002). Refer to 8 Monitor Modes (Un).
2.With an analog monitor:
The internal force reference can also be checked with an analog monitor. Refer to 6.1.3 Monitoring Analog
Signals.
5-42

This sets the analog voltage level for the force reference (T-REF) that is necessary to operate the servomotor at
the rated force.
Force Reference Input Gain Speed Position Force

Classification
10 to 100 0.1 V/rated force 30 Immediately Setup
<Example>
Pn400 = 30: The servomotor operates at the rated force with 3 V
Reference force (V)
input [factory setting].
Rated force
input. Factory setting
-12 -8 -4
4 8 12
input.
Input voltage (V)
Rated force
5.5.2 Adjustment of Reference Offset

In force control, the servomotor may move at a very low speed with an analog voltage reference of 0 V. This
occurs because the reference voltage of the host controller or external circuit has a minute offset of a few mil-
livolts. It is called "offset".
If the servomotor moves at a minute speed, the offset needs to be eliminated with the offset adjustment func-
tion.
Use either automatic adjustment or manual adjustment. Automatic adjustment uses the automatic adjustment
parameter for analog (speed and force) reference offset (Fn009). Manual adjustment uses the manual adjust-
ment parameter for force reference offset (Fn00B).
(1) Automatic Adjustment of Force Reference Offset

The automatic adjustment of force reference offset (Fn009) automatically measures the offset and adjusts the
reference voltage.
Reference voltage Reference voltage

Offset automatically
Operation
adjusted in SERVOPACK.
Offset
Force Force
reference Automatic reference
offset
adjustment
5
After completion of the steps adjustment, the amount of offset is stored in the SERVOPACK.
Use the following steps for automatic adjustment of the force reference offset.
Automatic adjustment of the analog reference offset must be performed with the servo
OFF.
5-43
5 Operation
5.5.2 Adjustment of Reference Offset
Display after
Operation
Turn OFF the servo ON (S/_ON) signal, and input the 0 V
reference voltage from the host controller or external cir-
cuit.
SERVOPACK
Linear servomotor
1
0 V force
Host reference
controller
Small movement
Servo OFF (Servo ON)

2 mode.
MODE/SET DATA/
Press the UP or the DOWN Key to select Fn009.

3
MODE/SET DATA/

4 ond. "rEF_o" is displayed.
MODE/SET DATA/

The reference offset is automatically adjusted.
5 MODE/SET DATA/
When completed, "donE" blinks for approximately one
second.
After "donE" is displayed, "rEF_o" is displayed again.

6

7 ond. "Fn009" is displayed again.
MODE/SET DATA/
Note: The automatic adjustment of reference offset (Fn009) cannot be used when a position loop has been formed with the
host controller. In this case, use the manual servo tuning of force reference offset described in (2) Manual
Adjustment of Reference Offset.
(2) Manual Adjustment of Reference Offset
This mode adjusts the offset by inputting the amount of force reference offset directly.
Manual servo tuning of the force reference offset (Fn00B) is used in the following cases.
• If a loop is formed with the host controller and the error is zeroed when servolock is stopped.
• To deliberately set the offset to some value.
• To check the offset data that was set in the automatic adjustment mode of the force reference offset.
The offset adjustment range and setting units are as follows:
Force reference
Offset adjustment
range
Offset Adjustment Range: -128 to +127
(Force reference: -1881.6 mV to +1866.9 mV)
Offset setting unit Analog
Offset Setting Unit
input
voltage Force reference: 1 = 14.7 mV
5-44
Use the following steps to manually adjust the force reference offset.
Display after
Operation
1 mode.
MODE/SET DATA/
Press the UP or the DOWN Key to select Fn00B.

2
MODE/SET DATA/

3 ond. The display shown on the left appears.
MODE/SET DATA/
Turn ON the servo ON (/S-ON) signal. The display shown

4 on the left appears.
5 force reference offset amount is displayed.
MODE/SET DATA/
Press the UP or the DOWN Key to adjust the amount of

6 offset.
MODE/SET DATA/
Press the DATA/SHIFT Key for less than one second.

7 MODE/SET DATA/
Then "donE" blinks on the display, and offset amount is
set.

8 ond. "Fn00b" is displayed again.
MODE/SET DATA/
5.5.3 Speed Limit in Force Control

This function limits the speed of the servomotor to protect the machine.
The reference force is used to control the servomotor but not the motor speed. If the reference force for the
load of the machine is too large, the force of the motor may be greater than the load of the machine. The motor
will move at a much greater speed. If so, use this function to limit the speed.
Note: If the control speed is not within the limit, the function tries to return the speed within the limit using a negative
feedback of force in proportion to the difference from the limited speed. Therefore, the actual limit value of motor
speed depends on the load conditions of the motor. Operation
With No Speed Limit With Speed Limit
Danger of damage due to Speed

Motor speed critical speed.
Maximum speed Safe operation with
speed limit.
Speed limit 5
V V
Refer to the following parameters for speed limit.
5-45
5 Operation
5.5.3 Speed Limit in Force Control
(1) Signals Output during Servomotor Speed Limit

The following signal is output when the motor speed reaches the limit speed.
Signal Connector
Type Name Meaning
Name Pin Number
ON (close) Servomotor speed limit being applied.
Output /VLT Must be allocated
OFF (open) Servomotor speed limit not being applied.
For use, this output signal must be allocated with Pn50F. For details, refer to 3.3.2 Output Signal Allocations.
(2) Speed Limit Mode Selection (Force Limit Option)

Select the speed limit mode with Pn002.

Uses the value set in Pn480 as the speed limit (internal
n.0
speed limit function).
Pn002 Uses V-REF (CN1-5, 6) as an external speed limit After restart Setup
input. Applies a speed limit using the input voltage of
n.1
V-REF and the setting in Pn300 (external speed limit
function).
(3) Internal Speed Limit Function

If the internal speed limit function is selected in Pn002, set the limit of the maximum speed of the motor in
Pn480.
The limit of the speed in Pn408 can be selected from the maximum speed of the motor or the overspeed detec-
tion speed.
Speed Limit During Force Control Force

Classification
Note: • The setting in this parameter is enabled when Pn002.1 is set to 0.

• The servomotor’s maximum speed will be used when the setting in this parameter exceeds the maximum speed of
the servomotor used.
Use the smaller value between maximum motor move-
n.0 ment number and the value of Pn480 as speed limit
Pn408 value. After restart Setup
Use the smaller value between excessive speed detec-
n.1
tion speed and the value of Pn480 as speed limit value.
(4) External Speed Limit Function

If the external speed limit function is selected in Pn002, set the V-REF input signal and Pn300.
Signal Connector
Type Name
Name Pin Number
V-REF CN1-5 External Speed Limit Input
Input
Inputs an analog voltage reference as the servomotor speed limit value during force control.
5-46
<Notes>
• The smaller value of the speed limit input from the V-REF on the Pn480 (Speed Limit during Force Control)
is enabled when Pn002.1 is set to 0.
• The setting in Pn300 determines the voltage level to be input as the limit value. Polarity has no effect.

Classification
Operation
5-47
5 Operation
5.6.1 Basic Settings for Speed Control with an Internally Set Speed
5.6 Operating Using Speed Control with an Internally Set Speed

This function allows speed control operation by externally selecting an input signal from among three servo-
motor speed settings made in advance with parameters in the SERVOPACK. Since controlling a speed with a
parameter inside the SERVOPACK, there is no need for an external speed of pulse generator.
SERVOPACK
Internally set speed
CN1 parameters Linear
/P-CON (/SPD-D) 41 servomotor
SPEED1 Pn380 Speed
(/SPD-A) 45 reference
Contact inputs /P-CL SPEED2 Pn381 M
SPEED3 Pn382
/N-CL (/SPD-B) 46
5.6.1 Basic Settings for Speed Control with an Internally Set Speed
Set the following signal and parameter for speed control with an internally set speed.
(1) Signal Setting

The following input signals are used to switch the operating speed.
Signal Connector
Type Meaning
Name Pin Number
/P-CON CN1-41
Switches the servomotor movement direction.
(/SPD-D) Must be allocated
/P-CL CN1-45
Input Selects the internally set speed.
(/SPD-A) Must be allocated
/N-CL CN1-46
Selects the internally set speed.
(/SPD-B) Must be allocated
(2) Speed Control with an Internally Set Speed Selection

Select the speed control with an internally set speed with Pn000.

Control mode: Internally set speed control (contact ref-
erence)
5-48

Set the internally set speed with Pn301, Pn302 and Pn303.
Internally Set Speed 1 Speed

Classification

Classification

Classification
Note: The maximum speed of the servomotor is used whenever the value exceeds the maximum speed is set in the Pn380
to Pn382.
(4) Operating Using an Internally Set Speed

Use ON/OFF combinations of the following input signals to operate with the internally set speeds. Following
two kinds of input signals are available.
Using input signals P-CON, /P-CL, /N-CL [factory setting]

Input Signal Motor
Movement Speed
/P-CON /P-CL /N-CL Direction
OFF OFF Stops at 0 of the internally set speed.
OFF ON Pn380: Internally Set Speed 1 (SPEED1)
OFF Forward
ON ON Pn381: Internally Set Speed 2 (SPEED2)
ON OFF Pn382: Internally Set Speed 3 (SPEED3)
ON Reverse
Using input signals /SPD-D, /SPD-A, /SPD-B

Input Signal Motor
Operation
Movement Speed
/SPD-D /SPD-A /SPD-B Direction
OFF Forward
ON ON Pn381: Internally Set Speed 2 (SPEED2) 5
ON Reverse
5-49
5 Operation
5.6.2 Example of Operating with Internally Set Speed
<Note>
When Pn000.1 = 4, 5, or 6, and both /P-CL and /N-CL are OFF, the control mode can be switched.
Example:
Pn000.1 = 5: Internally set speed selection (contact reference) ⇔ Position control (pulse train reference)
Factory-set Sequence Signal Allocations: (Pn50A.0 = 0)

Input Signal
Speed
/P-CL /N-CL
OFF OFF Pulse train reference input (position control)

Input Signal
Speed
/SPD-A /SPD-B /C-SEL
OFF OFF OFF Stops at 0 of the Internally Set Speed
OFF ON OFF Pn380: Internally Set Speed 1 (SPEED1)
ON ON OFF Pn381: Internally Set Speed 2 (SPEED2)
ON OFF OFF Pn382: Internally Set Speed 3 (SPEED3)
− − ON Pulse train reference input (position control)
Note: Allocate /C-SEL signal to switch the control mode. For details, refer to 3.3.1 Input Signal Allocations to Input Ter-
minals.
5.6.2 Example of Operating with Internally Set Speed

Operating example of speed control with internally set speed is as shown below.
This example combines speed control with internally set speed with soft start function.
The shock that results when the speed is changed can be reduced by using the soft start function.
Servomotor speed
3rd speed
+SPEED3
Acceleration/deceleration are
2nd speed done for the soft start times set in
+SPEED2
Pn305 and Pn306.
1st speed
+SPEED1
Stop Stop
0
Stop
-SPEED1 1st speed
-SPEED2
2nd speed
-SPEED3
3rd speed
/P-CL (/SPD-A)
OFF OFF ON ON OFF OFF ON ON OFF
/N-CL (/SPD-B)
OFF ON ON OFF OFF ON ON OFF OFF
ON ON ON OFF OFF OFF OFF ON

/P-CON( /SPD-D)
5-50
• When Pn000.1 = 5 (Internally set speed control ⇔ Position control), the soft start
function will operate only when selecting the internally set speed. The soft start func-
tion cannot be used with pulse reference input.
• When switching to pulse reference input during operation at either of the three speeds
(1st speed to 3rd speed), the pulse reference will not be received by the SERVO-
PACK until after the positioning completed (/COIN) signal is output. Always begin the
output of the pulse reference from the host controller after the positioning completed
(/COIN) signal is output from the SERVOPACK.
Signal Timing in Position Control
Motor speed Decelerating to a stop
0 mm/s
/COIN
Pulse reference
t1
/P-CL OFF ON ON OFF OFF
/N-CL ON ON OFF OFF ON
Switching
Selected speed 1st speed 2nd speed 3rd speed Pulse reference 1st speed
t1㧪2 ms
Note 1. The soft start function is used in the above figure.

2. The t1 value is not affected by whether the soft start function is used.
A maximum delay of 2 ms occurs in loading /P-CL and /N-CL.
3. The speed is decelerated for the time set in Pn306, and the speed control will be
changed to the position control after the motor comes to a stop.
4. The position control can be changed to the speed control while the motor is
moving.
Operation
5-51
5 Operation
5.7.1 Combination of Control Modes

SERVOPACK can switch the control mode. Select the control mode with Pn000.
5.7.1 Combination of Control Modes

The following combinations of control modes can be selected with Pn000.
Parameter Combination of Control Modes When Enabled Classification

Internally set speed control (contact reference) ⇔
n.4
Speed control (analog voltage reference)
n.5
n.6
Force control (analog voltage reference)
n.8
Force control (analog voltage reference)
Force control (analog voltage reference) ⇔
n.9
n.A Uses /P-CON for zero clamp function.
n.B Uses /P-CON for reference pulse inhibit function.
5.7.2 Switching Internally Set Speed Control (Pn000.1 = 4, 5, or 6)

Conditions for switching in internally set speed control are as shown below.
(1) Factory-set Sequence Signal Allocations (Pn50A.0 = 0)

The control mode can be switched when both /P-CL and /N-CL signals are OFF (high level).
(2) Changing Sequence Signal Allocations for Each Signal (Pn50A.0 = 1)

Allocate the /C-SEL to an input terminal to change modes with the /C-SEL signal.
Signal Connector Pn000 Setting and Control Mode

Type Setting
Name Pin Number n.4 n.5 n.6
Must be ON Speed Position Force
Input /C-SEL
allocated OFF Internally set speed Internally set speed Internally set speed
Note: To use the /C-SEL signal, the input signal must be allocated. For details, refer to 3.3.1 Input Signal Allocations.
5-52
5.7.3 Switching Other Than Internally Set Speed Control

(Pn000.1 = 7, 8, 9, A, or B)
Use the following signals to switch control modes. The control modes switch depending on the signal status as
shown below.
(1) Factory-set Sequence Signal Allocations (Pn50A.0 = 0)

Type Setting
Name Pin Number n.7 n.8 n.9 n.A n.B
Zero
ON Speed Force Speed INHIBIT
Input /P-CON CN1-41 clamp
OFF Position Position Force Speed Position
(2) Changing Sequence Signal Allocations for Each Signal (Pn50A.0 = 1)

Type Setting
Name Pin Number n.7 n.8 n.9 n.A n.B
ON Speed Force Speed Can not be Cannot be
/C-SEL
OFF Position Position Force switched. switched.
Zero
ON Cannot be Cannot be Cannot be Cannot be
/ZCLAMP clamp
Must be switched. switched. switched. switched.
Input OFF Speed
allocated
Reference
ON Cannot be Cannot be Cannot be Cannot be pulse
/INHIBIT inhibited
switched. switched. switched. switched.
OFF Position
Operation
5-53
5 Operation
5.8.1 Internal Force Limit
5.8 Limiting Force

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

Description
Section
Internal force limit Always limits force by setting the parameter. 5.8.1
External force limit Limits force by input signal from the host controller. 5.8.2
Force limiting by analog volt-

Assigns a force limit by analog voltage reference. 5.8.3
age reference
External force limit + Force

Combines force limiting by an external input and by analog volt-
limiting by analog voltage ref- age reference. 5.8.4
erence
5.8.1 Internal Force Limit

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

Classification
Reverse Force Limit Speed Position Force

Classification
Alalog Monitor Output
No Internal Force Limit

Internal Force Limit
(Maximum Force Can Be Output)
Pn483
V V
Pn484
Speed Speed
Maximum force Limiting force
The setting unit is a percentage of rated force.
Note 1. Too small a force limit setting will result in insufficient force during acceleration and deceleration.
2. The maximum force of the servomotor is used whenever the value exceeds the maximum force is set. (factory
setting is 800%: maximum force)
5-54
5.8 Limiting Force
5.8.2 External Force Limit

Use this function to limit force by inputting a signal from the host controller at a specific times during machine
operation, such as forced stop or hold operations for robot workpieces.
(1) Input Signals

Signal Connector
Type Setting Meaning Limit value
Name Pin Number
The value set in Pn483 or Pn404
CN1-45 ON Forward external force limit ON
Input /P-CL (whichever is smaller)
[Factory setting]
OFF Forward external force limit OFF Pn483
The value set in Pn484 or Pn405
CN1-46 ON Reverse external force limit ON
Input /N-CL (whichever is smaller)
[Factory setting]
OFF Reverse external force limit OFF Pn484
Note: When using external force limit, make sure that there are no other signals allocated to the same terminals as /P-CL
and /N-CL. When multiple signals are allocated to the same terminal, the signals are handled with OR logic, which
affects the ON/OFF state of the other signals. Refer to 3.3.1 Input Signal Allocations.

Set the following parameters for external force limit.
Forward External Force Limit Speed Position Force

Classification
Reverse External Force Limit Speed Position Force

Classification
Note: Setting unit is percentage to the servomotor rated force. (Rated force limits 100 %).
Operation
5-55
5 Operation
5.8.3 Force Limiting Using an Analog Voltage Reference
(3) Changes in Output Force during External Force Limiting

Changes in output force when external force limit is set to 800% are as shown below.
In this example, the servomotor movement direction is Pn000.0 = 0 (linear scale counting up direction = for-
ward).
/P-CL (Forward external force limit input)

/N-CL Status
OFF ON
Pn484 Pn484
Force Force
OFF 0 0
Pn404
Speed Speed
/N-CL (Reverse Pn483 Pn483
external force limit
input) Pn484 Pn484
Force Force
Pn405 Pn405
ON 0 0
Pn404
Speed Speed
Pn483 Pn483
5.8.3 Force Limiting Using an Analog Voltage Reference

Force limiting by analog voltage reference limits force by assigning a force limit in an analog voltage to the T-
REF terminals (CN1-9 and 10). This function can be used only during speed or position control, not during
force control.
The following chart shows when the force limiting using an analog voltage reference in the speed control.
SERVOPACK
T-REF
Force limit Pn400 T-REF filter P415
value Pn483
Speed loop
V-REF Pn300 + + gain
Speed Force
- Integral + (Pn100)
reference reference
time
constant
(Pn101)
Pn484
Speed feedback Force limit value
There is no polarity in the input voltage of the analog voltage reference for force limiting. The absolute values
of both + and - voltages are input, and a force limit value corresponding to that absolute value is applied in the
forward and reverse direction.
5-56
5.8 Limiting Force
(1) Input Signals

Use the following input signals to limit a force by analog voltage reference.
Connector
Pin Number
T-REF CN1-9 Force reference input
Input
SG CN1-10 Signal ground for force reference input
The force limit input gain is set with Pn400. Refer to 5.5.1 Basic Settings for Force Control Mode.
Maximum allowable input voltage is ±12 VDC.
(2) Related Parameter

Set the following parameter for force limit by analog voltage reference.

Speed control option: Uses the T-REF terminal to be
used as an external force limit input.
T-REF Filter Time Constant Speed Position Force

Classification
5.8.4 Force Limiting Using an External Force Limit and Analog Voltage Reference
This function can be used to combine force limiting by an external input and by analog voltage reference.
When /P-CL (or /N-CL) is ON, either the force limit by analog voltage reference or the setting in Pn404 (or
Pn405) will be applied as the force limit, whichever is smaller.
SERVOPACK
/P-CL
/N-CL
Force limit T-REF

Pn400 T-REF filter Pn415
value Pn483
Pn404
Speed loop (/P-CL: ON)
V-REF Pn300 + + gain
Speed Force
reference - Integral + (Pn100) reference
Operation
time
constant
(Pn101) Pn484
Pn405 Force limit value
Speed feedback (/N-CL: ON)
5
Note: This function cannot be used during force control since the force limit by analog voltage reference is input from T-
REF (CN1-9, 10).
5-57
5 Operation
5.8.4 Force Limiting Using an External Force Limit and Analog Voltage Reference
(1) Input Signals

Use the following input signals to limit a force by external force limit and analog voltage reference.
Connector
Pin Number
T-REF CN1-9 Force reference input
Input
SG CN1-10 Signal ground for force reference input
The force limit input gain is set with Pn400. Refer to 5.5.1 Basic Settings for Force Control Mode.
Maximum allowable input voltage is ±12 VDC.
Signal Connector
Type Setting Meaning Limit Value
Name Pin Number
The analog voltage reference
CN1-45 ON Forward external force limit ON limit or the value set in Pn483 or
Input /P-CL Pn404 (whichever is smaller)
[Factory setting]
OFF Forward external force limit OFF Pn483
The analog voltage reference
CN1-46 ON Reverse external force limit ON limit or the value set in Pn484 or
Input /N-CL Pn405 (whichever is smaller)
[Factory setting]
OFF Reverse external force limit OFF Pn484
Note 1. When using the force limit by external force limit and analog voltage reference, make sure that there are no other
signals allocated to the same terminals as /P-CL and /N-CL. When multiple signals are allocated to the same ter-
minal, the signals are handled with OR logic, which affects the ON/OFF state of the other signals. Refer to 3.3.1
Input Signal Allocations.
2. This setting is enabled when Pn002.0 is set to 3.

Set the following parameters for force limit by external force limit and analog voltage reference.

Speed control option: When /P-CL or /N-CL is
Pn002 n.3 enabled, the T-REF terminal is used as an analog volt- After restart Setup
age reference input.
Forward External Force Limit Speed Position Force Classification

Setup
0 to 800 1% 100 Immediately
Reverse External Force Limit Speed Position Force Classification

Setup
0 to 800 1% 100 Immediately
Note: Setting unit is percentage to the servomotor rated force. (Rated force limits 100%).
T-REF Filter Time Constant Speed Position Force

Classification
5-58
5.8 Limiting Force
5.8.5 Checking Output Force Limiting during Operation

The following signal can be output to indicate that the servomotor output force is being limited.
Connector
Type Signal Name Setting Meaning
Pin Number
Servomotor output force is being lim-
ON (close)
Output /CLT Must be allocated ited.
OFF (open) Force is not being limited.
For the allocation method, refer to 3.3.1 Input Signal Allocations.
Operation
5-59
5 Operation
5.9.1 Setup Procedure
5.9 Setting Absolute Linear Scale

The Σ-V SERVOPACK is compatible with an absolute linear scale manufactured by Mitutoyo. (Model: ABS
ST78A)
With an absolute position system using an absolute linear scale, homing is not necessary every time the power
is turned ON, so an immediate start of operation is possible.
WARNING
• Be sure to correctly set up the absolute position system.
Be sure to set up the system again after the system configuration is altered by changes such as the
replacement of the SERVOPACK, the absolute linear scale, or any of their parts.
Failure to observe this warning may cause the servomotor to overrun and may result in injury or damage to the prod-
uct.
5.9.1 Setup Procedure

Perform all necessary wiring and set the required safety
1 3 Wiring and Connection
function.
Turn ON the SERVOPACK and confirm that the SERVO-
2
PACK operates correctly.
5 Trial Operation of Σ-V series User’s
Write the motor parameters and the scale constants into
3 Manual, Setup, Linear Motor
the absolute linear scale using the specified tool.
(SIEP S800000 44)
4 Perform polarity detection (Fn080).*1 5.9.4 Polarity Detection (Fn080)
5 Perform origin setting (Fn020).*2 5.9.5 Origin Setting (Fn020)
6 Turn the power supply OFF and then ON again.
7 Perform polarity detection (Fn080). 5.9.4 Polarity Detection (Fn080)
∗1. Perform this step only when the servomotor must move from the current position to a position that will be set as the
origin after an electrical current is applied to the servomotor.
∗2. This step can be skipped in the following cases.
• After setting the origin for the absolute linear scale itself
• After replacing only the SERVOPACK
5-60
5.9.2 Setting the SEN Signal

The SEN signal must be set for the SERVOPACK to output absolute data. Set the SEN signal as follows.
• Maintain the high level for at least 1.3 seconds when the SEN signal is turned OFF
and then ON, as shown in the figure below.
SEN signal
OFF ON (high level) OFF ON
1.3 s min.
15 ms min.
• SEN Signal cannot be received during Servo ON.
Connector
Type Signal Name Setting Meaning
Pin Number
OFF (low level) Input when power is turned ON
Input SEN CN1-4
ON (high level) Input at absolute data request
For the details of the absolute data reception sequence, refer Host controller SERVOPACK
to 5.9.6 Absolute Encoder Reception Sequence. CN1
+5V 100 Ω
SEN 4
Note 1. After turning the power ON, turn ON the SEN signal after High level:
About 1 mA 0.1 μ(
ALM signal is turned ON and then OFF. 7406 or equivalent 2 4.7 kΩ
2. When the SEN signal changes from low level to high level, 0V SG 0V
the serial data and initial incremental pulses are output.
Until these operations have been completed, the motor We recommend a PNP transistor.
cannot be operated regardless of the status of the servo Signal levels
ON. The panel operator display will also remain "bb." High: 4.0 V min., Low: 0.8 V max.
Operation
5-61
5 Operation

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 is output.
• The ALM signal is output for five seconds max. when the power is turned ON. Take this into consideration
when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop
main circuit power supply to the SERVOPACK.
Control power supply 5.0 s max.
Servo alarm (ALM)

output signal
• Select the power supply specifications for the parts in accordance with the input power supply.
5.9.4 Polarity Detection (Fn080)

The polarity detection function is used to detect the polarity and save the servomotor phase data in the SER-
VOPACK. After executing this function once, polarity detection is not necessary every time the power is
turned ON, so an immediate start of operation is possible.
Follow the steps below to detect the polarity.
Display after
Step Keys Operation
Operation

1
mode.
MODE/SET DATA/

MODE/SET DATA/

3
MODE/SET DATA/
4 Press the MODE/SET Key to start polarity detection.

MODE/SET DATA/
After polarity detection is completed, the display shown on

5 the left will appear. The servo for the linear servomotor will
turn OFF.

6
MODE/SET DATA/
5-62
5.9.5 Origin Setting (Fn020)

The origin setting function is used to set the current position as the origin. After executing this function once,
origin setting is not necessary every time the power is turned ON, so an immediate start of operation is possi-
ble.
Follow the steps below to detect the polarity.
IMPORTANT
• After execution of origin setting, the servo ready (/S-RDY) signal will become inactive and the servo will be
unable to draw power since the system position data will have been changed. Always turn the power sup-
ply OFF and then ON again after execution of origin setting.
• After execution of origin setting, the servomotor phase data in the SERVOPACK will be discarded. Exe-
cute polarity detection (Fn080) again to save the servomotor phase data in the SERVOPACK.
(1) Settings before Operation

The following settings are required before setting origin.
• If the S-ON input signal is ON, turn OFF the signal.

• If Pn50A.1 is set to 7 (i.e., the servo is always ON), change the value.
(2) Operating Procedure

Display after
Step Keys Operation
Operation

1
mode.
MODE/SET DATA/

MODE/SET DATA/

3
MODE/SET DATA/
Press the UP Key until "OSET5" is displayed.

Note:
4 MODE/SET DATA/ If there is a mistake during key operations. "NO_OP" will
be displayed for approximately one second and then
"Fn000" will be displayed again.
Press the MODE/SET Key to set the origin of the scale.
5 After the setting is completed, "donE" will blink for approx-
imately one second.
Operation
MODE/SET DATA/
6 After one second After "donE" is displayed, "OSET5" is displayed again.
7
5
8 Turn OFF the power and then turn ON again to validate the setting.
5-63
5 Operation
5.9.6 Absolute Encoder Reception Sequence

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

The serial data, pulses, etc., of the absolute encoder that are output from the SERVOPACK are output from the
PAO, PBO, and PCO signals as shown below.
SERVOPACK
SEN
CN2 PAO
DATA Dividing
Enc circuit PBO
Serial data (Pn281)
pulse conversion
PCO
Signal Name Status Contents

Serial data
At initialization
PAO Initial incremental pulses
Normal time Incremental pulses
At initialization Initial incremental pulses
PBO
Normal time Incremental pulses
PCO Always Origin pulses
(2) Absolute Encoder Transmission Sequence and Contents

Absolute Encoder Transmission Sequence
1. Set the SEN signal at ON (high level).
2. After 100 ms, set the system to serial data reception-waiting-state. Clear the incremental pulse up/down
counter to zero.
3. Receive eight bytes of serial data.
4. The system enters a normal incremental operation state about 400 ms after the last serial data is received.
SEN signal
Serial data
Initial Incremental pulses
PAO Undefined incremental
pulses
(Phase A) (Phase A)
Initial Incremental pulses
PBO Undefined incremental
pulses
60 ms min. (Phase B) (Phase B)

90 ms typ.
50 ms About 15 ms 400 ms max.
1 to 3 ms
Serial data:
Outputs the current position as serial data after dividing using the value set at Pn281.
Unit: 1048576 pulse/serial data "1"
Initial incremental data:

Outputs the current position as pulse data after dividing using the value set at Pn281.
Pulse range: 0 to 1048576 pulse
Output pulse rate: Approx. 2.7 Mpps
5-64
Reference Position Current Position
Coordinate 0 1 2 3
Value
0 1 (Ms) 2 3 (MO)
MO࡮MS Value
MO × R Po
PE
MS × R PS PM
Final absolute data PM is calculated by following formula.
PE=M × R+PO
PM=PE−PS
Note: In the case of reverse direction mode (Pn000.0 = 1), use the above-mentioned formula.
Signal Meaning
PE Current value of scale
MO Serial data value at current position
PO Initial incremental pulses at current position
MS Serial data value at reference position
PS Initial incremental pulses at reference position
PM Current value required for the user’s system.
R 1048576
Note: When processing the absolute encoder reception sequence, do not perform counter reset using PCO output.
Operation
5-65
5 Operation
(3) Detailed Signal Specifications

Refer to the following detailed signal specifications.
PAO Serial Data Specifications

Data Transfer Start-stop Synchronization (ASYNC)
Method
Baud rate 9600 bps
Start bits 1 bit
Stop bits 1 bit
Parity Even
Character coder ASCII 7-bit coder
Data format 8 characters, as shown below.
"P" "+" or " - " "CR"
"0" to "9"
0 00 0 0 1 0 1 0 1
Data Stop bit
Start bit Even parity
Note:
• The range for absolute value data is "P+00000" (CR) or "P-00000" (CR).
• The serial data range is "+32767" to "-32768." When this range is exceeded, the data
changes from "+32767" to "-32678" or from "-32678" to "+32767."
• In the case of reverse direction mode (Pn000.0 = 1), the sign reverses.
Incremental Pulses and Origin Pulses

Just as with normal incremental pulses, initial incremental pulses which provide absolute data are first divided
by the frequency divider inside the SERVOPACK and then output.
For details, refer to 5.3.6 Encoder Pulse Output.
Forward movement Reverse movement

Phase A Phase A
Phase B
Phase B
Phase C Phase C
t t
5-66
(4) Transferring Alarm Contents

If an absolute encoder is used, the contents of alarms detected by the SERVOPACK can be transmitted in
serial data to the host controller from the PAO output when the SEN signal changes to low level from high
level.
Note: SEN signal cannot be received during Servo ON.

Output example of alarm contents are as shown below.
SEN Signal Error detection Low level

High level
Digital Operator
or Overspeed
Display
Incremental pulse Serial Data CR

PAO
Serial Data Serial Data Format
“A” “L” “M” Upper 2 digits “.” “CR”
Operation
5-67
5 Operation
5.10.1 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals (ALO1, ALO2, and ALO3)
5.10 Output Signals Used in All Control Modes

This section explains other output signals that are not directly related to any specific control mode.
Use these signals according to the application needs, e.g., for machine protection.
5.10.1 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals (ALO1,
ALO2, and ALO3)
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
Name Pin Number
OFF (close) Normal SERVOPACK status
Output ALM CN-31, 32
ON (open) SERVOPACK alarm status
(2) Alarm Code Output Signals (ALO1, ALO2, and ALO3)

The ON/OFF combination of these signals specifies the type of alarm detected by the SERVOPACK.
Use these signals as required to display the contents of the alarm at the host.
For details, refer to 9.1.1 List of Alarms.
Connector
Type Signal Name Meaning
Pin Number
ALO1 CN1-37 Alarm code output
Output
SG CN1-1 Signal ground for alarm code output
5-68
5.10 Output Signals Used in All Control Modes
(3) 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 before resetting the alarm.
Resetting Alarms by Turning ON the /ALM-RST Signal (High Level to Low Level)
Connector Pin
Type Signal Name Meaning
Number
Input /ALM-RST CN1-44 Alarm reset
Note 1. The /ALM-RST signal will not always reset encoder-related alarms. If an alarm cannot be reset with /ALM-RST,
cycle the control power supply.
2. The /ALM-RST signal cannot be set so that it is always enabled by assigning an external input signal. Reset
alarms by turning ON the /ALM-RST signal (high level to low level).
The /ALM-RST signal can be allocated to another output terminal using Pn50E. For details, refer to 3.3.2 Out-
put Signal Allocations.
Resetting Alarms Using the Panel Operator

Simultaneously press the UP and the DOWN Keys on the panel operator.
Resetting Alarms Using the Digital Operator

Press the ALARM RESET Key on the digital operator.
5.10.2 Warning Output Signal (/WARN)

This signal is output if a warning, such an overload alarm (A.710) or regenerative overload alarm (A.320),
occurs.
(1) Signal Specifications

Name Number
ON (close) Normal status
Output /WARN Must be allocated
OFF (open) Warning status
Note: The /WARN signal must be allocated. For details, refer to 3.3.2 Output Signal Allocations.

Operation
Set the output method for alarm codes using the following parameter.
For details on alarm codes, refer to 5.10.1 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals
(ALO1, ALO2, and ALO3).
5
Outputs alarm codes alone for alarm codes ALO1,
n.0
ALO2 and ALO3.
Pn001 Outputs both alarm and warning codes for alarm codes After restart Setup
n.1 ALO1, ALO2 and ALO3, and outputs an alarm code
when an alarm occurs.
5-69
5 Operation
5.10.3 Movement Detection Output Signal (/TGON)
5.10.3 Movement Detection Output Signal (/TGON)

This output signal indicates that the servomotor is moving at the speed set for Pn581 or a higher speed.
The status of the signal can be checked with the panel operator or digital operator.

Name Number
Servomotor is moving (motor speed is above the
ON (close)
CN1-27, 28 setting in Pn581.)
Output /TGON
[Factory setting] Servomotor is moving (motor speed is below the
OFF (open)
setting in Pn581.)
The /TGON signal can be allocated to another output terminal using Pn50E. For details, refer to 3.3.2 Output
Signal Allocations.

Set the range in which the /TGON signal is output using the following parameter.
Zero Speed Level Speed 　 Position

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

This signal is output when the SERVOPACK is ready to accept the servo ON signal. This is when the main
circuit power supply is ON, a hardwire baseblock is not applied, and no servo alarms occur.
∗ If an absolute linear scale is used, the output of absolute value data to the host must have been completed when the
SEN signal is ON (high level) before /S-RDY is output.

Name Number
CN1-29, 30 ON (close) Servo is ready.
Output /S-RDY
[Factory setting] OFF (open) Servo is not ready.
The /S-RDY signal can be allocated to another output terminal using Pn50E. For details, refer to 3.3.2 Output
Signal Allocations.
For details on the hard wire base block function and the servo ready output signal, refer to 5.11.1 Hard Wire
Base Block (HWBB) Function.
5-70
5.11 Safety Function

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

The Hard Wire Base Block function (hereinafter referred to as HWBB function) is a safety function designed
to baseblock the motor (shut off the motor current) by using the hardwired circuits: Each circuit for two chan-
nel input signals blocks the run signal to turn off the power module, and the motor current is shut off. (Refer to
the diagram below.)
Power supply
24-V power supply

Switch
Control circuit
/HWBB1+ 4 SERVOPACK Run signal
Fuse
Block
/HWBB1- 3
/HWBB2+ 6
Block
/HWBB2- 5 Power module

0V
Motor
(1) Risk Assessment

Perform risk assessment for the system and confirm that the safety requirements with the following standards
are fulfilled before using the HWBB function.
EN954 Category3
IEC61508 SIL2
The following risks can be estimated even if the HWBB function is used. These risks must be included in the
risk assessment.
• The motor may move within the electric angle of 180 degrees in case of the power module failure, etc. The
number of rotations or movement distance depends on the motor type as shown below.
Rotary motor: 1/6 rotation max. (rotation angle at the motor shaft)
Operation
Direct-drive motor:1/20 rotation max. (rotation angle at the motor shaft)

Linear motor: 30 mm max.
• The HWBB function does not shut off the power to the servo drive or electrically isolates it. Take measures
to shut off the power to the servo drive when performing maintenance on it, etc.
5-71
5 Operation
(2) Hard Wire Base Block (HWBB) State

The SERVOPACK will be in the following state if the HWBB function operates. If the /HWBB1 or /HWBB2
signal is OFF, the HWBB function will operate and the SERVOPACK will enter a hard wire baseblock
(HWBB) state.
/HWBB1 ON OFF
/HWBB2
/S-ON ON OFF
SERVOPACK
Operating BB state HWBB state
state
(3) Resetting the HWBB State

Usually, after a baseblock state is set (servomotor turned OFF) with the servo OFF command, the SERVO-
PACK will enter an HWBB state with the /HWBB1 and /HWBB2 signals turned OFF. By turning /HWBB1
and /HWBB2 signals ON in this state, the SERVOPACK will enter a baseblock (BB) state and can accept the
servo ON command.
/HWBB1
OFF ON
/HWBB2
/S-ON OFF ON
SERVOPACK
HWBB state BB state Operating
state
If the /HWBB1 and /HWBB2 signals are OFF and the servo ON command is input, the HWBB state will be
maintained after the /HWBB1 and /HWBB2 signals are turned ON.
Input the servo OFF command and set the SERVOPACK to BB state. Then input the servo ON command
again.
/HWBB1
OFF ON
/HWBB2
/S-ON ON OFF ON
SERVOPACK
state HWBB state BB state Operating
Note 1. If the SERVOPACK is set to BB state with the main power supply turn OFF, the HWBB state will be maintained
until the servo OFF command is input.
2. The HWBB state cannot be reset if the /S-ON signal is set to be constantly enabled in the /S-ON signal allocation
(Pn50A.1). Do not make this setting if the HWBB function is being used.
(4) Error Detection in HWBB Signal

If only the /HWBB1 or /HWBB2 signal is input, an A.Eb1 alarm (Safety Function Signal Input Timing Error)
will be occur unless the other signal is input within 10 seconds. This makes it possible to detect failures, such
as disconnection of the HWBB signals.
Note: The A.Eb1 alarm (Safety Function Signal Input Timing Error) is not related to the safety function. Keep this in mind
in the system design.
5-72
(5) Connection Example and Specifications of Input Signals (HWBB Signals)

The input signals must be redundant. A connection example and specifications of input signals (HWBB sig-
nals) are shown below.
For safety function signal connections, the input signal is the 0V common and the output
signal is the source output. This is opposite to other signals described in this manual. To
avoid confusion is signal status, the ON and OFF status of signals for safety functions
are defined as follows:
ON: The state in which the relay contacts are closed or the transistor is ON and current
flows into the signal line.
OFF: The state in which the relay contacts are open or the transistor is OFF and no cur-
rent flows into the signal line.
Connection Example for Input Signals (HWBB Signals)

24 V power
supply
Switch SERVOPACK
/HWBB1+ 4
Fuse
/HWBB1- 3
/HWBB2+ 6
/HWBB2- 5
0V
Specifications of Input Signals (HWBB Signals)

Signal
Type Pin Number State Meaning
Name
ON Normal operation
CN8-4
/HWBB1 Requires the HWBB function by using the hardwired cir-
CN8-3 OFF
cuits.
Input
ON Normal operation
CN8-6
/HWBB2 Requires the HWBB function by using the hardwired cir-
CN8-5 OFF
cuits.
The input signals (HWBB signals) have the following electrical characteristics.
Items Characteristics Remarks

Internal impedance 3.3 kΩ
Operation
Operation movable voltage

+11 V to + 25 V
range
Time from the /HWBB1 and /HWBB2 signals are OFF to
Maximum delay time 20 ms
the HWBB function operates.
Note: Use a relay or switch that has micro-current contacts. 5

If the HWBB function is requested by turning OFF the /HWBB1 and /HWBB2 input signals on the two channels,
power supply to the motor will be turned OFF within 20 ms (see below).
Within 20 ms
/HWBB1
/HWBB2 ON OFF
SERVOPACK
State Normal operation HWBB state
Note 1. The OFF status is not recognized if the /HWBB1 and /HWBB2 signals are 0.5 ms or shorter.
2. The status of input signals can be checked with monitor display function. For details, refer to 8.7 Monitoring
Output Signals.
5-73
5 Operation
(6) Operation with Utility Functions

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

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

When the /HWBB1 or /HWBB2 signal is OFF and the HWBB function operates, the brake signal (/BK) will
turn OFF. At that time, Pn506 (Brake Reference - Servo OFF Delay Time) will be disabled. Therefore, the ser-
vomotor may be moved by external force until the actual brake becomes effective after the brake signal (/BK)
turns ON.
Note: The brake signal output is not related to safety functions. Be sure to design the system so that the system will not be
put into danger if the brake signal fails in the HWBB state.
(9) Dynamic Brake
If the dynamic brake is enabled in Pn001.0 (stopping method after servo OFF), the servomotor will come to a
stop under the control of the dynamic brake when the HWBB function works while the /HWBB1 or /HWBB2
signal is OFF.
Note: The dynamic brake is not related to safety function. Be sure to design the system so that the system will not be put
into danger if the servomotor coasts to a stop in the HWBB state. Usually, use a sequence in which the HWBB state
occurs after the servomotor is stopped using a command.
5-74
CAUTION
If the application frequently uses the HWBB function, do not use the dynamic brake to stop the motor, or otherwise
element deterioration in the SERVOPACK may result. Use a sequence in which the HWBB state occurs after the ser-
vomotor has come to a stop.
(10) Position Error Clear Section

A position error in the HWBB state is cleared according to the setting in Pn200.2 for the clear operation selec-
tion.
If Pn200.2 is set to 1 (i.e., the position error is not cleared for position control), the position error pulses will
be accumulated unless the position reference from the host is canceled in the HWBB state, and the following
condition may result.
• A position error pulse overflow alarm (A.d00) occurs.

• If the servo is turned ON after changing from HWBB state to BB state, the motor will move for the accumu-
lated position error.
Therefore, stop the position reference through the host while in HWBB state. If Pn200.2 is set to 1 (i.e., the
position error is not cleared), input the clear (CLR) signal while in HWBB or BB state to clear the position
error.
(11) Servo Alarm Output Signal (ALM) and Alarm Code Output Signals (ALO1, ALO2,
and ALO3)
In the HWBB state, the servo alarm output signal (ALM) and alarm code output signals (AOL1, AOL2, and
AOL3) are not sent.
5.11.2 External Device Monitor (EDM1)

The external device monitor (EDM1) functions to monitor failures in the HWBB function. Connect the moni-
tor to feedback signals to the safety unit. The relation of the EDM1, /HWBB1, and /HWBB2 signals is shown
below.
Signal When both /HWBB1 and /

Logic
Name HWBB2 signals are OFF,
/HWBB1 ON ON OFF OFF EDM1 signal turns ON.
/HWBB2 ON OFF ON OFF

EDM1 OFF OFF OFF ON
Failure Detection Signal for EDM1 Signal Operation
Detection of failures in the EDM1 circuit can be checked using the following four status of the EDM1 signal
in the table. Failures can be detected if the failure status can be confirmed, e.g., when the power supply is
turned ON.
WARNING 5
The EDM1 signal is not a safety output. Use it only for monitoring a failure.
5-75
5 Operation
5.11.2 External Device Monitor (EDM1)
(1) Connection Example and Specifications of EDM1 Output Signal

Connection example and specifications of EDM1 output signal are explained below.
Connection Example
EDM1 output signal is used for source circuit.
External Device
SERVOPACK 24 V Power Supply
8 EDM1+
7 EDM1-
0V
Specifications
Type Signal Name Pin No. Input Status Meaning
Both baseblocks by /HWBB1 signal and /HWBB2 signal
CN8-8 ON
Output EDM1 normally activate.
CN8-7
OFF −
Electrical characteristics of EDM1 signal are as follows.
Items Characteristics Remarks

Maximum Allowable Voltage 30 VDC −
Maximum Current 50 m ADC −
Maximum Voltage Drop at ON 1.0 V Voltage between EDM1+ to EDM1- at current is 50 mA.
Time from change of /HWBB1, /HWBB2 to change of
Maximum Delay Time 20 ms
EDM1
5-76
5.11.3 Application Example of Safety Functions

An example of using safety functions is shown below.

In the following example, a safety unit is used and the HWBB function operates when the guard opens.
Close
Guard Limit switch
24 V Safety unit
Power
supply manufactured
Open by OMRON Corp.
G9SX-BC202
Fuse
A1 T11 T12 T21 T22
Input
Power
supply Reset/feedback
input Output
input SERVOPACK
A2 T31 T32 T33 S24 S14
CN8
/HWBB1+ 4
0V
/HWBB1- 3
/HWBB2+ 6
/HWBB2- 5
EDM1+ 8
EDM1- 7
When a guard opens, both of signals, the /HWBB1 and the /HWBB2, turn OFF, and the EDM1 signal is ON.
Since the feedback is ON when the guard closes, the safety unit is reset, and the /HWBB1 and the /HWBB2
signals turn ON, and the operation becomes possible.
Note: Connect the EDM1 as the direction of current flows from EMD1+ to EMD1-, because the EMD1 has polarity with a
transistor output.
(2) Failure Detection Method

Operation
In case of a failure such as the /HWBB1 or the /HWBB2 signal remains ON, the safety unit is not reset
because the EDM1 signal keeps OFF. Therefore starting is impossible, then the failure is detected.
An error in the external device, disconnection or short-circuiting of the external wiring, or a failure in the
SERVOPACK must be considered. Find the cause and correct the problem. 5
5-77
5 Operation
5.11.4 Confirming Safety Functions
(3) Usage Example

1 Request to open the guard.
When the motor is operating, output the

2 stop command from the host controller
and turn OFF the servo.
3 The guard opens.
The /HWBB1 and /HWBB2 signals are

4 OFF and HWBB function operates.
(The operation in the guard is available.)
5 The guard closes.
6 Turn ON the servo from the host controller.
5.11.4 Confirming Safety Functions

When starting the equipment or replacing the SERVOPACK for maintenance, be sure to conduct the following
confirmation test on the HWBB function after wiring.
• When the /HWBB1 and /HWBB2 signals turn OFF, check that the panel operator or digital operator dis-
plays "Hbb" and that the motor does not operate.
• Check the ON/OFF states of the /HWBB1 and /HWBB2 signals with bits 0 and 1 of Un015.
→ If the ON/OFF states of the signals do not coincide with the display, an error in the external device, dis-
connection or short-circuiting of the external wiring, or a failure in the SERVOPACK must be considered.
Find the cause and correct the problem.
• Check with the display of the feedback circuit input of the connected device to confirm that the EDM1 sig-
nal is OFF while in normal operation.
5.11.5 Precautions for Safety Functions
WARNING
• To check that the HWBB function satisfies the safety requirements of the system, be sure to conduct a risk
assessment of the system.
Incorrect use of the machine may cause injury.
• The motor rotates if there is external force (e.g., gravity in a vertical axis) when the HWBB function is oper-
ating. Therefore, use an appropriate device independently, such as a mechanical brake, that satisfies
safety requirements.
• While the HWBB function is operating, the motor may move within an electric angle of 180° or less as a
result of a SERVOPACK failure. Use the HWBB function for applications only after checking that the
movement of the motor will not result in a dangerous condition.
• The dynamic brake and the brake signal are not related to safety functions. Be sure to design the system
that these failures will not cause a dangerous condition when the HWBB function operates.
• Connect devices meeting safety standards for the signals for safety functions.
• If the HWBB function is used for an emergency stop, turn OFF the power supply to the motor with indepen-
dent electric or mechanical parts.
• The HWBB function does not turn OFF the power supply to the servo drive or electrically insulate the
servo drive. When maintaining the servo drive, be sure to turn OFF the power supply to the servo drive
independently.
Failure to observe this warning may cause an electric shock.
5-78
6
Adjustments
6.1 Adjustments and Basic Adjustment Procedure . . . . . . . . . . . . . . . . . . . . . 6-3

6.1.1 Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6.1.2 Basic Adjustment Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6.1.3 Monitoring Analog Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6.1.4 Safety Precautions on Adjustment of Servo Gains . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6.2 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10

6.2.1 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10
6.2.2 Tuning-less Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
6.3 Advanced Autotuning (Fn201) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15

6.3.1 Advanced Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
6.3.2 Advanced Autotuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-20
6.3.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
6.4 Advanced Autotuning by Reference (Fn202) . . . . . . . . . . . . . . . . . . . . . 6-25

6.4.1 Advanced Autotuning by Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-25
6.4.2 Advanced Autotuning by Reference Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30
6.5 One-parameter Tuning (Fn203) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-33

6.5.1 One-parameter Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-33
6.5.2 One-parameter Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-35
6.5.3 One-parameter Tuning Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-39
Adjustments
6.6 Anti-Resonance Control Adjustment Function (Fn204) . . . . . . . . . . . . . 6-41

6.6.1 Anti-Resonance Control Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-41
6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure . . . . . . . . . . . . 6-42
6
6.7 Vibration Suppression Function (Fn205) . . . . . . . . . . . . . . . . . . . . . . . . 6-47
6.7.1 Vibration Suppression Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-47
6.7.2 Vibration Suppression Function Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . 6-48
6-1
6 Adjustments
6.8 Servo Gain Adjustment Application Function . . . . . . . . . . . . . . . . . . . . . 6-51

6.8.1 Feedforward Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-52
6.8.2 Force Feedforward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-53
6.8.3 Speed Feedforward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-54
6.8.4 Proportional Control Operation (Proportional Operation Reference) . . . . . . . . . . . . .6-55
6.8.5 Using the Mode Switch (P/PI Switching) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-56
6.8.6 Switching Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-60
6.8.7 Force Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-64
6.8.8 Position Integral Time Constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-66
6.8.9 Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-67
6.8.10 Current Control Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-68
6.8.11 Current Gain Level Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-69
6.8.12 Speed Detection Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-69
6-2
6.1 Adjustments and Basic Adjustment Procedure

This section describes adjustments and the basic adjustment procedure.
6.1.1 Adjustments
Tuning is 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. 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.
It is possible to suppress the vibration with a variety of vibration suppression functions in the SERVOPACK.
The servo gains are factory-set to stable values, and responsiveness can be increased depending on the actual
machine conditions.
This section describes the following utility adjustment functions.
Applicable
Utility Function for
Outline Control Operation
Adjustment
Mode
Tuning-less This function obtains a stable response with- Operate from the panel operator,
Speed and
Function out adjustment regardless of the type of digital operator or
Position
(Fn200) machine or changes in the load. SigmaWin+.
Advanced autotuning automatically adjusts
Advanced Speed and Operate from the digital opera-
the mass ratio, gains, and filters with internal
Autotuning (Fn201) Position tor or SigmaWin+.
references in the SERVOPACK.
Reference input-type advanced autotuning
Reference Input-
automatically makes adjustments with the Operate from the digital opera-
type Advanced Position
position reference input from the host con- tor or SigmaWin+.
Autotuning (Fn202)
troller while the machine is in operation.
One-parameter tuning is used to manually
One-parameter make gain and filter adjustments. Position, Speed and Operate from the panel operator, *
Tuning (Fn203) speed loop gain, filter, and friction compensa- Position digital operator or
tion adjustments are possible. SigmaWin+.
Anti-Resonance
This function effectively suppresses vibration Speed and Operate from the digital opera-
Control Adjustment
between 100 and 1000 Hz. Position tor or SigmaWin+.
Function (Fn204)
Vibration
This function effectively suppresses residual Operate from the digital opera-
Suppression Position
Adjustments
vibration if it occurs when positioning. tor or SigmaWin+.

Function (Fn205)
∗ Some functions will be limited if the SERVOPACK is operated from the panel operator.
6-3
6 Adjustments
6.1.2 Basic Adjustment Procedure
6.1.2 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.

Automatically adjusts to obtain a stable response.
Refer to 6.2
Refer to 6.2 Tuning-less
Tuning-less Function
Function.(Fn200)
Yes
Results OK? Completed.
No
(2) Adjust using Advanced Autotuning.

Automatically adjusts the mass ratio, gains, and
filters with internal references in the
SERVOPACK.
Refer to 6.3
6.2 Advanced Autotuning
Autotuning (Fn201).
(Fn201).
(3) Adjust using Advanced Autotuning by

Reference
Automatically adjusts gains and filters with user
reference inputs.
Refer
6.4 to 6.4 Advanced
Reference Autotuning
Input-type Advancedby Reference
Autotuning
(Fn202).
(Fn202).
Yes
Results OK? Completed.
No
(4) Adjust using One-parameter Tuning.
Manually adjusts gains and filters.
Position, speed loop gain, filter, and friction
compensation adjustments are available.
Refer to 6.5
6.4 One-parameter Tuning (Fn203).
Autotuning (Fn203).
No
Vibration occurs? Completed.
Yes
Continuous vibration occurs.

Reduce the vibration using Anti-resonance Control
Adjustment Function.
Anti-Resonance
Refer to 6.6 A-type VibrationControl Adjustment
Reduction
Function (Fn204).
Function (Fn204).
Residual vibration occurs at positioning.
Reduce the vibration using Vibration Suppression
Function.
Refer
Refer to
to6.7
6.7Vibration
VibrationSuppression Function(Fn205).
Reduction Function (Fn205).
Yes
Vibration occurs?
No
Completed.
6-4
6.1.3 Monitoring Analog Signals

The servo gain adjustments must be made while checking the signal status. Connect a measuring instrument,
such as a memory recorder, to connector CN5 on the SERVOPACK to monitor analog signals.
The settings and parameters related to monitoring analog signals are described below.
(1) Connector CN5 for Analog Monitor

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

White Analog monitor 1 Force reference: 1 V/100% rated force
Red Analog monitor 2 Motor speed: 1 V/10000 mm/s
Black (2 lines) GND Analog monitor GND: 0 V
(2) Setting Monitor Factor

The output voltages on analog monitor 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)
Adjustments
6-5
6 Adjustments
6.1.3 Monitoring Analog Signals

The monitor factor can be changed by setting following parameters.
Analog Monitor 1 Signal Selection Speed Position 　 Force

Pn006.0, Classification
Pn006.1 Setting Range Setting Unit Factory Setting When Enabled
00 to 0D − 02 Immediately Setup
Analog Monitor 2 Signal Selection Speed Position 　 Force

Pn007.0, Classification
Pn007.1 Setting Range Setting Unit Factory Setting When Enabled
00 to 0D − 02 Immediately Setup
Analog Monitor 1 Offset Voltage Speed Position 　 Force

Classification
-10000 to 10000 0.1 V 0 Immediately Setup
Analog Monitor 2 Offset Voltage Speed Position 　 Force

Classification
-10000 to 10000 0.1 V 0 Immediately Setup
Analog Monitor 1 Magnification Speed Position 　 Force

Classification
-10000 to 10000 0.01 times 100 Immediately Setup
Analog Monitor 2 Magnification Speed Position 　 Force

Classification
-10000 to 10000 0.01 times 100 Immediately Setup
(4) Monitor Signals

The following signals can be monitored by selecting functions of parameters Pn006 and Pn007.
Description
Parameter
Monitor Signal Measurement Gain Remarks
n.00 Motor speed 1 V/1000 mm/s Pn007 Factory Setting
n.01 Speed reference 1 V/1000 mm/s
n.02 Force reference 1 V/100% rated force Pn006 Factory Setting
n.03 Position error∗ 0.05 V/reference unit 0 V at speed/force control
0.05 V/encoder pulse Position error after electronic
n.04 Position amp error∗ unit gear conversion
n.05 Position reference speed 1 V/1000 mm/s −
n.06 Reserved − −
Pn006 n.07 Reserved − −
Pn007
Positioning completed:
5V
n.08 Positioning completed −
Positioning not com-
pleted: 0 V
n.09 Speed feedforward 1 V/1000 mm/s −
n.0A Force feedforward 1 V/100% rated force −
1 st gain: 1 V
n.0B Active gain
2 nd gain: 2 V
Completed: 5 V
n.0C Completion of position reference
Not completed: 0 V
∗ When using speed control, the position error monitor signal is 0.
6-6
The following diagram shows the analog monitor output at position control.
SERVOPACK
Speed feedforward Force feedforward
TREF
(CN1-5)
Position reference speed
VREF Speed reference
(CN1-9) Force
Speed Position reference
Active gain
conversion amplifier error
Completion Position loop

PULS of postion
SIGN reference + + + + +
Electric Error Speed Current
counter
Kp
Kp loop loop
M Load
(CN1-7) gear - - (U/V/W)
(CN1-8)
+ - 1
Electric Motor speed
gear Enc
Error
counter
Position error Speed

conversion
Positioning
completed
(CN2)
<Example>
Analog monitor output at n.00 (motor speed setting)
When multiplier is set to × 1: When multiplier is set to × 10:

Analog monitor Analog monitor
output voltage =V? output voltage=V?
+10 V CRRTQZ
+8 V
+6 V
+6 V
+6000 Motor speed +600 +800 Motor speed

-6000 =mm/s? -800 -600 =mm/s?
-6 V -6 V
-8 V
-10 VCRRTQZ
Note: Linear effective range: within ± 8V
6.1.4 Safety Precautions on Adjustment of Servo Gains
CAUTION
Adjustments
• If adjusting the servo gains, observe the following precautions.

• Do not touch the moving section of the motor while power is being supplied to the motor.
• Before starting the servomotor, make sure that the emergency-stop circuit works correctly.
• Make sure that a trial run has been performed without any trouble.
• Install a safety brake on the machine. 6
Yaskawa recommends that the following protective functions of the SERVOPACK are set to the correct set-
tings before starting to adjust the servo gains.
6-7
6 Adjustments
6.1.4 Safety Precautions on Adjustment of Servo Gains
(1) Overtravel Function

Set the overtravel function. For details on how to set the overtravel function, refer to 5.2.3 Overtravel.
(2) Force Limit

Calculate the force required to operate the machine. Set the force limits so that the output force will not be
greater than required. Setting the force limits can reduce the amount of shock applied to the machine in colli-
sions and other cases.
Use the following parameters to set the force limits.
Pn483: Forward Force Limit [%]
Pn484: Reverse Force Limit [%]
For details, refer to 5.8.1 Internal Force Limit, and 5.8.2 External Force Limit.
(3) Excessive Position Error Alarm Level

The excessive position error alarm is a protective function that will be enabled when the servo drive is used in
position control mode.
For the optimum setting, the servomotor will be stopped after the error occurs if the servomotor performs
unpredictably after receiving a reference.
The position error is the difference between the position reference and the actual position. The position error
can be calculated with the following equation.
Max. feed speed [reference unit/s]
Position Error =
Pn102
Note: Pn102: Position Loop Gain [0.1/s]
• Excessive Position Error Alarm Level (Pn520 [reference unit])

Max. feed speed [reference unit/s] (1.2 to 2)
Pn520 㧪
Pn102
Set the level to a value that satisfies these equations, and no alarm will be generated during normal operation.
The servomotor will be stopped, however, if the servomotor runs unpredictably after a reference is input or if
a position error in accordance with the value set in Pn520 occurs. 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 faulty alarm from occurring in
actual operation of the servomotor.
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 raise the allowable level of the position errors.
Related Parameter
Excessive Position Error Alarm Level Position

Classification
1 to 1073741823
1 reference unit 5242880 Immediately Setup
(230-1)
Related Alarm
Alarm
Alarm Name Alarm Contents
Display
Position Error Pulse
If the servomotor runs without clearing the position error pulses while the
A.d01 Overflow Alarm at Servo
servo is OFF, excessive position error pulses are accumulated.
ON
If the servo turns ON with position error pulses accumulated, the speed is
limited by Pn584. In this state, the reference pulse is input without resetting
A.d02 Overflow Alarm by
the speed limit, and the position error pulses exceeds the value set for the
Speed Limit at Servo ON
parameter Pn520.
These alarms will be occur if the number of position error pulses accumulated before the servo turns ON is
greater than the setting of Pn526 (Excessive Position Error Alarm Level at Servo ON).
When an alarm occurs, refer to 9 Troubleshooting and take the corrective actions.
6-8
(4) Vibration Detection Function

Set the vibration detection function to an appropriate value. For details on how to set the vibration detection
function, refer to 7.16 Vibration Detection Level Initialization (Fn01B)
(5) Excessive Position Error Alarm Level at Servo ON

If Pn200.2 (Clear Operation) is set to value other than zero, the position error pulses will remain at the base-
block. If the servomotor is moved by an external force while it is being baseblocked, the servomotor will
return to the original position so that the position error pulses are cleared and reset to zero after the servo is
turned ON. This setting is used to limit such motions and to detect any errors.
Related Parameters
Excessive Position Error Alarm Level Position

Classification
1 to 1073741823
(230-1)
Excessive Position Error Alarm Level at Servo ON Position

Classification
1 to 107374183
(230-1)
Speed Limit Level at Servo ON Position

Classification
The parameter Pn584 (Speed Limit Level at Servo ON) is used to limit the servomotor speed when returning
to the original position to clear the accumulated position error pulses and reset the pulses to 0. The speed will
be limited until the position error pulses are reset to 0.
Related Alarm
Alarm
Alarm Name Alarm Contents
Display
If the servomotor runs without clearing the position error pulses while the
A.d01 Overflow Alarm at Servo
servo is OFF, excessive position error pulses are accumulated.
ON
If the servo turns ON with position error pulses accumulated, the speed is
limited by Pn584. In this state, the reference pulse is input without resetting
A.d02 Overflow Alarm by
the speed limit, and the position error pulses exceeds the value set for the
Adjustments
Speed Limit at Servo ON

parameter Pn520.
These alarms will be occur if the number of position error pulses accumulated before the servo turns ON is
greater than the setting of Pn526 (Excessive Position Error Alarm Level at Servo ON).
When an alarm occurs, refer to 9 Troubleshooting and take the corrective actions.
6
6-9
6 Adjustments
6.2.1 Tuning-less Function
6.2 Tuning-less Function

This section describes the tuning-less function.
CAUTION
• The tuning-less function is enabled in the factory settings. A sound may be heard for a moment when the
servo is turned ON for the first time after the SERVOPACK 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 servo is turned ON. For details on the automatic notch filter, refer to (3) Automati-
cally Setting the Notch Filter on the next page.
• The servomotor may vibrate if the mass ratio exceeds the allowable mass of the servomotor.
If vibration occurs, set the mode to 2 in Fn200 or lower the level.
(1) Alarm and Corrective Actions

The autotuning alarm (A.521) will occur if resonance is generated or excessive vibration occurs during posi-
tion control. Take the following actions to correct the problem.
Resonance Sound
Reduce the set value in Pn170.3 or Pn170.2.
Excessive Vibration during Position Control

Increase the set value in Pn170.3 or reduce the set value in Pn170.2.
6.2.1 Tuning-less Function

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

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

n.0 Disables tuning-less function
Pn170 After restart Tuning
n.1 Enables tuning-less function. [Factory setting]
(2) Application Restrictions

The following application restrictions apply to the tuning-less function depending on the control mode and
other functions used at the same time.
Control Mode Restrictions

The tuning-less function can be used in position control or speed control. The function is disabled in force
control.
When the host controller has a position loop in speed control, set 1 to Pn170.1.
Control Function Restrictions

Control Function Available/Not available Remarks
Anti-resonance control Not available
Friction compensation Not available
Gain switching Not available
6-10
Adjustment Function Restriction

Adjustment Function Available//Not available Remarks
One-parameter tuning (Fn203) Not available
While this function is being used, the tuning-
EasyFFT (Fn206) Available
less function cannot be used temporarily.
Initialize vibration detection level
Available
(Fn01B)
• This function can be used when Jcalc is set
to ON.
Advanced autotuning (Fn201) Available
• During or after use of this function, the
tuning-less function cannot be used.
Advanced autotuning by reference
Not available
(Fn202)
Anti-resonance control adjustment
Not available
function (Fn204)
Vibration suppression function (Fn205) Not available
Offline mass calculating * Not available
While this function is being used, the tuning-
Mechanical analysis * Available
less function cannot be used temporarily.
∗ 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.
Set this function to Not Auto Setting only if you do not change the notch filter setting before executing tuning-
less function.

n.0 Does not set the 2nd notch filter automatically.
Pn460 Sets the 2nd notch filter automatically. Immediately Tuning
n.1
[Factory setting]
(4) Tuning-less Level Settings (Fn200)

The tuning-less level is set in Fn200.
CAUTION
To ensure safety, always implement the tuning-less function in a state where an emergency stop is possible.
6.2.2
Adjustments
Tuning-less Operating Procedure

The procedure to use the tuning-less function is given below.
Operate the tuning-less function from the panel operator, digital operator (optional), or SigmaWin+.
(1) Check Points for Settings 6

Check the following settings before performing the tuning-less function, or otherwise "NO-OP" will be dis-
played during the tuning-less operation.
• The tuning-less function must be enabled. (Pn170.0 = 1)

• The write prohibited setting (Fn010) must not be set.
6-11
6 Adjustments
6.2.2 Tuning-less Operating Procedure
(2) Operating Procedure with Digital Operator

Step Display after Operation Keys Operation
㧾㨁㧺 ̆㧲㨁㧺㧯㨀㧵㧻㧺̆
㧲㨚㧜㧤㧜㧦㧼㨛㨘㨑‫ޓ‬㧰㨑㨠㨑㨏㨠 Display the main menu of the utility function mode,
1 㧲㨚㧞㧜㧜㧦㨀㨡㨚㨑㧸㨢㨘‫ޓ‬㧿㨑㨠
㧲㨚㧞㧜㧝㧦㧭㧭㨀
and select Fn200.
㧲㨚㧞㧜㧞㧦㧾㨑㨒㧙㧭㧭㨀
Press the Key to display the tuning-less mode

setting screen.
Note:
㧾㨁㧺 ̆㨀㨡㨚㨑㧸㨢㨘㧿㨑㨠̆
• If the display does not switch and NO-OP is dis-
played, the write prohibited setting is set in Fn010.
2 ‫ޓ‬㧹㨛㨐㨑㧩 Change the setting in Fn010 and press the key
again after enabling writing.
• If the response waveform causes overshooting or if
the mass exceeds the allowable level (i.e., outside
the scope of product guarantee), press the Key
and change the mode to 2.
㧾㨁㧺 ̆㨀㨡㨚㨑㧸㨢㨘㧿㨑㨠̆
3
Press the Key to display the tuning level setting
‫ޓ‬㧸㨑㨢㨑㨘㧩㧠
screen.
Press the or Key to select the tuning level.

Select the tuning level from 0 to 4. The larger the
value, the higher the gain is and the better response
performance will be. (The factory setting is 4.)
㧾㨁㧺 ̆㨀㨡㨚㨑㧸㨢㨘㧿㨑㨠̆ Note:Vibration may occur if the tuning level is too

high. Lower the tuning level if vibration
4 occurs.
‫ޓޓޓޓޓ‬㧺㧲㧞
If high-frequency noise is generated, press the
Key to automatically set a notch filter for the vibra-
tion frequency. If the tuning level is changed, the
2nd notch filter
automatically set notch filter will be canceled. If
vibration occurs, however, the notch filter will be set
again.
㧰㨛㨚㨑 ̆㨀㨡㨚㨑㧸㨢㨘㧿㨑㨠̆
5
Press the Key. "Done" will blink and the settings
will be saved in EEPROM.
6
㧲㨚㧜㧟㧜
Press the Key to complete the tuning-less opera-
㧲㨚㧞㧜㧜
㧲㨚㧞㧜㧝 tion. The screen in step 1 will appear again.
㧲㨚㧞㧜㧞
Note: For the basic operation of the digital operator, refer to Σ-V series User’s Manual, Operation of Digital Operator
(SIEPS80000055).
6-12
(3) Operating Procedure with Panel Operator

Press the MODE/SET Key to select the utility func-

1
tion mode.
MODE/SET DATA/
2 Press the UP or the DOWN Key to select the Fn200.

MODE/SET DATA/
Press the MODE/SET Key to change to setting

screen.
Note: If the display does not switch and NO-OP is
3
displayed, the write prohibited setting is set in
MODE/SET DATA/
Fn010. Change the setting in Fn010 and press
the key again after enabling writing.
If the noise is generated, change the setting using the

4
UP Key.
MODE/SET DATA/
Press the DATA/SHIFT Key for approximately one

5
second to change to tuning level setting screen.
MODE/SET DATA/
Press the UP or the DOWN Key to select the tuning

level.
Select the tuning level from 0 to 4. The larger the
value, the higher the gain is and the better response
performance will be. (The factory setting is 4.)
Note: Vibration may occur if the tuning level is too
6 high. Lower the tuning level if vibration
occurs.
MODE/SET DATA/
If high-frequency noise is generated, press the DATA/
SHIFT Key to automatically set a notch filter for the
vibration frequency. If the tuning level is changed,
the automatically set notch filter will be canceled. If
vibration occurs, however, the notch filter will be set
again.
Press the MODE/SET Key. "donE" will blink and the

7
settings will be saved in EEPROM.
MODE/SET DATA/
(Display blinks)
Press the DATA/SHIFT Key for more than one sec-

8
MODE/SET DATA/
Adjustments
6-13
6 Adjustments
6.2.2 Tuning-less Operating Procedure
(4) Parameters Disabled by Tuning-less Function

Function to use parameters
Zero-
Speed Zero
Pn speed Mechanical
Item Name Limit Clamp Remarks
Number Stop Easy Analysis
during during
during FFT (Vertical
Force Force
Force Axis Mode)
Control Control
Control
Pn100
Speed Loop Gain { { { { {
Pn104
Speed Loop Integral Time Pn101
Constant
× { { { {
Gain Pn105
Pn102
Position Loop Gain × × × { {
Pn106
Mass Ratio Pn103 { { { { {
Advanced Friction Compensation Switch Pn408.3 × × × × ×

Control Anti-resonance Control Switch Pn160.0 × × × × ×
Gain Gain Switching Switch Pn139.0 × × × × ×
Switching Manual Gain Switching − { { { { {
Note: {: Uses the setting value.

×: Does not use the setting value.
(5) Tuning-less Function by SERVOPACK Software Version

When using a direct-drive servomotor, two types of tuning-less functions with differing responsiveness are
available and have different versions of the SERVOPACK software: Tuning-less Type 1 with version 000A or
earlier and Type 2 with version 000B or later.
With SERVOPACK software 000B or later for Type 2, the level of noise produced is lower than that of SER-
VOPACK software 000A or earlier for Type 1. Tuning-less Type 2 is enabled by default. When compatibility
with SERVOPACK software 000A or earlier is required, select Tuning-less Type 1 (Pn14F.1 = 0).
Software Version* Tuning-less Type Meaning
000A or earlier Tuning-less type 1 −
000B or later Tuning-less type 2 The level of noise produced is lower than that of Type 1.
∗ The software version number of your SERVOPACK can be checked with Fn012.

n.0 Tuning-less type 1
Pn14F After restart Tuning
n.1 Tuning-less type 2 [Factory setting]
6-14
6.3 Advanced Autotuning (Fn201)

This section describes the adjustment using advanced autotuning.
6.3.1 Advanced Autotuning

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

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

• Acceleration force*: Approximately 100% of rated motor force
• Movement distance: Set in unit of 1000 reference unit. Factory setting is 90 mm.
∗ The acceleration force varies with the influence of the mass ratio (Pn103), machine friction, and external disturbance.
Movement Rated motor speed × 2/3
Speed
Reference Rated motor speed × 2/3

Movement
distance
Response Rated motor force㧦
Approx. 100%
Rated motor force㧦

Approx. 100%
SERVOPACK
Advanced autotuning performs the following adjustments.
• Mass ratio
• Gains (e.g., position loop gain and speed loop gain)
• Filters (force reference filter and notch filter)
• Friction compensation
• Anti-resonance control
• Vibration suppression (Mode = 2 or 3)
Refer to 6.3.3 Related Parameters for parameters used for adjustments.
A mode can be set to select whether to calculate the mass.
Setting Contents
Jcalc = ON Calculates the mass.
Adjustments
Jcalc = OFF Does not calculate the mass.
Tuning level can be set to select an adjustment type.
Tuning Level Adjustment Type

Mode 1 Makes adjustments for feedback control, not for model following control.[Standard] 6
Mode 2 Makes adjustments for positioning.
Mode 3 Makes adjustments for positioning, giving priority to overshooting suppression.
6-15
6 Adjustments
A filter type can be set to select a machine resonance reduction filter according to the mechanical element.
Filter Type Contents

Type = 1 Select a filter suitable for the belt drive mechanism or other mechanism.
Type = 2 Selects a filter suitable for a ball screw drive mechanism or linear servomotor.
Type = 3 Selects a filter suitable for a rigid system, such as a gear.
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.
• When using the SERVOPACK with Jcalc = OFF (mass is not calculated) be sure to set a suitable value for
the mass ratio (Pn103). If the setting greatly differs from the actual mass ratio, normal control of the SER-
VOPACK may not be possible, and vibration may result.
• 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 setting a fully stable gain using
one-parameter tuning (Fn203).
• Before performing advanced autotuning with the tuning-less function enabled (Pn170
=1: Factory setting), always set Jcalc to ON to calculate the mass ratio. The
tuning-less function will automatically be disabled, and the gain will be set by
advanced autotuning.
With Jcalc set to OFF so the mass ratio is not calculated, "Error" will be displayed on
the panel operator, and advanced autotuning will not be performed.
• If the operation conditions, such as the machine-load or drive system, are changed
after advanced autotuning, then change the related parameters to disable any values
that were adjusted before performing advanced autotuning once again. If advanced
autotuning 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.000 (Does not use friction compensation, 1st notch filter, or 2nd notch fil-
ter.)
(1) Check Points for Settings

Check the following settings before performing advanced autotuning, or otherwise "NO-OP" will be displayed
during advanced autotuning.
• The main circuit power supply must be ON.

• The servo must be OFF.
• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signal must not be in an overtravel state.
• The clear signal must be at low level (not cleared).
• The control must not be set to force control.
• Automatic gain switching must be disabled.
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.
When using speed control, set the tuning level to Mode 1.
6-16
(2) Check Points for Operating Conditions

Advanced autotuning cannot be performed normally under the following conditions. If any of the following
conditions exists, calculate the mass ratio from the specifications of the machine and perform reference input-
type advanced autotuning or one-parameter tuning.
Refer to 6.4 Advanced Autotuning by Reference (Fn202) and 6.5 One-parameter Tuning (Fn203) for details.
• The machine system can work only in a single direction.

• The operating range is 5 mm or less.
(3) Items Influencing Performance
Advanced autotuning may not be performed normally under the following conditions. If the result of autotun-
ing is not satisfactory, perform reference input-type advanced autotuning or one-parameter tuning.
Refer to 6.4 Advanced Autotuning by Reference (Fn202) and 6.5 One-parameter Tuning (Fn203) for details.
• The mass changes within the set operating range.

• The machine has high friction.
• The rigidity of the load is low and vibration occurs when positioning is performed.
• The position integration function is used.
• P control operation (proportional control) is performed.
Note: If a setting is made for calculating the mass, an error will result when P control operation is used while the mass is
being calculated.
• The mode switch is used.
Note: If a setting is made for calculating the mass, the mode switch function will be disabled while the mass is being cal-
culated. At that time, PI control will be used. The mode switch function will be enabled after calculating the mass.
• The positioning completed width is 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). If the SERVOPACK is operated in speed control (Pn000.1=0), use the
factory settings. After the adjustments, the maximum overshoot becomes the positioning completed width.
Setting smaller value to Overshoot Detection Level (Pn561) makes adjustments giving priority to over-
shooting suppression.
• 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), use the factory settings.
Change only the overshoot detection level (Pn561) to finely adjust the without changing the positioning com-
pleted 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 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 Force

Classification
6
6-17
6 Adjustments
• Unless the positioning completion signal (/COIN) is turned ON within approximately 3

seconds after positioning has been completed, "WAITING" will blink. Furthermore,
unless the positioning completion signal (/COIN) is turned ON within approximately 10
seconds, "Error" will blink for 2 seconds and tuning will be aborted.

Set this function to Not Auto Setting only if you do not change the notch filter setting before executing
Parameter Function When Enabled Classification

n.0 Does not set the 1st notch filter automatically.
Sets the 1st notch filter automatically.
n.1
[Factory setting]
Pn460 Immediately Tuning
Sets the 2nd notch filter automatically.
n.1
[Factory setting]
(5) Anti-Resonance Control Adjustment Function

This function reduces vibration of which the notch filter does not effective because of low vibration frequency.
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.
Set this function to Not Auto Setting only if you do not change the setting for anti-resonance control before
executing advanced autotuning.
For details, refer to 6.6 Anti-Resonance Control Adjustment Function (Fn204).

Does not use the anti-resonance control automati-
n.0
cally.
Uses the anti-resonance control automatically.
n.1
[Factory setting]
The following parameters related to anti-resonance control are set automatically.

Parameter Name
Pn161 Anti-Resonance Frequency
Pn163 Anti-Resonance Damping Gain
Note: The following parameters related to anti-resonance control are not set automatically but the respective set values in
the parameters will apply.
Anti-resonance gain compensation (Pn162)
Anti-resonance filter time constant 1 compensation (Pn164)
(6) Model Following Control with 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.)
and model following control with vibration suppression will be automatically adjusted and set.
Set this function to Not Auto Setting only if you do not change the setting for model following control with
vibration suppression before executing advanced autotuning.
Note: This function uses model following control. Therefore, the function can be executed only if the adjustment level is
set to mode 2 or 3.
6-18
Related Parameters
Does not use the vibration suppression function auto-
n.0
matically.
Uses the vibration suppression function automati-
n.1
cally. [Factory setting]
The following parameters related to model following control with vibration suppression are set automatically.
Parameter Name
Pn141 Model Following Control Gain
Pn145 Vibration Suppression 1 Frequency A
Pn146 Vibration Suppression 1 Frequency B
Note: The following parameters related to model following control with vibration suppression are not set automatically
but the respective set values in the parameters will apply.
Model following control gain compensation (Pn142)
(7) 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 load resistance resulting from fluctuations in the machine assembly
• Secular changes in the load resistance
Conditions to which friction compensation is applicable depend on the tuning level. The friction compensation
setting in Pn408.3 applies when the mode is 1.
When 2 or 3 is set to the mode, the friction compensation function is automatically enabled.
Tuning
Level Mode 2
Friction Mode 1
Mode 3
Compensation
Setting
n.0 × {
Pn408
n.1 { {
{: Adjusted with the friction compensation function.

× : Adjusted without the friction compensation function.
(8) Feedforward
If tuning is performed at mode 2 or mode 3, the feedforward reference (Pn109), speed feedforward (V-REF)
Adjustments
input, and force feedforward (T-REF) input will be ignored because model following control will be enabled.
The following settings are required if model following control is used together with the speed feedforward (V-
REF) input and force feedforward (T-REF) input.

Model following control is not used together with
6
n.0 external speed/force feedforward input.
Pn140 [Factory setting] Immediately Tuning
Model following control is used together with exter-
n.1
nal speed/force feedforward input.
6-19
6 Adjustments
6.3.2 Advanced Autotuning Procedure
• Model following control is used to make optimum feedforward settings in the servo.
Therefore, model following control is not used together with either the speed feedfor-
ward (V-REF) input or force feedforward (T-REF) input. An improper speed feedfor-
ward (V-REF) input or force feedforward (T-REF) input may result in overshooting.
Refer to 6.8.2 Force Feedforward and 6.8.3 Speed Feedforward for details.

The following procedure is used for advanced autotuning.
Advanced autotuning is performed from the Digital Operator (option) or SigmaWin+.
Here, the operating procedure from the Digital Operator is described.
Refer to the Σ-V series User’s Manual, Operation of Digital Operator (SIEP S800000 55) for basic key oper-
ations of the Digital Operator.
Note: The function cannot be performed from the Panel Operator.
6-20

㧮㧮 ‫̆ޓ‬㧲㨁㧺㧯㨀㧵㧻㧺̆
㧲㨚㧞㧜㧜㧦㨀㨡㨚㨑㧸㨢㨘‫ޓ‬㧿㨑㨠 Display the main menu of the utility function mode,
1 㧲㨚㧞㧜㧝㧦㧭㧭㨀
㧲㨚㧞㧜㧞㧦㧾㨑㨒㧭㧭㨀
and select Fn201.
㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚
㧮㧮㧭㨐㨢㨍㨚㨏㨑㨐‫ޓ‬㧭㨀
Press the Key to display the initial setting screen
‫ޓ‬㧶㨏㨍㨘㨏㧩㧻㧺 for advanced autotuning.
2 ‫ޓ‬㧹㨛㨐㨑㧩㧞‫ޓ‬㨀㨥㨜㨑㧩㧞 Note: If the display does not switch and NO-OP is
‫ޓ‬㧿㨠㨞㨛㨗㨑㧩㧗㧜㧜㧞㧤㧤㧜㧜㧜
displayed, refer to (1) Check Points for Set-
‫ޓޓޓޓޓޓ‬㧔㧜㧜㧥㧜㧚㧜㧕㨞㨑㨢
tings.
㧮㧮㧭㨐㨢㨍㨚㨏㨑㨐‫ޓ‬㧭㨀
3
‫ޓ‬㧶㨏㨍㨘㨏㧩㧻㧺
Press the , or Key and set the items in
‫ޓ‬㧹㨛㨐㨑㧩㧞‫ޓ‬㨀㨥㨜㨑㧩㧞
‫ޓ‬㧿㨠㨞㨛㨗㨑㧩㧗㧜㧜㧞㧤㧤㧜㧜㧜 steps 3-1 to 3-4.
‫ޓޓޓޓޓޓ‬㧔㧜㧜㧥㧜㧚㧜㧕㨞㨑㨢
Calculating Mass
Select the mode to be used.
Normally, set Jcalc to ON.
3-1 Jcalc = ON: Mass calculated
Jcalc = OFF: Mass not calculated
<Note>
If the mass is already known from the machine specifications, set the value in Pn103 and set Jcalc to OFF.
Tuning Level
Select the tuning level.
Mode = 1: Makes adjustments for feedback control, not for model following control. [Standard]
3-2
Mode = 2: Makes adjustments for positioning.
Mode = 3: Makes adjustments for positioning, giving priority to overshooting suppression.
Set this level if position error overshoots at mode 2.
Filter Type Setting
Select the filter type to set a filter according to the machine element to be driven. Set the filter referring to the
following functional elements.
<Note>
3-3
If there is noise or the gain does not increase, good results may be obtained by changing the filter type.
Type = 1: Selects a filter suitable for belt drive mechanisms.
Type = 2: Selects a filter suitable for ball screw drive mechanisms or linear servomotor [Factory setting].
Type = 3: Selects a filter suitable for rigid systems, such as a gear.
STROKE (Travel Distance) Setting
Specify a travel distance in increments of 1000 references.
Travel distance setting range:
The travel distance setting range is from -99990000 to +99990000. The negative (-) direction is for
reverse movement, and the positive (+) direction is for forward movement.
Initial value:
3-4
90 mm
Adjustments
Note:
• Move the position using JOG operation to where a suitable movable range is ensured.
• Set the travel distance to at least 5 mm; otherwise, "Error" will be displayed and the travel distance cannot be
set.
• To calculate the mass ratio and ensure precise tuning, it is recommended to set the travel distance to 90 mm.
㧮㧮㧭 D V A N C E D 㧭㨀 6
4
㧼㨚㧝㧜㧟㧩㧜㧜㧜㧜㧜
㧼㨚㧝㧜㧜㧩㧜㧜㧠㧜㧜
Press the Key. The advanced autotuning execu-
㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜 tion screen will be displayed.
㧼㨚㧝㧜㧞㧩㧜㧜㧠㧜㧜
R U N 㧭 D V A N C E D 㧭㨀 Press the Key. The servo will be ON and the dis-
5
㧼㨚㧝㧜㧟㧩㧜㧜㧜㧜㧜 play will change from "BB" to "RUN."
㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜 ∗If the level is set to 2 or 3, the "Pn102" display will
㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜 change to the "Pn141."
6-21
6 Adjustments

Press the Key if a positive (+) value is set in
STROKE (travel distance), or press the Key if a
negative (-) value is set. Calculation of the mass ratio
will start. While the mass ratio is being calculated,
the set value for Pn103 will blink. When the calcula-
tion has been completed, the set value will stop blink-
ing and the calculated mass ratio will be displayed.
The servo will remain ON, but the auto run operation
will enter HOLD status.
Note:
• In the case of calculating the mass only, press the
Key to save the calculated value to the SER-
R U N 㧭 D V A N C E D 㧭㨀 VOPACK. Then press the Key to finish
㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜
6 㧼㨚㧝㧜㧜㧩㧜㧜㧠㧜㧜 Fn201.
㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜 • The wrong key for the set travel direction is
㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜 pressed, the calculation will not start.
• If the tuning operation or the calculation of the
mass ratio does not start, "NO-OP" will blink.
Refer to (2) Failure in Operation, and take a cor-
rective action to enable operation.
• If the calculation of the mass ratio is not completed
normally because the required conditions are not
met, "Pn103=ERR" will be displayed. Refer to (3)
Errors during Calculation of Mass Ratio, press the
Key to cancel the function, modify the set-
tings, and then restart.
If the mass ratio is not calculated, the set value for
Pn103 will be displayed but not blink.
When the or Key is pressed according to
the sign (+ or -) of the value set for STROKE (travel
distance), the calculated value of the mass ratio will
be written to the SERVOPACK and the auto run oper-
ation will restart. While the servomotor is running,
A d j 㧭 D V A N C E D 㧭㨀 the notch filter, the force reference filter, and gains
㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜 will be automatically set. "Adj" will blink during the
7 㧼㨚㧝㧜㧜㧩㧜㧝㧜㧜㧜
㧼㨚㧝㧜㧝㧩㧜㧜㧜㧢㧟㧢
auto setting operation.
㧼㨚㧝㧠㧝㧩㧜㧝㧡㧜㧜 Note:
• Precise adjustments cannot be made and "Error"
will be displayed as the status if there is vibration
when starting adjustments or the positioning com-
pletion signal turns ON/OFF. If that occurs, make
adjustments using one-parameter tuning (Fn203).
E n d 㧭 D V A N C E D 㧭㨀 When the adjustment has been completed normally,
㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜 the servo will turn OFF, and "End" will blink for two
seconds and "Adj" will be displayed on the status dis-
㧼㨚㧝㧠㧝㧩㧜㧝㧡㧜㧜 play.
㧰o n e 㧭 D V A N C E D 㧭㨀 Press the Key. The values adjusted will be writ-
㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜 ten to the SERVOPACK, "Done" will blink for two
seconds, and "Adj" will be displayed again.
㧼㨚㧝㧠㧝㧩㧜㧝㧡㧜㧜 Not to save the values, press the Key.
10
㧲㨚㧞㧜㧜㧦㨀㨡㨚㨑㧸㨢㨘‫ޓ‬㧿㨑㨠 Press the Key to complete the advanced autotun-
㧲㨚㧞㧜㧝㧦㧭㧭㨀
㧲㨚㧞㧜㧞㧦㧾㨑㨒㧭㧭㨀 ing operation. The screen in step 1 will appear again.
6-22
(2) Failure in Operation

If "NO-OP" or "Error" blinks during adjustment, the adjustment will be stopped.
Probable Causes of "NO-OP" Blinking

• The main circuit power supply is OFF.
• An alarm or warning has occurred.
• An overtravel has occurred.
• A SigmaWin+ communications error has occurred.
• Gain setting 2 is selected by gain switching.
• Jcalc is set to OFF (mass ratio not calculated) and the tuning-less function is set to effective.
Press the Key and stop the adjustment once, and take a corrective action to enable operation.
Probable Causes of "Error" Blinking and Remedies

Press the Key and stop the adjustment once, and take the following remedies to enable operation.
Error Probable Cause Corrective Actions

Increase the set value for Pn522.
When 2 is set to the mode, change the set-
The gain dropped below Machine vibration is occurring or the posi- ting to 3 or 1, and perform advanced auto-
the minimum adjustable tioning completion signal (/COIN) is turn- tuning again. If there is machine vibration,
gain. ing ON and OFF. suppress the vibration with the anti-reso-
nance control adjustment function and the
vibration suppression function.
The mass ratio cannot be
Jcalc was set to OFF, so the mass ratio was • Turn OFF the tuning-less function.
calculated when the
not calculated and the tuning-less function • Set Jcalc to ON, so the mass ratio will be
tuning-less function was
was activated. calculated.
activated.
An error occurred during
the calculation of the Refer to (3) Errors during Calculation of Mass Ratio.
mass ratio.
The travel distance is set to approximately 5
Travel distance setting Increase the travel distance. It is recom-
mm or less, which is less than the minimum
error mended to set the travel distance to 90 mm.
adjustable travel distance.
The positioning
completion signal (/COIN)
did not turn ON within The positioning completed width is too Increase the set value for Pn522. If the
approximately 10 seconds small or P control operation (proportional mode switch is used, increase the set value
after positioning control) is being used. or disable the mode switch.
adjustment was
completed.
(3) Errors during Calculation of Mass Ratio

The following table shows the probable causes of errors that may occur during the calculation of the mass
Adjustments
ratio with the Jcalc set to ON, along with corrective actions for the errors.
Error
Error Type Cause Corrective Action
Display
Failure in start- The SERVOPACK started calculat- • Increase the speed loop gain (Pn100).
Err1 ing calculation of ing the mass ratio, but the calculation
mass ratio was not completed. • Increase the STROKE (travel distance). 6
Set the calculation value based on the
Failure in calcula- The mass ratio fluctuated greatly and
Err2 machine specifications in Pn103 and execute
tion of mass ratio did not converge within 10 tries.
the calculation with the Jcalc set to OFF.
Low-frequency Low-frequency vibration was Double the calculation starting level of the
Err3
vibration error detected. mass ratio (Pn324).
• Increase the force limit value.
Err4 Force limit error The force limit was reached. • Double the calculation starting level of the
mass ratio (Pn324).
6-23
6 Adjustments
Error
Error Type Cause Corrective Action
Display
While calculating the mass ratio, the
Proportional con- Operate the SERVOPACK with PI control
Err5 speed control was set to proportional
trol error while calculating the mass ratio.
control with P-CON input.

The following parameters are set automatically by using advanced autotuning function.
Parameter Name
Pn100 Speed Loop Gain
Pn101 Speed Loop Integral Time Constant
Pn102 Position Loop Gain
Pn121 Friction Compensation Gain
Pn123 Friction Compensation Coefficient
Pn124 Friction Compensation Frequency Correction
Pn125 Friction Compensation Gain Correction
Pn143 Model Following Control Bias (Forward Direction)
Pn144 Model Following Control Bias (Reverse Direction)
Pn147 Model Following Control Speed Feedforward Compensation
Pn401 Force Reference Filter Time Constant
Pn408 Notch Filter Selection/Friction Compensation Selection
Pn409 1st Notch Filter Frequency
Pn40A 1st Notch Filter Q Value
Pn40C 2nd Notch Filter Frequency
Pn40D 2nd Notch Filter Q Value
6-24
6.4 Advanced Autotuning by Reference (Fn202)

Adjustments with advanced autotuning by reference are described below.
6.4.1 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.
Advanced autotuning by reference is performed generally to fine-tune the SERVOPACK after advanced auto-
tuning of the SERVOPACK has been performed.
If the mass ratio is set correctly is Pn103, advanced autotuning by reference can be performed without per-
forming advanced autotuning.
Movement
Speed
Reference
Movement
distance
Response
Host Controller
SERVOPACK
Advanced autotuning by reference performs the following adjustments.

• Vibration suppression

Tuning Level Adjustment Type
Mode 1 Makes adjustments for feedback control, not for model following control. [Standard]
Adjustments

Type = 1 Select a filter suitable for the belt drive mechanism or other mechanism.
6
6-25
6 Adjustments
CAUTION
• Because advanced autotuning by reference adjusts the SERVOPACK during automatic operation, vibra-
tion or overshooting may occur. To ensure safety, perform advanced autotuning by reference in a state
where the SERVOPACK can come to an emergency stop at any time.
• Be sure to set a suitable value for the mass ratio (Pn103) using advanced autotuning before advanced
autotuning by reference is performed. If the setting greatly differs from the actual mass ratio, normal con-
trol of the SERVOPACK may not be possible, and vibration may result.
• 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 setting a fully stable
gain using one-parameter tuning (Fn203).

Check the following settings before performing advanced autotuning by reference, or otherwise "NO-OP" will
be displayed during advanced autotuning.
• The main circuit power supply must be ON.

• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signal must not be in an overtravel state.
• The control must be set to position control.
• Automatic gain switching must be disabled.
(2) Check Points for Operating Conditions
The following conditions are required to perform advanced autotuning by reference. If these conditions are not
satisfied, use one-parameter tuning.
• The travel distance in response to references from the host controller must be the same as or larger than the
set positioning completed width (Pn522).
• The motor speed in response to references from the host controller must be the same as or larger than the set
zero speed level (Pn581).
• The stopping time, i.e., the period while the positioning completion/COIN signal is OFF, is 10 ms or longer.
Advanced autotuning by reference may not be performed normally under the following conditions. If the
result of autotuning is not satisfactory, perform one-parameter tuning.
Refer to 6.5 One-parameter Tuning (Fn203) for details.
• The rigidity of the load is low and vibration occurs when positioning is performed.
• The position integration function is used.
• P control operation (proportional control) is performed.
• The mode switch is used.
• 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.
Change only the overshoot detection level (Pn561) to finely adjust the without changing the positioning com-
pleted 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 any overshooting in the posi-
tioning completed width. If the setting of Pn561 is changed, however, the positioning time may be extended.
6-26
Overshoot Detection Level Speed Position Force

Classification
• Unless the positioning completion signal (/COIN) is turned ON within approximately 3

seconds after positioning has been completed, "WAITING" will blink. Furthermore,
unless the positioning completion signal (/COIN) is turned ON within approximately 10
seconds, "Error" will blink for 2 seconds and tuning will be aborted.

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

Does not set the 1st notch filter automatically.feed-
n.0
forward
n.1
n.1
[Factory setting]

by reference and anti-resonance control will be automatically adjusted and set.
executing advanced autotuning by reference.
For details, refer to 6.6 Anti-Resonance Control Adjustment Function (Fn204)

n.0
cally.
Adjustments

Uses the anti-resonance control automatically. [Fac-
n.1
tory setting]
Parameter Name
6
6-27
6 Adjustments
(6) Model Following Control with Vibration Suppression

Usually, set this function to Auto Setting. (The vibration suppression function is factory-set to Auto Setting.)
by reference and model following control with vibration suppression will be automatically adjusted and set.
Set this function to Not Auto Setting only if you do not change the setting for model following control with
vibration suppression before executing advanced autotuning by reference.
Note: This function uses model following control. Therefore, the function can be executed only if the adjustment level is
set to mode 2 or 3.
Related Parameters
Does not use the vibration suppression function auto-
n.0
matically.
Uses the vibration suppression function automati-
n.1
cally. [Factory setting]
The following parameters related to model following control with vibration suppression are set automatically.
Parameter Name
Note: The following parameters related to model following control with vibration suppression are not set automatically
but the respective set values in the parameters will apply.
Model following control gain compensation (Pn142)

setting in Pn408.3 applies when the mode is 1.
Tuning
Level Mode 2
Friction Mode 1
Mode 3
Compensation
Setting
n.0 × {
Pn408
n.1 { {

×: Adjusted without the friction compensation function.
6-28
(8) Feedforward

Model following control is not used together
n.0 with external speed/force feedforward input.
Model following control is used together with
n.1
external speed/force feedforward input.
Adjustments
6-29
6 Adjustments
6.4.2 Advanced Autotuning by Reference Procedure
6.4.2 Advanced Autotuning by Reference Procedure

The following procedure is used for advanced autotuning by reference.
Advanced autotuning by reference is performed from the Digital Operator (option) or SigmaWin+.
Refer to the Σ-V series User’s Manual, Operation of Digital Operator (SIEPS80000055) for basic key opera-
tions of the Digital Operator.
Note: The function cannot be performed from the Panel Operator.

㧲㨚㧞㧜㧝㧦㧭㧭㨀 Display the main menu of the utility function mode,
1 㧲㨚㧞㧜㧞㧦㧾㨑㨒㧭㧭㨀
and select Fn202.
㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎‫ޓ‬㧿㨡㨜
㧮㧮㧭㨐㨢㨍㨚㨏㨑㨐㧭㨀
for advanced autotuning.
2 ‫ޓ‬㧹㨛㨐㨑㧩㧟‫ޓ‬㨀㨥㨜㨑㧩㧞 Note: If the display does not switch and NO-OP is
tings.
㧮㧮㧭㨐㨢㨍㨚㨏㨑㨐㧭㨀
3 Press the or Key and set the items in

‫ޓ‬㧹㨛㨐㨑㧩㧟‫ޓ‬㨀㨥㨜㨑㧩㧞
steps 3-1 and 3-2.
Tuning Level
Select the tuning level.
Mode = 1: Makes adjustments for feedback control, not for model following control. [Standard]
3-1
Mode = 2: Makes adjustments for positioning.
Mode = 3: Makes adjustments for positioning, giving priority to overshooting suppression.
Set this level if position error overshoots at mode 2.
Filter Type Setting
<Note>
3-2
㧮㧮㧭㨐㨢㨍㨚㨏㨑㨐㧭㨀 Press the Key. The advanced autotuning execu-
4
㧼㨚㧝㧜㧟㧩㧜㧜㧜㧜㧜 tion screen will be displayed.
㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜 ∗If the level is set to 2 or 3, the "Pn102" display will
㧼㨚㧝㧜㧞㧩㧜㧜㧠㧜㧜 change to the "Pn141".
㧭㧰㧶㧭㨐㨢㨍㨚㨏㨑㨐㧭㨀
㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜 Input an external /S-ON signal, and then input a refer-
5 㧼㨚㧝㧜㧜㧩㧜㧜㧠㧜㧜
㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜
ence from the host controller.
㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜
㧭㧰㧶㧭㨐㨢㨍㨚㨏㨑㨐㧭㨀 Starts to adjust using or Key. "Adj" will

6
㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜 blink on the status display.
㧼㨚㧝㧜㧜㧩㧜㧝㧜㧜㧜
㧼㨚㧝㧜㧝㧩㧜㧜㧜㧢㧟㧢 Note: Adjustment cannot be performed during "BB"
㧼㨚㧝㧠㧝㧩㧜㧝㧡㧜㧜 is shown on the status display.
㧱㧺㧰㧭㨐㨢㨍㨚㨏㨑㨐㧭㨀
㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜
When the adjustment has been completed normally,
7 㧼㨚㧝㧜㧜㧩㧜㧝㧜㧜㧜 "END" will blink for two seconds on the status dis-
㧼㨚㧝㧜㧝㧩㧜㧜㧜㧢㧟㧢 play.
㧼㨚㧝㧠㧝㧩㧜㧝㧡㧜㧜
6-30
Press the Key. The adjusted values will be writ-

㧰㧻㧺㧱㧭㨐㨢㨍㨚㨏㨑㨐㧭㨀
㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜 ten to the SERVOPACK, "DONE" will blink for two
8 㧼㨚㧝㧜㧜㧩㧜㧝㧜㧜㧜 seconds.
㧼㨚㧝㧠㧝㧩㧜㧝㧡㧜㧜
Not to save the values set in step 6, press the
Key.
㧲㨚㧞㧜㧝㧦㧭㧭㨀 Press the Key to complete the advanced autotun-
9 㧲㨚㧞㧜㧞㧦㧾㨑㨒㧭㧭㨀 ing by reference operation. The screen in step 1 will
㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚 appear again.
(2) Failure in Operation

If "NO-OP" or "Error" blinks for approximately two seconds during adjustment, the adjustment will be
stopped. After the adjustment is canceled, "NO-OP" or "Error" will be changed to "RUN" or "BB".
Probable Causes of "NO-OP" Blinking

• The main circuit power supply is OFF.
• An alarm or warning has occurred.
• An overtravel has occurred.
• A SigmaWin+ communications error has occurred.
• Gain setting 2 is selected by gain switching.
Press the Key and stop the adjustment once, and take a corrective action to enable operation.
Probable Causes of "Error" Blinking and Remedies

Press the Key and stop the adjustment once, and take the following remedies to enable operation.
Error Probable Cause Corrective Actions

The positioning
completion signal
(/COIN) did not turn ON The positioning completion width is too
Increase the set value for Pn522. If the P
within approximately 10 small or P control operation (proportional
control is set, disable the mode switch.
seconds after control) is being used.
positioning adjustment
was completed.
Increase the set value for Pn522. If there is
The gain dropped below Machine vibration is occurring or the posi- machine vibration, suppress the vibration
the minimum adjustable tioning completion signal (/COIN) is turning with the anti-resonance control adjustment
gain. ON and OFF. function, and the vibration suppression
function.
Adjustments
6-31
6 Adjustments

The following parameters are set automatically by using advanced autotuning by reference. Manual adjust-
ments are not required.
Parameter Name
6-32
6.5 One-parameter Tuning (Fn203)

Adjustments with one-parameter tuning are described below.
6.5.1 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 autotuning levels.
Tuning Mode Adjustment Type

Mode 0 Makes adjustments giving priority to stability.
Mode 1 Makes adjustments for feedback control, not for model following control. [Standard]

Type = 1 Selects a filter suitable for the belt drive mechanism or other mechanism.
One-parameter tuning performs the following adjustments.

Perform one-parameter tuning if satisfactory responsiveness is not obtained with advanced autotuning or
advanced autotuning by reference.
To fine-tune each servo gain after one-parameter tuning, refer to 6.8 Servo Gain Adjustment Application Func-
tion. Adjustments
CAUTION
• Vibration or overshooting may occur during adjustment. To ensure safety, perform one-parameter tuning in
a state where the SERVOPACK can come to an emergency stop at any time.
• Be sure to set a suitable value for the mass ratio (Pn103) using advanced autotuning before one-parame-
ter tuning is performed. If the setting greatly differs from the actual mass ratio, normal control of the SER-
VOPACK may not be possible, and vibration may result. 6
6-33
6 Adjustments
6.5.1 One-parameter Tuning

Check the following settings before performing one-parameter tuning, or otherwise "NO-OP" will be dis-
played during one-parameter tuning.

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

n.0 Does not set the 1st notch filter automatically.
n.1
[Factory setting]
n.1
[Factory 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.
executing one-parameter tuning.
For details, refer to 6.6 Anti-Resonance Control Adjustment Function (Fn204)

n.0
cally.
Uses the anti-resonance control automatically.
n.1
[Factory setting]
Parameter Name
"ARES" will blink on the digital operator when anti-resonance control adjustment function is set.
㧾㨁㧺 ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆
㧲㧲‫ޓ‬㧸㧱㨂㧱㧸‫ޓ‬㧩‫ޓ‬㧜㧜㧡㧜
㧲㧮‫ޓ‬㧸㧱㨂㧱㧸‫ޓ‬㧩‫ޓ‬㧜㧜㧠㧜‫ޓ‬
‫ޓ‬
‫ޓ‬㧺㧲㧝‫ޓ‬㧺㧲㧞‫ޓޓޓ‬㧭㧾㧱㧿
6-34

setting in Pn408.3 applies when the mode is 0 or 1.
When 2 or 3 is set to the mode, the friction compensation function is automatically enabled.
Tuning
Level
Friction Mode 0 Mode 1 Mode 2 Mode 3
Compensation
Setting
n.0 × × { {
Pn408
n.1 { { { {

×: Adjusted without the friction compensation function.
(5) Feedforward

n.1
Adjustments
6.5.2 One-parameter Tuning Procedure

The following procedure is used for one-parameter tuning.
One-parameter tuning is performed from the Digital Operator (option) or SigmaWin+. 6

Note: Mode 2 and mode 3 cannot be selected from the Panel Operator.
To perform one-parameter tuning with mode 2 or mode 3, operate from the Digital Operator or SigmaWin+.
6-35
6 Adjustments
(1) Operating Procedure 1

㧾㨁㧺‫̆ޓ ޓ‬㧲㨁㧺㧯㨀㧵㧻㧺̆
㧲㨚㧞㧜㧞㧦㧾㨑㨒㧭㧭㨀 Display the main menu of the utility function mode,
1 㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚
and select Fn203.
㧲㨚㧞㧜㧡㧦㨂㨕㨎‫ޓ‬㧿㨡㨜
Press the Key to display the mass ratio set in

Pn103 at present. Select the digit with the or
㧮㧮 ̆ 㧻㨚㨑㧼㨞㨙㨀㨡㨚̆
㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜 Key, change the set value with the or
2 Key.
tings.
㧿㨑㨠㨠㨕㨚㨓
3 Press the Key to display the initial setting screen
㨀㨡㨚㨕㨚㨓㧹㨛㨐㨑㧩㧞 for one-parameter tuning.
㨀㨥㨜㨑㧩㧞
4
㧿㨑㨠㨠㨕㨚㨓
Press the , or Key and set the items in
㨀㨡㨚㨕㨚㨓㧹㨛㨐㨑㧩㧞 steps 4-1 and 4-2.
㨀㨥㨜㨑㧩㧞
Tuning Mode
Select the tuning Mode.
Tuning Mode = 0: Makes adjustments for feedback control, giving priority to stability.
Tuning Mode = 1: Makes adjustments for feedback control, giving priority to responsiveness.
4-1
Tuning Mode = 2: Makes adjustments for positioning.
Tuning Mode = 3: Make adjustments for positioning, giving priority to overshooting suppression.
When Tuning Mode is set to 0 or 1, refer to (2) Operating Procedure 2 [Tuning Mode set to 0 or 1].
When Tuning Mode is set to 2 or 3, refer to (3) Operating Procedure 3 [Tuning Mode set to 2 or 3].
Filter Type Setting
<Note>
4-2
6-36
(2) Operating Procedure 2 [Tuning Mode set to 0 or 1]

Input an external /S-ON signal. The display will
1 change from "BB" to "RUN." Input a reference from
2 㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜
The set value will be displayed. Press the Key
㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜 after checking the value.
Mode 0 and Mode 1 are used to make level adjust-

ments. When the level is increased, the responsive-
ness will improve. If the value is too large, however,
vibration will occur. If that occurs, press the
Key. The SERVOPACK will detect the vibration fre-
quencies automatically and make notch filter or anti-
resonance control settings.
㧾㨁㧺 ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆ If the vibration is great, the vibration frequency will
3 㧸㧱㨂㧱㧸㧩㧜㧜㧠㧜 be detected even if the Key is not pressed and a
notch filter or anti-resonance control will be set.
㧺㧲㧝㧭㧾㧱㧿
Select the digit with the or Key, adjust the
level with or Key, and press the Key.
When the notch filter is set, "NF1" or "NF2" will be
displayed on the bottom row. "NF1" shows that a
one-level notch filter is set.
When anti-resonance control is set, "ARES" is dis-
played.
㧾㨁㧺 ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆ A confirmation screen is displayed after level adjust-
4 㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜 ment. Check the value and press the Key.
㧼㨚㧝㧜㧞㧩㧜㧜㧠㧜㧤

㧰㧻㧺㧱 ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆ ten to the SERVOPACK, "DONE" will blink for two
㧼㨚㧝㧜㧜㧩㧜㧜㧠㧜㧜 seconds.
㧼㨚㧝㧜㧞㧩㧜㧜㧠㧜㧤 Not to save the values set in step 3, press the
Key.
The screen in step 3 will appear with the Key.
㧲㨚㧞㧜㧞㧦㧾㨑㨒㧭㧭㨀 Press the Key to complete the one-parameter
6 㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚 tuning operation. The screen in step 1 will appear
㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎‫ޓ‬㧿㨡㨜 again.
Adjustments
6-37
6 Adjustments
(3) Operating Procedure 3 [Tuning Mode set to 2 or 3]

Input an external /S-ON signal. The display will
1 change from "BB" to "RUN." Input a reference from
2
㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜
The set value will be displayed. Press the Key
㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜 after checking the value.
Mode 2 or 3 is used to make level adjustments. When

the level is increased, the responsiveness will
improve. If the value is too large, however, vibration
will occur. If that occurs, press the Key. The
SERVOPACK will detect the vibration frequencies
automatically and make notch filter or anti-resonance
control settings.
If the vibration is great, the vibration frequency will
be detected even if the Key is not pressed and a
notch filter or anti-resonance control will be set.
The positioning time will become shorter if the FF
level is increased. If the FF level is too high, over-
shooting will result. Adjust FF level and FB level
with the , , or Keys, and press the
㧲㧲㧸㧱㨂㧱㧸㧩㧜㧜㧡㧜㧜
3 㧲㧮㧸㧱㨂㧱㧸㧩㧜㧜㧠㧜㧜 Key.
㧺㧲㧝
Note:
㧭㧾㧱㧿
• A change in the FF level will become effective
after the motor stops (i.e., the motor comes to a
stop with no reference input), and the response of
the motor will change. Wait until the set operation
reference stops and check the response before
adjusting the FF level. If the FF level is changed
greatly while the SERVOPACK is in operation, the
response will change radically. This may cause
vibration.
• "FF LEVEL" will blink until the FF level is
enabled. If the motor does not stop approximately
10 seconds after the setting is changed, a timeout
error will result and the previous setting will be
enabled again.
4 㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜 A confirmation screen is displayed after adjustment.
㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜
㧺㧲㧝

㧰㧻㧺㧱 ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆ ten to the SERVOPACK, "DONE" will blink for two
㧼㨚㧝㧜㧜㧩㧜㧜㧠㧜㧜 seconds.
㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜 Not to save the values set in step 3, press the
㧺㧲㧝 Key.
The screen in step 3 will appear with the Key.
㧲㨚㧞㧜㧞㧦㧾㨑㨒㧭㧭㨀 Press the Key to complete the one-parameter
6 㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚 tuning operation. The screen in step 1 will appear
㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎‫ޓ‬㧿㨡㨜 again.
6-38
6.5.3 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 pulse
Measure the positioning time after setting the mass ratio

(Pn103) correctly. Tuning will be completed if the specifica-
1 Reference pulse speed tions are met here. The tuning results will be saved in the SER-
VOPACK.
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 solved, go to step 4.
The graph shows overshooting generated with the FF level

increased in step 3. In this state, the overshooting occurs, but
the positioning setting time is short. The tuning will be com-
pleted if the specifications are met. The adjustment results are
saved in the SERVOPACK. If overshooting occurs before the
specifications are met, repeat steps 3 and 4.
4 If vibration occurs before the overshooting is eliminated, the
vibration will be suppressed by the automatic notch filter.
Note:
The vibration frequencies may not be detected if the amplitude
is too small. If that occurs, press the Key to forcibly detect
Adjustments
the vibration frequencies.

5 The adjustment results are saved in the SERVOPACK.
6-39
6 Adjustments

The following parameters are set automatically by using one-parameter tuning. Manual adjustments are not
required.
Parameter Name
6-40
6.6 Anti-Resonance Control Adjustment Function (Fn204)

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

An increase in the control gain of the SERVOPACK is effective for high-speed, high-precision driving of a
machine. If the gain is excessively high, vibration will occur in the operating section of the machine. The anti-
resonance control adjustment function (Fn204) is an effective function that supports anti-resonance control
adjustment if the vibration frequencies are from 100 to 1,000 Hz.
The anti-resonance control adjustment function reduces vibration by adjusting the damping gain with vibra-
tion frequencies that are automatically detected or manually set.
The automatic detection of vibration frequencies is enabled or disabled using the tuning mode settings.
Detection of
Tuning Mode Vibration Guideline Selection
Frequencies
• The vibration frequencies are unknown.
0 YES
• This function is being used for the first time.
• The frequencies are already known.
1 NO • To fine-tune the damping gain when the anti-resonance control adjustment
function has already been used.
CAUTION
• If this function is executed, related parameters will be set automatically. Therefore, there will be a large
response change after this function is enabled or disabled. Enable the function in a state where the
machine can come to an emergency stop at any time to ensure the safety operation of the machine.
• Be sure to set a suitable value for the mass ratio (Pn103) using advanced autotuning before executing the
anti-resonance control adjustment function. If the setting greatly differs from the actual mass ratio, normal
control of the SERVOPACK may not be possible, and vibration may result.
•
• This function detects vibration between 100 and 1,000 Hz. Vibration will not be
detected for frequencies outside of this range, and instead, "F----" will be displayed. 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 present damping gain
(Pn163). The amplitude of vibration may become larger if the damping gain is exces-
sively high. Increase the vibration gain from about 0% to 200% in 10% increments
while checking the effect of vibration reduction. If the effect of vibration reduction is
still insufficient at a gain of 200%, cancel the setting, and lower the control gain using
Adjustments
a different method, such as one-parameter tuning.

Check the following settings before performing anti-resonance control adjustment function, or otherwise
"NO-OP" will be displayed during anti-resonance control adjustment. 6
• The control must not be set to force control.
6-41
6 Adjustments
6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure

Before executing the anti-resonance control adjustment function, check the following precautions and take
necessary measures.
• To obtain sufficient vibration reduction, the mass ratio must be set correctly. Perform advanced autotuning
to set the mass ratio (Pn103).
Perform one-parameter tuning (Fn203) or use another method to increase the responsiveness after performing
this function. If the vibration reduction gain is increased with one-parameter tuning performed, vibration may
result again. If that occurs, perform this function again to fine-tune the settings.

The following procedure is used for anti-resonance control adjustment function.
Anti-resonance control adjustment function is performed from the Digital Operator (option) or SigmaWin+.
Note: • The function cannot be performed from the Panel Operator.

• Use this function if vibration is generated when a control reference is input.
The following three methods can be used for the anti-resonance control adjustment function. Select and use
the best method.
1. Starting Execution with Vibration Suppression When the Anti-resonance Control Adjustment Function Has
Not Been Used → See page 6-42.
2. Starting Execution without Vibration Suppression When the Anti-resonance Control Adjustment Function
Has Not Been Used → See page 6-44.
3. Starting Execution for Fine-tuning When the Anti-resonance Control Adjustment Function Has Been Used
→ See page 6-46.
(1) Starting Execution with Vibration Suppression When the Anti-Resonance Control
Adjustment Function Has Not Been Used
㧾㨁㧺‫̆ ޓ‬㧲㨁㧺㧯㨀㧵㧻㧺̆
㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚 Display the main menu of the utility function mode,
1 㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎‫ޓ‬㧿㨡㨜
and select Fn204.
㧲㨚㧞㧜㧢㧦㧱㨍㨟㨥‫ޓ‬㧲㧲㨀
㧾㨁㧺 ̆ 㨂㨕㨎㧿㨡㨜̆ Press the Key to display the initial setting screen
2
for tuning mode.
㨀㨡㨚㨕㨚㨓㧹㨛㨐㨑㧩㧜
Note:If the display does not switch and NO-OP is dis-
played, refer to (1) Check Points for Settings.
㧾㨁㧺 ̆ 㨂㨕㨎㧿㨡㨜̆
3

Press the or Key and select the tuning mode
"0".
6-42
Press the Key while "Tuning Mode = 0" is dis-

played. The screen shown on the left will appear. The
detection of vibration frequencies will start and
㧾㨁㧺 ̆ 㨂㨕㨎㧿㨡㨜̆ "freq" will blink.
4 㨒㨞㨑㨝㧩㧙㧙㧙㧙㧴㨦
Note: Return to step 3 if vibration is not detected.
㨐㨍㨙㨜㧩㧜㧜㧜㧜㧜 Lower the vibration detection sensitivity
(Pn311). When this parameter is lowered, the
detection sensitivity will be increased. Vibra-
tion may not be detected accurately if too small
value is set.
The vibration frequency will be displayed if vibration
is detected.
Error
5 㨒㨞㨑㨝㧩㧜㧠㧜㧜㧴㨦

㨐㨍㨙㨜㧩㧜㧜㧜㧜㧜
Torque
Force reference
Positioning
Positioning completion
completed
signal
6 Press the Key. The cursor will move to "damp,"

㨒㨞㨑㨝㧩㧜㧠㧜㧜㧴㨦
㨐㨍㨙㨜㧩㧜㧜㧜㧞㧜 and "freq" will be displayed normally.
Select the digit with the or Key, and press

the or Key to adjust the damping gain.
Error
㧾㨁㧺 ̆ 㨂㨕㨎㧿㨡㨜̆ Torque

Force reference
㨐㨍㨙㨜㧩㧜㧜㧝㧞㧜
signal
Note:
Increase the damping gain from about 0% to 200% in
10% increments while checking the effect of vibra-
tion reduction. If vibration reduction is still insuffi-
Adjustments
cient at a gain of 200%, cancel the setting, and lower

the control gain by using a different method, such as
one-parameter tuning.
8 Press the Key. The cursor will move from

6
㨐㨍㨙㨜㧩㧜㧜㧝㧞㧜 "damp" to "freq".
㧾㨁㧺 ̆ 㨂㨕㨎㧿㨡㨜̆ Select the digit with the or Key, and press
9 㨒㨞㨑㨝㧩㧜㧠㧞㧜㧴㨦
the or Key to fine-tune the frequency. Skip
㨐㨍㨙㨜㧩㧜㧜㧝㧞㧜 this step and go to step 10 if the fine-tuning of the fre-
quency is not necessary.
10 㨒㨞㨑㨝㧩㧜㧠㧞㧜㧴㨦 Press Key to save the settings.

6-43
6 Adjustments
㧰㧻㧺㧱 ̆ 㨂㨕㨎㧿㨡㨜̆
11 㨒㨞㨑㨝㧩㧜㧠㧞㧜㧴㨦 "DONE" will blink for two seconds.
㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚 Press the Key to complete the anti-resonance
12 㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎‫ޓ‬㧿㨡㨜 control adjustment function. The screen in step 1 will
㧲㨚㧞㧜㧡㧦㨂㨕㨎‫ޓ‬㧿㨡㨜 appear again.
(2) Starting Execution without Vibration Suppression When the Anti-Resonance

Control Adjustment Function Has Not Been Used
and select Fn204.
2

for tuning mode.
3

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

played. The screen shown on the left will appear and
"freq" will blink.
㧾㨁㧺 ̆ 㨂㨕㨎㧿㨡㨜̆ Error

Torque
Force reference
Positioning
completed
signal

㨐㨍㨙㨜㧩㧜㧜㧜㧜㧜 the or Key to adjust the frequency.
6 㨒㨞㨑㨝㧩㧜㧠㧜㧜㧴㨦 Press the Key. The cursor will move to "damp".
6-44

Error
㧾㨁㧺 ̆ 㨂㨕㨎㧿㨡㨜̆ Torque

Force reference
㨐㨍㨙㨜㧩㧜㧜㧜㧞㧜
Positioning
completed
signal
Note:
10% increments while checking the effect of vibra-

㨐㨍㨙㨜㧩㧜㧜㧝㧞㧜 "damp" to "freq".
㨐㨍㨙㨜㧩㧜㧜㧝㧞㧜 this step and go to step 10 if the fine-tuning of the fre-
10 㨒㨞㨑㨝㧩㧜㧠㧜㧜㧴㨦 Press Key to save the settings.

11 㨒㨞㨑㨝㧩㧜㧠㧜㧜㧴㨦 "DONE" will blink for two seconds.
㨐㨍㨙㨜㧩㧜㧝㧡㧜
Adjustments
6-45
6 Adjustments
(3) Starting Execution for Fine-tuning When the Anti-Resonance Control Adjustment
Function Has Been Used
and select Fn204.
㧾㨁㧺 ̆㧲㨁㧺㧯㨀㧵㧻㧺̆ Press the Key to display the "Tuning Mode = 1"
2
as shown on the left.
㨀㨡㨚㨕㨚㨓㧹㨛㨐㨑㧩㧝
displayed, refer to (1) Check Points for Settings.

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

㧾㨁㧺 ̆ 㨂㨕㨎㧿㨡㨜̆ Note:
4 㨒㨞㨑㨝㧩㧜㧠㧜㧜㧴㨦 10% increments while checking the effect of vibra-
㨐㨍㨙㨜㧩㧜㧜㧝㧡㧜

㨐㨍㨙㨜㧩㧜㧝㧡㧜 "damp" to "freq".
㨐㨍㨙㨜㧩㧜㧝㧡㧜 this step and go to step 7 if the fine-tuning of the fre-
7 㨒㨞㨑㨝㧩㧜㧠㧞㧜㧴㨦 Press Key to save the settings.

㨐㨍㨙㨜㧩㧜㧝㧡㧜

Pn160 and Pn161 are set automatically. The other parameters are not set automatically but the respective set
values in the parameters will apply.
Parameter Name
Pn160 Anti-resonance Control Selection
Pn161 Anti-resonance Frequency
Pn162 Anti-resonance Gain Compensation
Pn163 Anti-resonance Damping Gain
Pn164 Anti-resonance Filter Time Constant 1 Compensation
Pn165 Anti-resonance Filter Time Constant 2 Compensation
6-46
6.7 Vibration Suppression Function (Fn205)

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

CAUTION
• If this function is executed, related parameters will be set automatically. Therefore, there will be a large
response change after this function is enabled or disabled. Enable the function in a state where the
machine can come to an emergency stop at any time to ensure the safety operation of the machine.
• Be sure to set a suitable value for the mass ratio (Pn103) using advanced autotuning before executing
this function. If the setting greatly differs from the actual mass ratio, normal control of the SERVOPACK
may not be possible, and vibration may result.
• Frequency detection will not be performed if there is no vibration resulting from posi-
tion errors or the vibration frequencies are outside the range of detectable frequen-
cies. If that occurs, use a device, such as a laser displacement sensor or vibration
meter, to measure the vibration.
• If vibration frequencies automatically detected are not suppressed, there may be a dif-
ference between the actual frequency and detected frequency. Fine-tune the detected
frequency if necessary.

Before performing the vibration suppression function, check the following setting and take necessary mea-
sures.
• The control must be set to position control.

The vibration suppression function cannot suppress vibration effectively under the following condition. If the
result is not satisfactory, perform anti-resonance control adjustment function (Fn204) or one-parameter tuning
(Fn203).
• Vibration is generated continuously when the motor is not rotating.
Perform one-parameter tuning (Fn203) to improve responsiveness after vibration suppression is performed.
(3) Detection of Vibration Frequencies

No frequency detection may be possible if the vibration does not appear as a position error or the vibration
Adjustments
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). Perform the detection of vibration frequencies after adjusting the remained vibration detection width
(Pn560).
6
Remained Vibration Detection Width Position
Classification
0.1 to 300 0.1% 40 Immediately Setup
Note: Use a set value of 10% as a guideline. 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.
6-47
6 Adjustments
6.7.2 Vibration Suppression Function Operating Procedure
<Note>
Vibration frequencies automatically detected may vary more or less during each positioning operation. Per-
form positioning several times and make adjustments while checking the effect of vibration suppression.
(4) Feedforward
If this function is performed, the feedforward reference (Pn109), speed feedforward (V-REF) input, and force
feedforward (T-REF) input will be ignored because model following control will be enabled.

n.1
6.7.2 Vibration Suppression Function Operating Procedure

The following procedure is used for vibration suppression function.
Vibration suppression function is performed from the Digital Operator (option) or SigmaWin+.
Note: • The function cannot be performed from the Panel Operator.

• If this function is aborted by pressing the MODE/SET Key, the SERVOPACK will continue operating until the
motor comes to a stop. After the motor stops, the set value will return to the previous value.
The operating flow of the vibration suppression function is shown below.
(1) Operating Flow
Execute steps 1 to 3.
No
Vibration detected? Adjust vibration using measuring device.
Yes
Execute steps 4 to 8.
Completed
6-48

1 Input a control reference and take the following steps while repeating positioning.
㧲㨚㧞㧜㧠㧦㧭㧙㨂㨕㨎‫ޓ‬㧿㨡㨜 Display the main menu of the utility function mode,
2 㧲㨚㧞㧜㧡㧦㨂㨕㨎‫ޓ‬㧿㨡㨜
and select Fn205.
㧲㨚㧞㧜㧣㧦㨂㧙㧹㨛㨚㨕㨠㨛㨞
Press the Key. The display shown on the left will

appear.
Measure f: Measurement frequency
Setting f: Setting frequency [Factory-set to the set
value for Pn145]
Note: If the setting frequency and actual operating
frequency are different, "Setting" will blink.
The detected vibration frequency will be dis-
played.
㧾㨁㧺 ̆㨂㨕㨎㧿㨡㨜̆

㧹㨑㨍㨟㨡㨞㨑㨒㧩㧜㧝㧜㧚㧠㧴㨦
㧾㨁㧺 ̆㨂㨕㨎㧿㨡㨜̆ 㧿㨑㨠㨠㨕㨚㨓㨒㧩㧜㧡㧜㧚㧜㧴㨦

3 㧹㨑㨍㨟㨡㨞㨑㨒㧩㧙㧙㧙㧙㧙㧴㨦
㧿㨑㨠㨠㨕㨚㨓㨒㧩㧜㧡㧜㧚㧜㧴㨦 Frequency detection will not be performed if there is
no vibration or the vibration frequency is outside the
range of detectable frequencies. The following screen
will be displayed if vibration is not detected. If the
vibration frequencies are not detected, prepare a
means of detecting and measuring the vibration.
When the vibration frequencies are measured, go to
step 5 and manually set the measured vibration fre-
quency.

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

will be displayed as the setting f value as well.

4 㧹㨑㨍㨟㨡㨞㨑㨒㧩㧜㧝㧜㧚㧠㧴㨦
㧿㨑㨠㨠㨕㨚㨓㨒㧩㧜㧝㧜㧚㧠㧴㨦 Error
Adjustments
Force
reference
If the vibration is not completely suppressed, press

the or Key and move the digit, and press
㧾㨁㧺 ̆㨂㨕㨎㧿㨡㨜̆ the or Key to fine-tune the frequency. Skip
this step and go to step 7 if the fine-tuning of the fre-
6

㧿㨑㨠㨠㨕㨚㨓㨒㧩㧜㧝㧞㧚㧠㧴㨦 quency is not necessary.
Note:
If the setting frequency and actual operating fre-
quency are different, "Setting" will blink.
6-49
6 Adjustments
Press the Key. The "Setting f" will change to

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

㧿㨑㨠㨠㨕㨚㨓㨒㧩㧜㧝㧞㧚㧠㧴㨦
Error
Force
reference
㧰㧻㧺㧱 ̆㨂㨕㨎㧿㨡㨜̆

7 㧹㨑㨍㨟㨡㨞㨑㨒㧩㧙㧙㧙㧙㧙㧴㨦 Press the Key to save the settings.
㧿㨑㨠㨠㨕㨚㨓㨒㧩㧜㧝㧞㧚㧠㧴㨦
8
㧲㨚㧞㧜㧠 Press the Key to complete the vibration suppres-
㧲㨚㧞㧜㧡
㧲㨚㧞㧜㧢 sion function. The screen in step 1 will appear again.
㧲㨚㧞㧜㧣
No settings related to the vibration suppression function will be changed during opera-
tion.
If the motor does not stop approximately 10 seconds after the setting changes, a timeout
error will result and the previous setting will be enabled again.
The vibration suppression function will be enabled when the parameter is set in step 6.
The motor response, however, will change when the motor comes to a stop with no refer-
ence input.

The following parameters are set automatically. Manual adjustments are not required.
Parameter Name
Pn140 Model Following Control Selection
6-50
6.8 Servo Gain Adjustment Application Function

The servo gain adjustment application functions are described in this section.
The adjustment application functions are classified roughly into adjustment functions to shorten positioning
time and adjustment functions to reduce vibration.
The following table shows a list of adjustment application functions.
(1) Adjustment Functions to Shorten Positioning Time

Adjustment Functions Applicable
and Related Description Characteristics Control Reference
Parameters Mode
Feedforward Feedforward compensation for
Pn109 the position reference is added to Position 6.8.1
Pn10A the speed reference.
Force While in position control or speed
Feedforward control, force feedforward input Speed
Pn002 is applied into the force reference The system will be unstable if 6.8.2
a large value is set, possibly Position
Pn400 input terminal and added to the
resulting in overshooting or
Pn415 internal force reference.
vibration.
Speed While in position control, speed
Feedforward feedforward input is applied into
Pn207 the speed reference input terminal Position 6.8.3
Pn300 and added to the internal speed
Pn307 reference.
Mode Switch
(P/PI control Switches from PI control to P
switching) control using the value of an
Pn10B Enables easily switching PI/P
internal servo variable in a Speed
control. 6.8.5
Pn10C parameter (force, speed, accelera- Position
Suppresses an overshooting.
Pn10D tion, or position error) as a
Pn10E threshold value.
Pn10F
Gain Switching Manually or automatically
Pn100 to Pn106 change parameters for the posi-
Pn141 tion loop gain (Kv), speed loop Enables easily switching gain
integral time constant (Ti), posi- according to the internal con- Speed
Pn142
tion loop gain (Kp), force refer- ditions of the SEROVO- 6.8.6
Pn148 ence filter time constant(Tf), PACK. The user must select Position
Pn149 model following control gain, the switching conditions.
Pn401 and model following control gain
Pn412 compensation. Adjustments
6-51
6 Adjustments
6.8.1 Feedforward Reference
(2) Adjustment Functions to Reduce Vibration

and Related Description Characteristics Control Reference
Parameters Mode
Enables smooth operation. If
Speed Reference
A first order lag filter for the a large value is set, however,
Filter Speed 5.3.4
speed reference input. the responsiveness will
Pn307 decrease.
Sets a filter time constant with the Effective in almost all fre- Speed
Force Reference Filter first order lag filter and a notch quency bands. If a large value
Position 6.8.7
Pn401 filter arranged in series to the (low frequency) is set, the
force reference. responsiveness will decrease. Force
Mainly effective for vibration
between 500 and 2,000 Hz.
Vibration will result if the
Notch Filter Sets a Q (notch width) for each of setting is not correct. As a Speed
Pn408 two notch filters arranged in utility functions for the notch Position 6.8.7
Pn409 to Pn40E series with the force reference. filters settings, the online Force
vibration monitor (Fn207)
and EasyFFT (Fn206) func-
tions are available.
(3) Other Adjustment Functions

and Related Description Control Reference
Parameters Mode
Proportional Control
When sending references from the host controller to the SERVO- Speed
Operation
PACK, P control mode can be selected from the host controller 6.8.4
(Proportional Position
for particular operating conditions.
Operation Reference)
Position Integral Time This function adds an integral control operation to the position
Position 6.8.8
Constant loop.
Friction Compensation This function rectifies the viscous friction change and regular Speed
6.8.9
Pn408 load change. Position
6.8.1 Feedforward Reference

Applies feedforward control compensation in position control inside the SERVOPACK. Use this parameter to shorten
positioning time.
Differ- Pn109 Pn10A

ential
Position
reference pulse + + +
Position loop
gain㧔Kp㧕
-
Encoder feedback pulse
Feedforward Gain Position

Classification
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.
6-52
6.8.2 Force Feedforward

The force feedforward function is valid only in speed control and position control.
The force feedforward function shortens positioning time, The host controller differentiates a speed reference
to generate a force feedforward reference, and inputs the force feedforward reference together with the speed
or position reference to the SERVOPACK.

Connect a speed reference signal line to V-REF (CN1-5 and -6) and a force feedforward reference to T-REF
(CN1-9 and -10) from the host controller.
T-REF (CN1-9)
Differ- Pn415 Linear
KFF Pn400
ential servomotor
+ V-REF (CN1-5) +
+ +
+
Kp Pn300 Pn100 Current loop M
Position
- - + +
reference Integration
(Pn101)
Speed Enc
calculation
Linear scale
Divider
Kp: Position loop gain

KFF: Feedforward gain

Force feedforward is set using the parameters Pn002, Pn400 and Pn415.
The factory setting is Pn400 = 3.0. If, for example, the force feedforward value is ±3V, then, the force is lim-
ited to ±100% of the rated force.

n.0 Disabled
n.2 Uses T-REF terminal for force feedforward input.
Force Reference Input Gain Speed Position Force

Classification
10 to 100 0.1V/rated force 30 Immediately Setup
Note 1. Too high a force feedforward value will result in overshooting or undershooting. To prevent such troubles, set
the optimum value while observing the system responsiveness.
2. The force feedforward function cannot be used with force limiting by analog voltage reference.
Adjustments
Filter Time Constant Speed Position Force

Classification
• The following settings are required if model following control is used together with the speed feedforward
(V-REF) input and force feedforward (T-REF) input. 6
n.0
external speed/force feedforward input.
n.1
6-53
6 Adjustments
6.8.3 Speed Feedforward
Model following control sets the optimum feed forward value in the servo. Therefore,
usually model following control does not use the speed feedforward (V-REF) and the
force feedforward (T-REF) together.
If the speed feedforward (V-REF) value and force feedforward (T-REF) value are improp-
erly input, overshooting may occur.
6.8.3 Speed Feedforward

The speed feedforward function is valid only in position control.
The speed feedforward function is used to shorten positioning time. The host controller differentiates the
position reference to generate the speed feedforward reference, and inputs the speed feedforward reference
together with the position reference to the SERVOPACK.

Connect a position reference signal line to PULS and SIGN (CN1-7, -8, -11, and -12) and a speed feedforward
reference signal line to V-REF (CN1-5 and -6) from the host controller.
V-REF (CN1-5 and -6)

Differ- Linear
KFF Pn300 servomotor
ential
+ + +
Position + Current loop
Kp ( Pn102 ) Pn100 M
reference PULS - - +
SIGN Integration
(Pn101)
Speed Enc
calculation
Linear scale
Kp: Position loop gain

KFF: Feedforward gain

Speed feedforward value is set using the parameters Pn207 and Pn300.
The factory setting is Pn300 = 600. If, for example, the speed feedforward value is ±6V, then the speed is lim-
ited to the rated speed.

n.0 Disabled
n.1 Uses V-REF terminal for speed feedforward input.

Classification
Note: Too high a speed feedforward value will result in overshooting or undershooting. To prevent such troubles, set the
optimum value while observing the system responsiveness.
6-54
• The following settings are required if model following control is used together with the speed feedforward
(V-REF) input and force feedforward (T-REF) input.
n.1
Model following control sets the optimum feedforward value in the servo. Therefore, usu-
ally model following control does not use the speed feedforward (V-REF) and the force
feedforward (T-REF) together.
If the speed feedforward (V-REF) value and force feedforward (T-REF) value are improp-
erly input, overshooting may occur.
6.8.4 Proportional Control Operation (Proportional Operation Reference)

When sending references from the host controller to the SERVOPACK, proportional control mode can be
selected from the host controller for particular operating conditions.
Proportional control operation is set using parameter Pn000 (1st digit) and input signal (/P-CON).

Input signal /P-CON (CN1-41) is used to select PI control or P control.
For the control mode setting, refer to (2) Related Parameters.
Signal Connector
Name Pin Number
OFF (High level) Switches to PI control.
Input /P-CON CN1-41
ON (Low level) Switches to P control.
Parameter Control Mode When Enabled Classification

Speed Input signal /P-CON (CN1-41) is used to select PI
n.0
Control control or P control.
SERVOPACK
CN1
Position
n.1
Control P/PI Switching /P-CON 41
Adjustments
CN1-41 is OFF (high level): PI control

CN1-41 is ON (low level): P control
6-55
6 Adjustments
6.8.5 Using the Mode Switch (P/PI Switching)

Proportional control operation is enabled when the control mode is set to speed or position control.
Proportional
Control /P-CON Signal
Parameter Contents When Enabled Classification
Enabled/ Allocation
Disabled
n.0 Speed control (analog reference) Enabled Not required
Position control (pulse train
n.1 Enabled Not required
reference)
n.2 Force control (analog reference) Disabled
Internal set speed control (contact
n.3 Enabled Required
reference)
n.4 reference)⇔ Speed control Enabled Required
(analog reference)
n.5 reference)⇔ Position control Enabled Required
(pulse train reference)
Pn000 n.6 reference)⇔ Force control (ana- Enabled Required After restart Setup
log reference)
n.7 ence)⇔ Speed control Enabled Required
(analog reference)
n.8 ence)⇔ Force control Enabled Required
(analog reference)
Force control (analog refer-
n.9 ence)⇔ Speed control Enabled Required
(analog reference)
Speed control (analog refer-
n.A Enabled Required
ence)⇔ Zero clamp
n.B Enabled Required
ence)⇔ Position control (inhibit)

Use the mode switch (P/PI switching) function in the following cases:
P Control: Proportional control

PI Control: Proportional/integral control
• To suppress overshooting during acceleration or deceleration (for speed control)

• To suppress undershooting during positioning and reduce the settling time (for position control)
Speed Overshoot
Actual servomotor operation

Reference
Time
Undershoot
Settling time
The mode switch function automatically switches the speed control mode between PI control mode and P con-
trol mode based on a comparison between the servo’s internal value and a user-set detection level shown in (1)
Related Parameters.
6-56
<Notes>
• Monitoring the speed response waveform and position error waveform is required for adjustment.
• If I-P control is selected for speed loop control, the mode switching function will be disabled.
Select the conditions to switch modes (P or PI control switching) by using the following parameters.
Parameter
Mode Switch Containing When
Parameter Classification
Selection Detection Point Enabled
Setting
Uses a force reference level for detection point.
n.0 Pn10C
[Factory setting]
n.1 Uses a speed reference level for detection point. Pn181
Pn10B n.2 Uses an acceleration level for detection point. Pn182 Immediately Setup
Uses an position error pulse level for detection
n.3 Pn10F
point.
n.4 Does not use mode switch function. −
Parameters to set the detection point

Mode Switch (Force Reference) Speed Position
Classification
Mode Switch (Speed Reference) Speed Position

Classification
0 to 10000 1 mm/s 0 Immediately Tuning
Mode Switch (Acceleration) Speed Position

Classification
0 to 30000 1 mm/s2 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
Mode switch functions according to the detection point are as follows.
Using the Force Reference Level to Switch Modes (Factory Setting)

With this setting, the speed loop is switched to P control when the value of force reference input exceeds the
Adjustments
force set in Pn10C. The factory setting for the force reference detection point is 200% of the rated force.
Reference speed
Speed Motor speed
6
+Pn10C Force Reference
Force
Reference0
- Pn10C
PI P PI Control P PI Control
6-57
6 Adjustments
<Example>
If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the
speed of the motor may overshoot or undershoot due to force saturation during acceleration or deceleration.
The mode switch function suppresses force saturation and eliminates the overshooting or undershooting of the
motor speed.
Without Mode Switching With Mode Switching
Overshoot
Motor Motor
speed speed
Undershoot
Time Time
Using the Speed Reference Level to Switch Modes

With this setting, the speed loop is switched to P control when the value of speed reference input exceeds the
speed set in Pn181.
Speed reference Motor

Speed
speed
Pn181 Time
PI P Control PI Control
<Example>
In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loop
gain to reduce the settling time. Using the mode switch suppresses overshooting and undershooting when
speed loop gain is increased.

Speed reference Motor speed
Motor
speed
Long Settling Time
Increase speed loop gain
Overshoot
Motor Motor
speed speed
Undershoot
Time Settling time
6-58
Using the Acceleration Level to Switch Modes

With this setting, the speed loop is switched to P control when the speed reference exceeds the acceleration
rate set in Pn182.
Reference speed
Speed Motor speed
Motor acceleration
+Pn182
Acceleration 0
- Pn182
PI P PI Control P PI Control
<Example>
If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the
speed of the motor may overshoot or undershoot due to force saturation during acceleration or deceleration.
The mode switch function suppresses force saturation and eliminates the overshooting or undershooting of the
motor speed.
Overshoot
Motor Motor
speed speed
Undershoot
Time Time
Using the Position Error Pulse Level to Switch Modes

This setting is effective with position control only.
With this setting, the speed loop is switched to P control when the position error pulse exceeds the value set in
Pn10F.
Reference Motor
Speed speed
Time
Position
error pulse
Pn10F
PI P Control PI Control
Adjustments
6-59
6 Adjustments
6.8.6 Switching Gain Settings
<Example>
In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loop
gain to reduce the settling time. Using the mode switch suppresses overshooting and undershooting when
speed loop gain is increased.

Speed reference Motor speed
Motor
speed
Long Settling Time
Increase speed loop gain
Overshoot
Motor Motor
speed speed
Undershoot
Time Settling time

Two gain switching functions are available, manual switching and automatic switching. The manual switch-
ing function uses an external input signal to switch gains, and the automatic switching function switches gains
automatically.
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 Force 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 Force 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
Pn149 *
Pn104
Pn105
Pn106
Pn412 Pn148 * Pn122
Gain 2nd Speed Loop 2nd Force Ref- 2nd Model Fol- 2nd Gain for
2nd Speed Loop 2nd Position 2nd Model Fol-
Setting 2 Integral Time erence Filter lowing Control Friction
Gain Loop Gain lowing Control
Constant Time Constant Gain Compen- Compensation
Gain
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 the these parameters, a gain switching
input signal must be sent, and the following conditions must be met.
• No command being executed.
• Motor having been completely stopped.
If these conditions are not satisfied, the applicable parameters will not be switched although the other parameters
shown in this table will be switched.
6-60
(2) Manual Gain Switching

Manual gain switching uses an external input signal (/G-SEL1) to switch gain setting 1 and gain setting 2.
Parameter Setting Switching Setting Setting

Pn139=n.0 OFF (H level) Gain Setting 1
Manual Gain
Switching ON (L level) Gain Setting 2
(3) Automatic Gain Switching

Automatic gain switching is performed under the following settings and conditions.
Switching Wait
Parameter Setting Switching Setting Setting Switching Time
Time
Condition A established. Gain Setting 1 to Gain Switching Gain Switching
Pn139=X Gain Setting 2 Waiting Time 1 Time 1
Pn139=n.2 Pn135 Pn131
(Automatic Switching
Pattern 1) Condition A not estab- Gain Setting 2 to Gain Switching Gain Switching
lished. Gain Setting 1 Waiting Time 2 Time 2
Pn139=X Pn136 Pn132
Automatic switching pattern 1 (Pn139.0 = 2)
Switching Waiting Time 1 Pn135

Condition A Switching Time 1 Pn131
established
Gain Gain
Settings 1 Settings 2
Pn100 Pn104
Pn101 Pn105
Pn102 Pn106
Pn121 Pn122
Pn401 Pn412
Switching Waiting Time 2‫ޓ‬Pn136 Condition
Switching Time 2‫ޓ‬Pn132 A not established
Note: For the gains if the control is changed from position control to another method using the control switching function,
refer to switching condition-A selection described in (5) Parameters for Automatic Gain Switching.
Relationship between the Gain Switching Waiting Time and the Switching Time Constant
In this example, the "positioning completion signal (/COIN) ON" condition is set as condition A for automatic
gain switching pattern 1. 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 over the switching time set in Pn131.
Adjustments
Switching
Waiting Time Switching Time
Pn135 Pn131
Pn102
Position Loop Gain
6
Pn106
2nd Position
Loop Gain
/COIN
Switching condition A established
<Note>
Automatic gain switching is available in the PI and I-P controls.
6-61
6 Adjustments

n.0 Manual gain switching [Factory setting]
n.2 Automatic gain switching pattern 1
Note: n.1 is reserved. Do not set.
2nd Speed Loop Gain Speed Position

Classification
10 to 20000 0.1 Hz 400 Immediately Tuning
2nd Speed Loop Integral Time Constant Speed Position
Classification
2nd Position Loop Gain Position

Classification
10 to 20000 0.1/s 400 Immediately Tuning
2nd Model Following Control Gain Speed Position

Classification
10 to 20000 0.1/s 500 Immediately Tuning
2nd Model Following Control Gain Compensation Speed Position

Classification
500 to 2000 0.1 % 1000 Immediately Tuning
2nd Force Reference Filter Time Constant Speed Position Force

Classification
2nd Gain for Friction Compensation Speed Position
Classification
6-62
(5) Parameters for Automatic Gain Switching

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

Classification
Gain Switching Waiting Time 1 Speed Position

Classification
Gain Switching Waiting Time 2 Speed Position

Classification
Function
When
Parameter Other than Position Classification
Position Control Enabled
Control
n.0 Fixed in gain setting 1
signal (/COIN) ON
signal (/COIN) OFF
NEAR signal
(/NEAR) ON
Switching
Pn139 NEAR signal Immediately Tuning
n.3 condition A Fixed in gain setting 2
(/NEAR) OFF
No output for position
n.4 reference filter and refer- Fixed in gain setting 1
ence pulse input OFF
Position reference pulse
input ON
Adjustments
6-63
6 Adjustments
6.8.7 Force Reference Filter
6.8.7 Force Reference Filter

As shown in the following diagram, the force 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.
Force Related
Function Switch
Pn408
* 2nd Force Notch 2nd

Force Force Reference Filters Notch
Reference Filter Filters Force
reference Filter
(Pn409, reference
before (Pn401)
(Pn40F, Pn40A (Pn40C,
Pn410) Pn40D and after
filtering and Pn40B) filtering
Pn40E)
First order lag filter Second order lag filter Notch filter Notch filter
* The 2nd torque reference filter is available when Pn40F is set to a value less than 5000
and not available when Pn40F is set to 5000 (factory setting).
(1) Force Reference Filter

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

Classification
Guidelines for Force Reference Filter Setting

• Speed Loop Gain (Pn100) and Force Reference Filter Time Constant (Pn401)
Adjusted value for stable control Pn401[ms]　≤　1000 / (2 π × Pn100 [Hz] × 4)
Critical gains Pn401[ms]　<　1000 / (2 π × Pn100 [Hz] × 1)
Decimal Point in Parameter Setting
For SGDV SERVOPACKs, the parameter settings are shown with a decimal point on the digital operator
and in the manuals. For example, the setting of Pn100 (Speed Loop Gain) is shown as Pn100 = 40.0. This
means that the Pn100 is set to 40.0 Hz. The guidelines for force reference filter setting should be read as
shown in the following example.
Example: Speed Loop Gain and Force Reference Filter
Adjusted value for stable control: Pn101[ms] ≥ 1000 / (2π × Pn100 [Hz] × 4)
If Pn100 = 40.0 [Hz]
then Pn101 = 1000 / (2π × 40.0 × 4) = approx. 0.99 [ms]
6-64
(2) Notch Filter

The notch filter can eliminate specific frequency vibration generated by sources such as resonances of ball
screw axes. The notch filter puts a notch in the gain curve at the specific vibration frequency. The frequency
components near the notch frequency can be eliminated with this characteristic. A higher notch filter 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 -100 Gain
-100
(db) (db)
-200 -200
-300 -300 2
10
2
10 3 10 4 10 10
3
10
4
Frequency (Hz) Frequency (Hz)
Notch filter Notch filter

0 0
-100 -100
Phase -200 Phase
(deg) (deg) -200
-300 -300
-400 -400 2
10
2
10 3 10 4 10 10
3
10
4
Frequency (Hz) Frequency (Hz)
Set the notch filter enabled/disabled with Pn408.

n.0 1st notch filter disabled. [Factory setting]
n.1 1st notch filter enabled.
Pn408 Immediately Setup
n.0 2nd notch filter disabled. [Factory setting]
n.1 2nd notch filter enabled.
Adjustments
6-65
6 Adjustments
6.8.8 Position Integral Time Constant
Set the machine’s vibration frequency in the parameter of a notch filter that is being used.
1st Notch Filter Frequency Speed Position Force

Classification
50 to 5000 1 Hz 5000 Immediately Tuning
2nd Force Reference Filter Q Value Speed Position Force
Classification
50 to 1000 0.01 50 Immediately Tuning
1st Notch Filter Q Value Speed Position Force
Classification
Pn40A Setting Range Setting Unit Factory Setting When Enabled
1st Notch Filter Depth Speed Position Force
Classification
Pn40B Setting Range Setting Unit Factory Setting When Enabled
2nd Notch Filter Frequency Speed Position Force
Classification
2nd Notch Filter Q Value Speed Position Force
Classification
Pn40D Setting Range Setting Unit Factory Setting When Enabled
2nd Notch Filter Depth Speed Position Force
Classification
Pn40E Setting Range Setting Unit Factory Setting When Enabled
2nd Force Reference Filter Frequency Speed Position Force
Classification
• Sufficient precautions must be taken when setting the notch frequencies. Do not set
the notch 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 frequency too close to the response frequency
may cause vibration and damage the machine.
• Change the Notch Filter Frequency (Pn409 or Pn40C) only when the motor is
stopped. Vibration may occur if the notch filter frequency is changed when the motor
is rotating.
6.8.8 Position Integral Time Constant

This function adds an integral control operation to the position loop. It is effective for electronic cam or elec-
tronic shaft applications.
Position Integral Time Constant Position

Classification
6-66
6.8.9 Friction Compensation

Friction compensation rectifies the viscous friction change and regular load change.
The factors causing load changes include grease viscosity resistance changes resulting from temperature
changes in addition to viscous friction and regular load changes resulting from equipment variations and secu-
lar changes.
Friction compensation is automatically adjusted by the following settings.
1. The friction compensation function and advanced autotuning level are set to tuning level 2 or 3.
2. The one-parameter tuning level is set to 2 or 3.
Refer to the following description and make adjustments only if manual adjustment is required.
(1) Required Parameter Settings

The following parameter settings are required to use friction compensation.

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

Classification
Friction Compensation Coefficient Speed Position
Classification
Friction Compensation Frequency Correction Speed Position
Classification
-10000 to 10000 0.1 Hz 0 Immediately Tuning
Friction Compensation Gain Correction Speed Position
Classification
(2) Operating Procedure for Friction Compensation

The following procedure is used for friction compensation.
Adjustments
CAUTION
Before using friction compensation, set the mass ratio (Pn103) as correctly as possible.
If the wrong mass ratio is set, vibration may result. 6
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).
6-67
6 Adjustments
6.8.10 Current Control Mode Selection
Step Operation
To check the effect of friction compensation, increase the friction compensation coefficient (Pn123).
2
Note: The upper limit of the friction compensation coefficient (Pn123) is 95%.
If the friction compensation is insufficient in step 2, increase the set value in Pn121 to where the equipment
does not vibrate.
Note: The SERVOPACK may vibrate if Pn121 is set to a value the same as or higher than the resonance fre-
quency of the equipment.
If necessary, adjust Pn121 in increments of 10.0 Hz.
Effect of Adjustment
The following graph shows the responsiveness before and after adjustment.
Poor responsiveness Responsiveness

because of friction ៺ᡂᄢ㧘៺ᡂዊ
is improved by
៺ᡂዊ
Small friction compensating
friction
૏⟎஍Ꮕ
Position error ૏⟎஍Ꮕ
Position error
3 ៺ᡂᄢfriction
Large
ᜰ઎ࡄ࡞ࠬㅦᐲ
Reference pulse speed ᜰ઎ࡄ࡞ࠬㅦᐲ
Reference pulse speed
Before Adjustment After Adjustment
Effect of Adjustment Parameters

Pn121: Friction Compensation Gain
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 the same as or high than the resonance frequency.
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.
6.8.10 Current Control Mode Selection

This function reduces high-frequency noises while the motor is being stopped. This function is enabled by
default and set to be effective under different application conditions.
Input Voltage SERVOPACK Model SGDV-

120AA, 180AA, 200AA, 330AA,
200 V
470AA, 550AA, 590AA, 780AA
3R5DA, 5R4DA, 8R4DA, 120DA,
400 V 170DA, 210DA, 260DA, 280DA,
370DA

Selects the current control mode 1.
n. 0
(Does not perform the switching.)
Selects the current control mode 2.
n. 1
(Perform the switching.) [Factory setting]
• When this function is executed, the load ratio may increase while the servomotor is
being stopped.
6-68
6.8.11 Current Gain Level Setting

This function reduces noises by adjusting the parameter value for current control inside the SERVOPACK in
accordance with the parameter value for the speed loop gain (Pn100). To change the parameter value for cur-
rent control, the current gain level must be changed from 2000%, which is the default value of Pn13D to dis-
able this function. This function is always disabled in force control mode (Pn000.1 = 2).
Current Gain Level Speed Position

Classification
Pn13D Setting Range Setting Unit Factory Setting When Enabled
Note: If the set value of Pn13D is decreased, the level of noise will be lowered, but the responsiveness of the SERVO-
PACK will also be degraded. Lower the current gain level to one at which SERVOPACK responsiveness can be
secured.
• If the parameter setting of the current gain level is changed, the responsiveness char-
acteristic of the speed loop will also change. The servo must, therefore, be readjusted
again.
6.8.12 Speed Detection Method Selection

This function can ensure smooth movement of the motor while the motor is running. This function is disabled
by default. Set the value of Pn009.2 = 1 to enable this function.

n. 0 Selects speed detection 1. [Factory setting]
n. 1 Selects speed detection 2.
• If this function is changed, the responsiveness characteristic of the speed loop will
also change. The servo must, therefore, be readjusted again.
Adjustments
6-69
7
Utility Functions (Fn)
7.1 List of Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7.2 Alarm History Display (Fn000) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.3 JOG Operation (Fn002) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7.4 Origin Search (Fn003) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7.5 Program JOG Operation (Fn004) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
7.6 Initializing Parameter Settings (Fn005) . . . . . . . . . . . . . . . . . . . . . . . . . . 7-11
7.7 Clearing Alarm History (Fn006) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-12
7.8 Manual Zero-adjustment of Analog Monitor Output (Fn00C) . . . . . . . . . 7-13
7.9 Manual Gain-adjustment of Analog Monitor Output (Fn00D) . . . . . . . . . 7-15
7.10 Automatic Offset-Signal Adjustment of the Motor Current
Detection (Fn00E) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-17
7.11 Manual Offset-Signal Adjustment of the Motor Current
Detection (Fn00F) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-18
7.12 Write Prohibited Setting (Fn010) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-19
7.13 Servomotor Model Display (Fn011) . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-21
7.14 Software Version Display (Fn012) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-22
7.15 Resetting Configuration Error of Option Module (Fn014) . . . . . . . . . . . 7-23
7.16 Vibration Detection Level Initialization (Fn01B) . . . . . . . . . . . . . . . . . . 7-24
7.17 Display of SERVOPACK and Servomotor ID (Fn01E) . . . . . . . . . . . . . 7-26
7
7.18 EasyFFT (Fn206) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-27
7.19 Online Vibration Monitor (Fn207) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-31
7.20 Software Reset (Fn030) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-33
7-1
7 Utility Functions (Fn)
7.1 List of Utility Functions

Utility functions are used to execute parameters related to linear servomotor operation and adjustment.
When a utility function is executed, the Panel Operator displays a corresponding parameter number beginning
with Fn.
The following table shows the parameters in the utility mode and reference section.
Function Operation Operation from

No. from the the Digital Reference
Function Panel Operator or Section
Operator SigmaWin+
Fn000 Alarm traceback data display { { 7.2
Fn002 JOG operation { { 7.3
Fn003 Origin search { { 7.4
Fn004 Program JOG operation { { 7.5
Fn005 Initializes parameter settings { { 7.6
Fn006 Clears alarm traceback data { { 7.7
Automatic tuning of analog (speed, force) reference off- 5.3.2
Fn009 { {
set 5.5.2
Fn00A Manual servo tuning of speed reference offset { { 5.3.2
Fn00B Manual servo tuning of force reference offset { { 5.5.2
Fn00C Manual zero-adjustment of analog monitor output { { 7.8
Fn00D Manual gain-adjustment of analog monitor output { { 7.9
Automatic offset-adjustment of motor current detection
Fn00E { { 7.10
signal
Manual offset-adjustment of motor current detection sig-
Fn00F { { 7.11
nal
Fn010 Write prohibited setting { { 7.12
Fn011 Checks servomotor models { { 7.13
Fn012 Software version display { { 7.14
Fn014 Resets configuration error of option module { { 7.15
Fn01B Initializes vibration detection level { { 7.16
Fn01E SERVOPACK and servomotor ID Display × { 7.17
Fn200 Tuning-less level setting { { 6.3.2
Fn201 Advanced autotuning × { 6.4.2
Fn202 Advanced autotuning by reference × { 6.5.2
{
Fn203 One-parameter tuning {∗ 6.6.2
Fn204 Anti-resonance control adjustment function × { 6.7.2

Fn205 Vibration suppression function × { 6.7.2
Fn206 EasyFFT { { 7.18
Fn207 Online vibration monitor { { 7.19
Fn080 Polarity detection { { 5.9.4
Fn020 Origin setting × { 5.9.5
Fn030 Software reset { { 7.20
{: Available ×: Nοt available
∗ There are functional limitations if the function is executed on the Panel Operator.
Note 1. If the Panel Operator displays "no_oP" when the above function is executed, the write prohibited setting may be
enabled. Refer to 7.12 Write Prohibited Setting (Fn010) for details.
2. The Panel Operator will display "no_oP" if the user attempts to execute a utility function not supported by the
Panel Operator.
7-2
7.2 Alarm History Display (Fn000)
7.2 Alarm History Display (Fn000)

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

If 36000 is displayed,
3600000 [ms] = 3600 [s]
= 60 [min]
= 1 [h] Therefore, the number of total number of operating hours is 1.
Follow the steps below to confirm the alarm histories.
MODE/SET DATA/ Press the MODE/SET Key to select "Alarm History Dis-
1 play (Fn000)." If a number other than Fn000 is dis-
played, press the UP Key or DOWN Key to set Fn000.
MODE/SET DATA/

2
ond. The latest alarm data is displayed.
MODE/SET DATA/
Press the DOWN Key to display one older alarm data.

MODE/SET DATA/
3 Alarm Sequence Alarm Code (To display one newer alarm data, press the UP Key.)
Number See the alarm The higher the leftmost digit, the older the alarm data.
The higher the table.
number, the older
the alarm date.

4
The lower four digits of Time Stamp are displayed.
MODE/SET DATA/

5
The middle four digits of Time Stamp are displayed. Utility Functions (Fn)
MODE/SET DATA/

6
The higher two digits of Time Stamp are displayed.
MODE/SET DATA/

7
The alarm number is displayed again.
MODE/SET DATA/

8
MODE/SET DATA/
7
<Notes>
• If the same alarm occurs more than one hour later, this alarm is also saved.
• The display ".---" means no alarm occurs.
• Delete the alarm history using the parameter Fn006. The alarm history is not cleared on alarm reset or when
the SERVOPACK power is turned OFF.
7-3
7.3 JOG Operation (Fn002)

JOG operation is used to check the operation of the servomotor under speed control without connecting the
SERVOPACK to the host.
CAUTION
While the SERVOPACK is in JOG operation, the overtravel function will be disabled. Consider the operating range
of the machine when performing JOG operation for the SERVOPACK.

The following settings are required before performing JOG operation.

• Considering the operating range of the machine, set the JOG operation speed in Pn383.
JOG Speed Speed Position 　 Force

Classification

Follow the steps below to set the JOG speed. The following example is given when the moving direction of
servomotor is set as Pn000.0=0(linear scale counting up direction is regarded as the forward run).
Display after
Step Keys Operation
Operation

1
mode.
MODE/SET DATA/
2 Press the UP or DOWN Key to select Fn002.

MODE/SET DATA/

3
MODE/SET DATA/
4 Press the MODE/SET Key. The servo turns ON.

MODE/SET DATA/
The servomotor will rotate at the present speed set in Pn383

while the UP Key (for forward run) or DOWN Key (for
reverse run) is pressed.
5 Motor forward run
MODE/SET DATA/
Motor reverse run
The servo will be turned OFF (i.e., the motor will be turned
OFF) when the MODE/SET Key is pressed.
6
The servo can be turned OFF by pressing the DATA/SHIFT
MODE/SET DATA/ Key for approximately one second.

7
MODE/SET DATA/
7-4
7.4 Origin Search (Fn003)
7.4 Origin Search (Fn003)

The origin search is designed to position the origin pulse position of the linear scale (phase-C) and to clamp at
the position. This mode is used when the motor shaft needs to be aligned to the machine.
CAUTION
• The forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective in origin
search mode.
Execute the origin search without connecting the couplings.

Motor speed at the time of execution: 15 mm/s

The following settings are required before performing an origin search.

Follow the steps below to execute the origin search.
Display after
Operation

1
mode.
MODE/SET DATA/
2 Press the UP or DOWN Key to select the Fn003.

MODE/SET DATA/
Press the DATA/SHIFT Key for approximately one second,

3
and the display shown on the left appears.
MODE/SET DATA/

4
The servomotor is turned to Servo ON.
MODE/SET DATA/
Pressing the UP Key will move the motor in the forward

direction. Pressing the DOWN Key will move the motor in
the reverse direction. The movement of the servomotor
changes according to the setting of Pn000.0. Utility Functions (Fn)
UP key DOWN key
Parameter
(Forward) (Reverse)
5 MODE/SET DATA/ linear scale linear scale
n.0
counting up counting down
Pn000
linear scale linear scale
n.1
counting down counting up
Note: Direction when viewed from the load of the servomo-
tor.
Press the UP or DOWN Key. When the servomotor origin
search is completed, the display blinks. 7
6
MODE/SET DATA/ At this moment, the motor is servo-locked at the origin
Display blinks. pulse position.

7
MODE/SET DATA/
7-5
7.5 Program JOG Operation (Fn004)

The Program JOG Operation is a utility function, that allows continuous automatic operation determined by
the preset operation pattern, movement distance, movement speed, acceleration/deceleration time, number of
time of repetitive operations.
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.

The following settings are required before performing program JOG operation.
• Set correctly the machine operation range and safe operation speed in the parameters such as "program JOG
operation movement distance" and "program JOG movement speed."
• The SERVOPACK must be in Servo Ready status to execute this function.
• If the Servo-ON input signal (/S-ON) is ON, turn it OFF.
• Release the Servo-ON signal mask if the parameter Pn 50A.1 is set to 7, and the Servo has been set to
always be ON.
(2) Precautions
• Control is position control during program JOG operation. However, the pulse reference input to the SER-
VOPACK is inhibited (in /INHIBIT status) and no pulse reference input is accepted.
• The overtravel function is enabled in this function.
• When an absolute encoder is used, input is not necessary since SEN signal is always enabled.
• Other functions that are applicable for position control, such as position reference filter, can be used.

Program JOG Operation Related Switch Speed Position 　 Force
Classification
0000 to 0005 − 0000 Immediately Setup
Program JOG Movement Distance Speed Position 　 Force

Classification
Program JOG Movement Speed Speed Position 　 Force

Classification
Program JOG Acceleration/Deceleration Time Speed Position 　 Force

Classification
Program JOG Waiting Time Speed Position 　 Force

Classification
Number of Times of Program JOG Movement Speed Position 　 Force

Classification
0 to 1000 1 time 1 Immediately Setup
7-6
Factory
Parameter Contents
Setting
(Waiting time Pn535 → Forward movement Pn531) × Number
n.0
of times of movement Pn536
(Waiting time Pn535 → Reverse movement Pn531) × Number
n.1
n.2
(Waiting time Pn535 → Reverse movement Pn531) × Number
Pn530 (Waiting time Pn535 → Reverse movement Pn531) × Number 0

n.3
(Waiting time Pn535 → Forward movement Pn531 → Waiting
n.4 time Pn535 → Reverse movement Pn531)
× Number of times of movement Pn536
(Waiting time Pn535 → Reverse movement Pn531 → Waiting
n.5 time Pn535 → Forward movement Pn531)
× Number of times of movement Pn536
Note: For details of Pn530, refer to (4) Setting Infinite Time Operation and (5) Program Operation Patterns.
(4) Setting Infinite Time Operation

• When 0, 1, 4 or 5 is set to Pn530.0, setting 0 to Pn536 (Number of Times of Program JOG Movement)
enables infinite time operation.
• Program JOG operation pattern follows the setting of Pn530.0. Only number of times of program JOG
movement is infinite. For details, refer to (5) Program Operation Patterns.
• To stop infinite time operation, press the MODE/SET Key (or JOG/SVON Key of digital operator) to servo
OFF.
Note: 1. 2 or 3 is set to Pn530.0, infinite time operation is disabled.
2. 0 or 1 is set to Pn530.0, movement is one direction. Take note of movable range.
(5) Program Operation Patterns
The following example is given when the movement direction of the Servomotor is set as Pn000.0 = 1 (linear
scale counting up direction is regarded as the forward run).
Pn530.0 = 0 Utility Functions (Fn)

(Waiting time Pn535 → Forward movement Pn531) × No. of times of movement Pn536
Number of times of movement Pn536
Movement
Pn531 Pn531 Pn531
Speed speed Movement Movement Movement
Pn585 distance distance distance
Diagram
At zero speed
key ON
Accel/Decel
Waiting time time Waiting time
Pn535
Waiting time
Pn535
7
Pn535 Pn534
Servomotor
Run Status
(Stop) (Forward) (Stop) (Forward) (Stop) (Forward)
7-7
Pn530.0 = 1
(Waiting time Pn535 → Reverse movement Pn531) × No. of times of movement Pn536
At zero speed
Movement Pn531 Pn531 Pn531

Speed speed Movement Movement Movement
Pn585 distance distance distance
Diagram
key ON
Accel/Decel time
Waiting time Pn534 Waiting time Waiting time
Pn535 Pn535 Pn535
Servomotor
Run Status
(Stop) (Reverse) (Stop) (Reverse) (Stop) (Reverse)
Pn530.0 = 2
Number of times of movement Pn536 Number of times of movement Pn536
Accel/Decel time
Movement Pn531
speed Movement
Pn531 Waiting time Pn534 Waiting time
Speed distance
Movement
Pn535 Pn535
Pn585 distance
Diagram
At zero
speed
Movement
key ON Pn531 Pn531 speed
Accel/Decel Movement Movement
Waiting time time Waiting time distance distance
Pn585
Pn535 Pn534 Pn535
Servomotor
Run Status
(Stop) (Forward) (Stop) (Forward) (Stop) (Reverse) (Stop) (Reverse)
Pn530.0 = 3
Number of times of movement Pn536 Number of times of movement Pn536
Accel/Decel time
Waiting time Pn534 Waiting time Waiting time Pn531 Pn531 Movement
Pn535 Pn535 Pn535 Movement Movement speed
Speed distance distance Pn585
key ON
Diagram
At zero
speed
Pn531 Pn531
Movement Movement Waiting time
distance distance Accel/Decel time Pn535
Pn585 Pn534
Movement speed
Servomotor
Run Status
(Stop) (Reverse) (Stop) (Reverse) (Stop) (Forward) (Stop) (Forward)
Note: When 3 is set to Pn530.0, infinite time operation is disabled.
7-8
Pn530.0 = 4
(Waiting time Pn535 → Forward movement Pn531 → Waiting time Pn535 → Reserve movement Pn531)
× No. of times of movement Pn536
Pn531
Movement
Movement speed
Speed distance Pn585
Diagram At zero
speed
key ON Pn531
Waiting time Waiting time Movement Pn585
Pn535 Accel/Decel time Pn535 distance
Movement speed
Pn534
Servomotor
Run Status
(Stop) (Forward) (Stop) (Reverse) (Stop)
Pn530.0 = 5
(Waiting time Pn535 → Reverse movement Pn531 → Waiting time Pn535 → Forward movement Pn531)
× No. of times of movement Pn536
Accel/Decel time
Waiting time Pn534 Waiting time Pn531 Movement
Speed Pn535 Pn535 Movement speed
distance Pn585
Diagram key ON
At zero
speed
Pn531 Movement
Movement speed
distance
Pn585
Servomotor
Run Status
(Stop) (Reverse) (Stop) (Forward) (Stop)
7-9

Follow the steps below to perform the program JOG operation.
Display after
Step Keys Operation
Operation
1 Press the MODE/SET Key to select the utility function mode.

MODE/SET DATA/

MODE/SET DATA/
Press the DATA/SHIFT Key for more than one second. The dis-
3
play shown on the left appears.
MODE/SET DATA/
4 Press the MODE/SET Key. The servo turns ON.

MODE/SET DATA/
Press the UP or DOWN Key according to the first movement

direction of the operation pattern. After the preset waiting time,
the movement starts.
Notes:
5 • Press the MODE/SET Key again during operation, and the ser-
MODE/SET DATA/ vomotor will be in baseblock status and stop.
• Press the DATA/SHIFT Key for more than one second during
operation, the servomotor stops and the display of step 2
appears.
"End" blinks when the program JOG operation movement com-
pletes, and the display of step 4 appears.
Notes:
6 • Press the MODE/SET Key, and the servomotor will be in base-
block status and the display of step 3 appears.
（Blinking） • Press the DATA/ENTER Key for more than one second, and
the display of step 2 appears.
7-10
7.6 Initializing Parameter Settings (Fn005)
7.6 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 with the servo OFF.

• After initialization, turn OFF the power supply and then turn ON again to validate the
settings.
Follow the steps below to initialize the parameter setting.
Display after
Step Keys Operation
Operation

1
mode.
MODE/SET DATA/

MODE/SET DATA/

3
MODE/SET DATA/
Press the MODE/SET Key. Then, the parameters will be

4 initialized.
MODE/SET DATA/
During initialization, the display shown on the left blinks.
Display blinks
When the initialization of parameter setting completes, the

5
display shown on the left blinks for about one second.
Display blinks
The display changes from "donE" to the display shown on

6
the left.

7
MODE/SET DATA/
7-11
7.7 Clearing Alarm History (Fn006)

The clear alarm history function deletes all of the alarm history recorded in the SERVOPACK.
Note: The alarm history can be deleted only with this function. The alarm history is not deleted when the
alarm reset is executed or the main circuit power supply of the SERVOPACK is turned OFF.
Follow the steps below to clear the alarm history.
Display after
Step Keys Operation
Operation

1
mode.
MODE/SET DATA/

MODE/SET DATA/

3
MODE/SET DATA/
Press the MODE/SET Key to clear the alarm history.

4 The display shown on the left blinks for about one second
MODE/SET DATA/
when the data is cleared.
Display blinks

5
the left.

6
MODE/SET DATA/
7-12
7.8 Manual Zero-adjustment of Analog Monitor Output (Fn00C)
7.8 Manual Zero-adjustment of Analog Monitor Output (Fn00C)

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

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

voltage
Offset
addjustment
Motor speed
Item Specifications
Zero-adjustment Range -2 V to + 2 V
Adjustment Unit 18.9 mV/LSB
<Notes>
• Offset adjustment cannot be made if write protection is set in Fn010.
• 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 motor is not turned ON, set the monitor signal to the force reference.
• In speed control, set the monitor signal to the position error. Utility Functions (Fn)
Follow the steps below to perform the manual zero-adjustment of analog monitor output.
Display after
Step Keys Operation
Operation

1
mode.
MODE/SET DATA/
2 Press the UP or DOWN Key to select Fn00C. 7

MODE/SET DATA/
Press the DATE/SHIFT Key for approximately one second.

3
MODE/SET DATA/
Press the MODE/SET Key to select channel-1 or channel-2

4
monitor output.
MODE/SET DATA/
7-13
Display after
Step Keys Operation
Operation
Press the DATA/SHIFT Key for less than one second. Zero
5
adjustment data will be displayed as shown on the left.
MODE/SET DATA/
Press the UP or DOWN Key to change the data. This com-

6
pletes zero adjustment of the analog monitor output.
MODE/SET DATA/
zero adjustment data will be displayed as shown on the left.
7
To adjust a different channel, switch the monitor channel
MODE/SET DATA/ using steps 4 through 6.

8
"Fn00C" is displayed again.
MODE/SET DATA/
7-14
7.9 Manual Gain-adjustment of Analog Monitor Output (Fn00D)
7.9 Manual Gain-adjustment of Analog Monitor Output (Fn00D)

This function is used to manually adjust the gains for the analog monitor outputs (force reference monitor out-
put and motor speed monitor output). The gains for the force reference monitor output and motor speed moni-
tor output can be adjusted individually. The gain values are factory-set before shipping. Therefore, the user
need not usually use this function.
(1) Adjustment Example

An example of gains adjustment to the motor speed monitor is shown below.
Analog monitor
output voltage
Gain adjustment
Motor speed
The gain adjustment width is made with a 100% output set as a center value (adjustment range: 50% to 150%).
A setting example is shown below.
<Setting the Set Value to −125>

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

100% + (125 × 0.4%) =150%
Therefore, the monitor output voltage is 1.5 times as high.
Item Specifications Utility Functions (Fn)

Gain-adjustment Range 50% to 150%
Adjustment Unit 0.4%/LSB
<Notes>
• Gain adjustment cannot be made if write protection is set in Fn010.
• The adjustment value will not be initialized when parameter settings are initialized using Fn005.
7-15

Follow the steps below to perform the manual gain-adjustment of analog monitor output.
Display after
Step Keys Operation
Operation

1
mode.
MODE/SET DATA/
2 Press the UP or DOWN Key to select Fn00D.

MODE/SET DATA/

3
MODE/SET DATA/
Press the MODE/SET Key to select channel-1 or channel-2

4
monitor output.
MODE/SET DATA/
Press the DATA/SHIFT Key for less than one second. Gain
5
adjustment data will be displayed as shown on the left.
MODE/SET DATA/
Press the UP or DOWN Key to change the data. This com-

6
pletes gain adjustment of the analog monitor output.
MODE/SET DATA/
gain adjustment data will be displayed as shown on the left.
7
To adjust a different channel, switch the monitor channel
MODE/SET DATA/ using steps 4 through 6.

8
"Fn00D" is displayed again.
MODE/SET DATA/
7-16
7.10 Automatic Offset-Signal Adjustment of the Motor Current Detection (Fn00E)
7.10 Automatic Offset-Signal Adjustment of the Motor Current

Detection (Fn00E)
Perform this adjustment only if highly accurate adjustment is required for reducing force ripple caused by cur-
rent offset. Basically, the user need not perform this adjustment.
• Be sure to perform this function with the servo OFF.

• Execute the automatic offset adjustment if the force ripple is too big when compared
with that of other SERVOPACKs.
Follow the steps below.
Display after
Step Keys Operation
Operation

1
mode.
MODE/SET DATA/
2 Press the UP or DOWN Key to select Fn00E.

MODE/SET DATA/

3
MODE/SET DATA/

The offset will be automatically adjusted.
4
MODE/SET DATA/ When the adjustment completes, the display shown on the
Display blinks left blinks for about one second.

5
the left.

6
"Fn00E" is displayed again.
MODE/SET DATA/
7-17
7.11 Manual Offset-Signal Adjustment of the Motor Current

Detection (Fn00F)
Use this function only if the force ripple is high after the automatic offset adjustment of the motor current
detection signal (Fn00E).
If this function, particularly manual servo tuning, is executed carelessly, it may worsen
the characteristics.
Observe the following precautions when performing manual servo tuning.
• Run the servomotor at a speed of approximately 100 mm/s.
• Adjust the operator until the force reference monitor ripple is minimized by using the
analog monitor.
• Adjust the phase-U and phase-V offsets alternately several times until these offsets
are well balanced.
Display after
Step Keys Operation
Operation

1
mode.
MODE/SET DATA/
2 Press the UP or DOWN Key to select Fn00F.

MODE/SET DATA/

3
The display shown on the left (phase U) appears.
MODE/SET DATA/
Press the DATA/SHIFT Key for less than one second to dis-
4
play the phase-U offset amount.
MODE/SET DATA/
Press the UP or DOWN Key to adjust the offset. Carefully

adjust the offset while monitoring the force reference moni-
5 tor signal.
MODE/SET DATA/
Adjustable range: −512 to +511

6
MODE/SET DATA/

7
The display shown on the left appears (phase V).
MODE/SET DATA/
Press the DATA/SHIFT Key for less than one second to dis-
8
play the phase-V offset amount.
MODE/SET DATA/
Press the UP or DOWN Key to adjust the offset. Carefully

adjust the offset while monitoring the force reference moni-
9 tor signal.
MODE/SET DATA/
Adjustable range: −512 to +511

10
MODE/SET DATA/
When the offset adjustment completes, press the DATA/

11 SHIFT Key for approximately one second.
MODE/SET DATA/ "Fn00F" is displayed again.
7-18
7.12 Write Prohibited Setting (Fn010)
7.12 Write Prohibited Setting (Fn010)

Prohibiting writing prevents writing parameters by mistake.
This function can write-protect all Pn parameters and the utility functions (Fn ) shown in (1)
Utility Functions That Can Be Write-protected.
(1) Utility Functions That Can Be Write-protected

Parameter Reference
Function
No. Section
Fn002 JOG operation 7.3
Fn003 Origin search 7.4
Fn004 Program JOG operation 7.5
Fn005 Initialize parameter settings 7.6
Fn006 Clear alarm traceback data 7.7
5.3.2
Fn009 Automatic tuning of analog (speed, force) reference offset
5.5.2
Fn00A Manual servo tuning of speed reference offset 5.3.2
Fn00B Manual servo tuning of force reference offset 5.5.2
Fn00C Manual zero-adjustment of analog monitor output 7.8
Fn00D Manual gain-adjustment of analog monitor output 7.9
Fn00E Automatic offset-adjustment of motor current detection signal 7.10
Fn00F Manual offset-adjustment of motor current detection signal 7.11
Fn014 Resets configuration error of option module 7.15
Fn01B Initializes vibration detection level 7.16
Fn200 Tuning-less level setting 6.3.2
Fn201 Advanced autotuning 6.4.2
Fn202 Advanced autotuning by reference 6.5.2
Fn203 One-parameter tuning 6.6.2
Fn204 Anti-resonance control adjustment function 6.7.2
Fn205 Vibration suppression function 6.7.2
Fn206 EasyFFT 7.18
Fn207 Online vibration monitor 7.19
Note: If the write prohibited setting (Fn010) is enabled, the following display will appear on the Panel Operator when the
user attempts to execute the above utility functions. To execute these utility functions, set Fn010 to write permitted. Utility Functions (Fn)
Blinks for second
7-19

Follow the steps below to set "write prohibited" or "write permitted."
Setting values are as follows:
• "0000": Write permitted (Releases write prohibited mode.)

• "0001": Write prohibited (Parameters become write prohibited from the next power ON.)
Display after
Step Keys Operation
Operation

1
mode.
MODE/SET DATA/

MODE/SET DATA/

3
MODE/SET DATA/
Press the UP or DOWN Key to set a value:

4
"0000": Write permitted, "0001": Write prohibited
MODE/SET DATA/
Press the MODE/SET Key to register the value.

The write prohibited settings of parameters are executed.
When the value is registered, the display shown on the left
5 blinks for about one second.
MODE/SET DATA/ Note:
Display blinks If a value other than "0000" and "0001" is set, "Error" is dis-
played.
6 The display changes from "donE" to "P.000."

7
MODE/SET DATA/
7-20
7.13 Servomotor Model Display (Fn011)
7.13 Servomotor Model Display (Fn011)

This function is used to check the servomotor model, voltage, capacity, encoder type, and encoder resolution.
If the SERVOPACK has been custom-made, you can also check the specification codes of SERVOPACKs.
Display after
Step Keys Operation
Operation

1
mode.
MODE/SET DATA/

MODE/SET DATA/

to display the servomotor model and voltage code.
3
Servomotor Voltage Servomotor Model
Data Type Data Model
MODE/SET DATA/ 02 400 VAC 40 linear motor
01 200 VAC
Press the MODE/SET Key to display the servomotor capac-

ity.
4
MODE/SET DATA/
Servomotor capacity in units of 10 W

The above example indicates 100 W
Press the MODE/SET Key, and the encoder type and reso-
lution code will be displayed.
5
Encoder Type Encoder Resolution
MODE/SET DATA/
Data Type Data Resolution
00 Incremental 8 8-bit
01 Absolute 12 12-bit Utility Functions (Fn)
Press the MODE/SET Key to display the SERVOPACK’s
code for custom orders.
6
MODE/SET DATA/
Code for custom orders

* The display "y.0000" means standard model.

7
MODE/SET DATA/ 7
7-21
7.14 Software Version Display (Fn012)

Set Fn012 to select the software-version check mode to check the SERVOPACK and encoder software version
numbers.
Display after
Step Keys Operation
Operation

1
mode.
MODE/SET DATA/

MODE/SET DATA/

3
to display the SERVOPACK software version number.
MODE/SET DATA/
Press the MODE/SET Key to display the encoder software

4
version number.
MODE/SET DATA/

5
MODE/SET DATA/
7-22
7.15 Resetting Configuration Error of Option Module (Fn014)
7.15 Resetting Configuration Error of Option Module (Fn014)

The SERVOPACK with option module recognizes installation status and types of option module which is con-
nected to SERVOPACK. If an error is detected, the SERVOPACK issues an alarm.
This function resets these alarms.
For alarm types and corrective actions, refer to 9 Troubleshooting.
Note 1. Alarms related to option modules can be cleared only this function. These alarms cannot be cleared by alarm
reset or turning OFF the main circuit power supply.
2. Before clearing the alarm, perform corrective action for the alarm.

Display after
Step Keys Operation
Operation

1
mode.
MODE/SET DATA/

MODE/SET DATA/

3 The display shown on the left appears.
MODE/SET DATA/
Press the UP or DOWN Key to select option module to be

4 cleared.
MODE/SET DATA/
Press the MODE/SET Key for approximately one second.

5
MODE/SET DATA/
Press the MODE/SET Key again. The display changes

Display blinks
6 shown on the left and the configuration error of option mod-
↓ ule is cleared.
MODE/SET DATA/
The display changes from "done" to the display shown on

7
the left.

8
MODE/SET DATA/
9 Turn OFF the power and then turn ON again to validate the setting. 7
7-23
7.16 Vibration Detection Level Initialization (Fn01B)

This function detects vibration when servomotor is connected to a machine and automatically adjust the vibra-
tion detection level (Pn384) to output more exactly the vibration alarm (A.520) and warning (A.911).
The vibration detection function detects vibration elements according to the motor speed, and if the vibration
exceeds the detection level calculated by the following formula, outputs an alarm or warning depending on the
setting of vibration detection switch (Pn310).
Vibration detection level (Pn384[mm/s])× Detection sensibility (Pn311[%])

Detection level =‫ޓ‬
100
<Remarks>
• Use this function if the vibration alarm (A.529) or warning (A.911) is not output correctly when a vibration
above the factory setting vibration detection level (Pn384) 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, a detection sensibility fine adjustment can be set in the detection sensibility Pn311.
• The vibration may not be detected cause of improper servo gains. Also, not all kinds
of vibrations can be detected. Use the detection result as a guideline.
• Set the proper mass ratio (Pn103). Improper setting may result in the vibration 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 operation condition for which the vibration detection
level should be initialized. A vibration is detected immediately after the servo is
turned ON if this function is executed while the servomotor runs at low speed. "Error"
is displayed if this function is executed while the servomotor runs at less than 10% of
the maximum motor speed.

Follow the steps to initialize the parameter Pn312.
Display after
Step Keys Operation
Operation

1
mode.
MODE/SET DATA/
2 Press the UP or DOWN Key to select Fn01b.

MODE/SET DATA/

3
MODE/SET DATA/
Press the MODE/SET Key for approximately one second

again. The display shown on the left will flash and the
vibration level will be detected and refreshed. This will con-
tinue until the MODE/SET Key is pressed again.
4 Note:
MODE/SET DATA/ • Operate the SERVOPACK with the references that will
Display blinks used for actual operation.
• If the servomotor is moving at 10% or less of the maxi-
mum speed, "Error" will be displayed.
Press the MODE/SET Key again at a suitable time to com-
plete frequency detection and refreshing the setting. This
5 will enable the setting. If the setting has been completed
MODE/SET DATA/ normally, "donE" will be displayed. If there was a setting
failure, "Error" will be displayed.
7-24
7.16 Vibration Detection Level Initialization (Fn01B)
Display after
Step Keys Operation
Operation

6
MODE/SET DATA/

Use the following parameters as required.
Vibration Detection Sensibility Speed Position 　 Force

Classification
Vibration Detection Level Speed Position 　 Force

Classification
Note: Pn384 is set by the vibration detection level, so it is not necessary to adjust it.
The vibration detection sensibility can be set at Pn311.

n.0 Does not detect vibration (Factory setting)
Outputs the warning (A.911) when vibration is
Pn310 n.1 Immediately Setup
detected.
n.2 Outputs the alarm (A.520) when vibration is detected.
7-25
7.17 Display of SERVOPACK and Servomotor ID (Fn01E)

This function displays ID information for SERVOPACK, servomotor, encoder and option module connected
to the SERVOPACK.
To perform this function, the digital operator (JUSP-OP05A-1-E, option) or SigmaWin+ (option) is needed.
This function cannot be performed with the panel operator provided as an accessory.
The following items can be displayed.
ID Items to be Displayed
• SERVOPACK model
• SERVOPACK serial number
• SERVOPACK manufacturing date
SERVOPACK
• SERVOPACK input voltage (V)
• Maximum applicable motor capacity (W)
• Maximum applicable motor rated current (Arms)
• Servomotor model
• Servomotor serial number
• Servomotor manufacturing date
Servomotor
• Servomotor input voltage (V)
• Servomotor capacity (W)
• Servomotor rated current (Arms)
• Encoder model
• Encoder serial number
Encoder
• Encoder manufacturing date
• Encoder type/resolution
• Feedback option module model
Feedback Option • Feedback option module serial number (Reserved area)
Module • Feedback option module manufacturing date
• Feedback option module ID
Note: ID information for fully-closed control I/F card such as model number, serial number and manufacturing date cannot
be displayed.
7-26
7.18 EasyFFT (Fn206)
WARNING
• The servomotor moves at minimal speed 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.
Machine vibration may be suppressed with a notch filter setting made according to the detected vibration fre-
quency.
This function detects and sets the frequency as a parameter for the notch filter according to the machine char-
acteristics. This setting function is called EasyFFT.
EasyFFT sends a frequency waveform reference from the SERVOPACK to the servomotor and moves the ser-
vomotor at minimal speed a number of times over a certain period, thus causing machine vibration. The SER-
VOPACK detects the resonance frequency from the generated vibration and makes notch filter settings
according to the resonance frequency detection. The notch filter is effective for the elimination of high-fre-
quency vibration and noise.
Reference
Small
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. Use the following flowchart to determine which function should be
used.
7-27
When using mainly for servo gain adjustment, etc.
Start
Vibration with No
high-frequency noise
during operation
Yes
Turn OFF the servo, and

execute EasyFFT (Fn206)
Adjsut servo gain
No
Vibration
Yes
With the servo ON, execute

Online Vibration Monitor
(Fn207)
End
• Starts EasyFFT with the servo OFF (the servomotor power OFF).
• Do not input the reference from outside because EasyFFT outputs the special
reference from the SERVOPACK.

Display after
Step Keys Operation
Operation

1
mode.
MODE/SET DATA/

MODE/SET DATA/
Press the DATA/SHIFT for approximately one second. The

3 MODE/SET DATA/ display shown on the left appears. The panel operator is in
Setting reference Fn206 utility setting execution mode.
amplitude
7-28
Display after
Step Keys Operation
Operation
Press the UP or DOWN Key to set a reference amplitude.
Reference amplitude setting: 1 to 800
Note:
• At the initial execution of Fn206, do not change the refer-
ence amplitude setting, but starts from the initial value
4 15. Though increasing reference amplitude increases the
MODE/SET DATA/ detection accuracy, the vibration and noise occurring on
the machine will increase momentarily. Increase an
amplitude value little by little, observing the result.
• The setting value of the reference amplitude setting is
stored in Pn456.

5
MODE/SET DATA/ to enter the run ready status.
Run ready status
Press the MODE/SET Key to enter Servo ON status (the
motor power ON)
6 Note:
MODE/SET DATA/ Press the MODE/SET Key to turn the servo OFF. "F" is
displayed to indicate the run ready status.
In the Servo ON status (the servomotor power ON), press
the UP Key (forward) or the DOWN Key (reverse). The
servomotor performs a few to-and-from movements within
10 mm in automatic operation. The motor performs such
movements for approximately 1 to 45 seconds. During this
operation, the display shown on the left blinks.
7 Display blinks
Note:
MODE/SET DATA/
• Do not enter the machine’s working area, because the ser-
vomotor moves. Some noise may result.
Servomotor • Press the MODE/SET Key to stop the servomotor. No
small movement detection is executed. "F." is displayed to indicate the run
ready status (step 5).
At normal completion of the detection, "E_FFt" stops blink-

8 ing and the detected resonant frequency is displayed. When
Detection result failing to detect, "F----" is displayed.
example
IMPORTANT
If the operation ended normally but it took two second or more, the detection accuracy may not be good. Set the
reference amplitude little higher than 15 in step 4 and re-execute the operation. More accurate resonance may be fre-
quency detected.
Though increasing reference amplitude increases the detection accuracy, the vibration and noise occurring in the Utility Functions (Fn)
machine will increase momentarily. Increase an amplitude value little by little, observing the result.
To end the vibration monitor, press the DATA/SHIFT Key
9 for less than one second. To set the detected value, pro-
MODE/SET DATA/ ceed to step 11.
10 The servo turns OFF (the servomotor power OFF) and the
MODE/SET DATA/ utility function mode display appears.
After the detection completes normally, press the MODE/

SET Key. The optimum notch filter for the detected fre-
quency is automatically set. When the notch filter is set 7
Display blinks correctly (Pn408, Pn409), the display "donE" blinks.
Pn408=n.1 When the 1st notch filter frequency was already set
11 Pn409=1375 (Hz) (Pn408=n1), sets 2nd notch filter frequency
MODE/SET DATA/ (Pn40C). When the 2nd notch filter frequency
(Pn408=n.1) was also set, the frequency setting of
notch filter is unable. If the detected frequency is not
used, set the Pn408=n.0
7-29
Display after
Step Keys Operation
Operation
Press the MODE/SET Key to return to the display of run

12
MODE/SET DATA/ ready status.
Run ready status

13
MODE/SET DATA/

Use the following parameters as required.
Sweep Force Reference Amplitude Speed Position 　 Force

Classification

n.0 Disables 1st notch filter. (Factory setting)
n.1 Uses 1st notch filter.
n.0 Disables 2nd notch filter. (Factory setting)
n.1 Uses 2nd notch filter.
1st Notch FIlter Frequency Speed Position 　 Force

Classification
2nd Notch FIlter Frequency Speed Position 　 Force

Classification
7-30
7.19 Online Vibration Monitor (Fn207)
7.19 Online Vibration Monitor (Fn207)

The machine vibration can sometimes be suppressed by setting a notch filter or force reference filter for the
vibration frequencies.
When online, vibration frequencies caused by machine resonance will be detected and the frequency that has
the highest peak will be displayed on the Panel Operator. The effective force reference filter or notch filter fre-
quency for the vibration frequency will be automatically selected. In addition to this function, EasyFFT
(Fn206) can be used to detect machine vibration and automatically make notch filter settings. Use the follow-
ing flowchart to determine which function should be used.
When using mainly for servo gain adjustment, etc.
Start
Vibration with No
high-frequency noise
during operation
Yes
Turn OFF the servo, and

execute EasyFFT (Fn206)
Adjsut servo gain
No
Vibration
Yes
With the servo ON, execute

Online Vibration Monitor
(Fn207)
End
7-31

Display after
Step Keys Operation
Operation

1
mode.
MODE/SET DATA/
2 Press the UP or DOWN Key to select the Fn207.

MODE/SET DATA/

3
MODE/SET DATA/
Press the MODE/SET Key. "F" will blink, and the detection
4
MODE/SET DATA/ of frequencies will start automatically.
Display blinks
When "F" stops blinking, detection has been completed. If
detection has been performed normally, the results of detec-
tion will be displayed.
The displayed value is the frequency of the highest peak of
5 vibration.
MODE/SET DATA/ Note:
Detection result example • If a frequency is not detected, "F----" will be displayed.
• If detection processing is not completed normally for
some reason, "no_oP" will be displayed.
To make only a vibration frequency check without setting
6 the results of detection, press the DATA/SHIFT Key. Pro-
MODE/SET DATA/ ceed to step 7 to set the results of detection.
If the MODE/SET Key is pressed, the optimum notch filter
frequency or force reference filter time constant for the fre-
7
MODE/SET DATA/ quency value will be set automatically, and "donE" will be
displayed if the setting is completed normally.

8
MODE/SET DATA/

The following parameters are set automatically by using online vibration monitor.
Parameter Meaning
Pn408 Force Related Function Switch
7-32
7.20 Software Reset (Fn030)
7.20 Software Reset (Fn030)

This function enables resetting the SERVOPACK internally from software. If this function is used when
parameter changes have been made that require turning the power OFF and ON, the changes will be reflected
without actually turning the power OFF and ON.
• Starts software reset operation with the servo OFF.

• This function resets the SERVOPACK independently of host controller. Be sure to
confirm that resetting the SERVOPACK has no influence the operation of host control-
ler.
Follow the steps below to reset the SERVOPACK internally.
Display after
Step Keys Operation
Operation

1
mode.
MODE/SET DATA/

MODE/SET DATA/
Press the DATE/SHIFT key for approximately one second.

3
MODE/SET DATA/
Press the UP Key until "SrSt5" is displayed.

Note:
4 If there is a mistake during key operations, "nO_OP" will be
MODE/SET DATA/ displayed for approximately one second and then "Fn030"
will be displayed again.
Display after operation

Press the MODE/SET Key. The panel display will disap-
pear.
5
Note:
MODE/SET DATA/
This function cannot be executed while the servo is ON.
The status display screen, which is the same as the screen
6 that is displayed immediately after the power turned ON,
MODE/SET DATA/ will appear.
7-33
8
Monitor Modes (Un)
8.1 List of Monitor Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

8.2 Operation in Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.3 Monitor Display of Reference Pulse Counter (Un00C) and Feedback Pulse
Counter (Un00D) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
8.4 Allowable Maximum Motor Speed and Encoder Output
Resolution Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5
8.5 Hall Sensor Signal Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
8.6 Monitoring Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
8.6.1 Checking Input Signal Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
8.6.2 Interpreting Input Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
8.6.3 Input Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8
8.7 Monitoring Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-9

8.7.1 Checking Output Signal Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-9
8.7.2 Interpreting Output Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-9
8.7.3 Output Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-9
8.8 Monitor Display at Power ON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10

8.9 Monitoring I/O Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10
Monitor Modes (Un)
8-1
8 Monitor Modes (Un)
8.1 List of Monitor Modes

The monitor mode can be used for monitoring the reference values, I/O signal status, and SERVOPACK inter-
nal status.
Refer to the following table.
Parameter
Content of Display Unit
No.
Un000 Motor moving speed mm/s
Un001 Speed reference mm/s
Un002 Internal force reference (in percentage to the rated force) %
Un003 Electric angle 1 (32-bit decimal code) pulse
Un004 Electric angle 2 (Angle from 0 degree of phase-U) deg
*1 Input signal monitor −
Un005
Un006*2 Output signal monitor −
Un007 Input reference pulse speed (valid only in position control) mm/s
Error counter (position error amount) (valid only in position
Un008 reference unit
control)
Accumulated load ratio (in percentage to the rated force: effec-
Un009 %
tive force in cycle of 10 seconds)
Regenerative load ratio (in percentage to the processable
Un00A regenerative power: regenerative power consumption in cycle %
of 10 seconds)
Power consumed by DB resistance
Un00B (in percentage to the processable power at DB activation: dis- %
played in cycle of 10 seconds)
Input reference pulse counter (32-bit decimal code) (valid only
Un00C*3 in position control)
reference unit
Feedback pulse counter (1/256 of linear scale pitch): 32-bit

Un00D*3 decimal code)
encoder pulse
Un010 Allowable maximum motor speed of Encoder output resolution −

Un011 Hall sensor signal monitor −
Un084 Linear scale pitch (Scale pitch = Un084 × 10Un085 [pm]) −
Un085 Linear scale pitch index (Scale pitch = Un084 × 10Un085 [pm]) −
∗1. For details, refer to 8.6 Monitoring Input Signals.

∗2. For details, refer to 8.7 Monitoring Output Signals.
∗3. For details, refer to 8.3 Monitor Display of Reference Pulse Counter (Un00C) and Feedback Pulse Counter
(Un00D).
8-2
8.2 Operation in Monitor Mode
8.2 Operation in Monitor Mode

The example below shows how to display the contents of monitor number Un000 (when the servomotor
moves at 1500 mm/s)
Display after
Step Keys Operation
Operation
Press the MODE/SET Key to select the monitor mode.
1
MODE/SET DATA/
Press the UP or DOWN Key to select the monitor number

2 to be displayed.
MODE/SET DATA/

3 ond to display the data of Un000 (motor speed).
MODE/SET DATA/

4 ond to return to the display of step 1.
MODE/SET DATA/
Monitor Modes (Un)
8-3
8.3 Monitor Display of Reference Pulse Counter (Un00C) and

Feedback Pulse Counter (Un00D)
The monitor display of reference pulse counter and feedback pulse counter is expressed in 32-bit decimal.
This section describes how to read parameters displayed in 32-bit decimal on the Panel Operator.
Display after
Step Keys Operation
Operation

MODE/SET DATA/
Press the UP or DOWN Key to display the parameter to be

2
displayed in 32-bit decimal. (In this case "Un00D")
MODE/SET DATA/
Lower 4 digits Press the DATA/SHIFT Key for approximately one second.
3 The lower 4 digits of the setting of the selected parameter
MODE/SET DATA/ are displayed.
Middle 4 digits After checking the displayed digits, press the DATA/SHIFT
4 Key. The middle 4 digits of the setting of the selected
MODE/SET DATA/ parameter are displayed.
Press the DATA/SHIFT Key again. The upper 2 digits of the

Upper 2 digits
setting of the selected parameter are displayed.
Note:
5
MODE/SET DATA/
If the DATA/SHIFT Key is pressed after the upper 2 digits
are displayed, the lower 4 digits of the setting will be dis-
played again.
Upper 2 digits
To clear the 32-bit counter, press the UP and DOWN Keys
6
at the same time when data is displayed.
MODE/SET DATA/

7
to return to the display of step 2.
MODE/SET DATA/
The method for reading the display is summarized below.

The indicator blinking on the left indicates
the position of the digits
(e.g., the upper, middle, or lower digits).
The digit indicators and numeric value
indicatethe setting of the parameter.
Upper 2 digits Middle 4 digits Lower 4 digits

Upper 2 digits
Middle 4 digits
Lower 4 digits
"-" will be displayed Decimal point

only if the value is a
signed negative value.
will be displayed if the value is negative.
The number of pulses between -2147483648 (-231) and 2147483647 (-231) is displayed continuously. When
the number of pulses is outside this range, the display will change as follows:
• The displayed value will change to 2147483647 when the number of pulses decreases by one from
-2147483648. Thereafter, the displayed value will decrease according to the number of pulses.
• The displayed value will change to -2147483648 when the number of pulses increases by one from
2147483647. Thereafter, the displayed value will increase according to the number of pulses.
8-4
8.4 Allowable Maximum Motor Speed and Encoder Output Resolution Monitor
8.4 Allowable Maximum Motor Speed and Encoder Output

Resolution Monitor
This section describes the monitor display for determining the maximum speed (Pn385) for the encoder output
pulse (Pn281). Adjust the setting of Pn080.3 to select the location to be monitored.
Display after
Step Keys Operation
Operation

MODE/SET DATA/
2 Press the UP or DOWN Key to select Un010.

MODE/SET DATA/

3 The output pulse of the encoder or the motor’s maximum
MODE/SET DATA/
speed that can be set according to Pn080.3 appears.

4
MODE/SET DATA/
<Notes>
• When Pn080.3 = 0, the encoder output pulse (Pn281) that can be set is displayed.
• When Pn080.3 = 1, the maximum motor speed (Pn385) that can be set is displayed. (Units: mm/s)
Monitor Modes (Un)
8-5
8.5 Hall Sensor Signal Monitor

This section describes the monitor display for the signal patterns of the hall sensor.
Display after
Step Keys Operation
Operation

MODE/SET DATA/

MODE/SET DATA/

to display the hall sensor signal pattern.
Upper: ON at high level

Lower: OFF at low level
Phase-W signal monitor
Phase-V signal monitor
Phase-U signal monitor
3 Hall Sensor Signal Monitor
MODE/SET DATA/
Signal Pattern Phase-U Phase-V Phase-W
0 L L L
1 L L H
2 L H L
3 L H H
4 H L L
5 H L H
6 H H L
7 H H H

4
MODE/SET DATA/
8-6
8.6 Monitoring Input Signals
8.6 Monitoring Input Signals

The status of input signals can be checked with the input signal monitor (Un005). The procedure for checking
the status, the method of reading the monitor, and a display example are shown below.
8.6.1 Checking Input Signal Status

Use the following steps to check the allocations of input signals using parameter Un005.
Display after
Step Keys Operation
Operation

MODE/SET DATA/

MODE/SET DATA/
The present status can be displayed on the 7-segment

display on the Panel Operator by pressing the DATA/
3
SHIFT Key for approximately one second. Refer to 8.6.2
Input signal display MODE/SET DATA/
Interpreting Input Signal Display Status.
status
Press the DATA/SHIFT Key for approximately one

4
second to return to the display of step 2.
MODE/SET DATA/
8.6.2 Interpreting Input Signal Display Status

The status of allocated signals is displayed on the 7-segment display on the Panel Operator.
Input terminals correspond to LED numbers as shown in the following table.
Top: OFF(H level)

Bottom: ON(L level)
8765 4 3 2 1 Number
• When the input is in OFF (open) status, the top segment (LED) is lit.
• When the input is in ON (short-circuited) status, the bottom segment (LED) is lit.
Display LED
Input Terminal Name Factory Setting
Number
1 CN1-40 /S-ON
2 CN1-41 /P-CON
Monitor Modes (Un)
3 CN1-42 P-OT
4 CN1-43 N-OT
5 CN1-44 /ALM-RST
6 CN1-45 /P-CL
7 CN1-46 /N-CL
8 CN1-4 SEN
8-7
8.6.3 Input Signal Display Example
8.6.3 Input Signal Display Example

Input signals are displayed as shown below.
• When /S-ON signal is ON (Servo ON at L level)
The bottom segment

of number 1 is lit.
87 6 5 4 3 2 1
• When /S-ON signal is OFF
The top segment of

number 1 is lit.
87 6 5 4 3 2 1
• When P-OT signal operates (Operates at “H” level)

The top segment of
number 3 is lit.
87 6 5 4 3 2 1
8-8
8.7 Monitoring Output Signals
8.7 Monitoring Output Signals

The status of output signals can be checked with the input signal monitor (Un006). The procedure for check-
ing the status, the method of reading the monitor, and a display example are shown below.
8.7.1 Checking Output Signal Status

Use the following steps to check the allocations of output signals using parameter Un006.
Display after
Step Keys Operation
Operation

MODE/SET DATA/

MODE/SET DATA/
The present status can be displayed on the 7-segment dis-

play on the Panel Operator by pressing the DATA/SHIFT
3
Key for approximately one second. Refer to 8.7.2 Interpret-
Output signal display MODE/SET DATA/
ing Output Signal Display Status.
status

4
MODE/SET DATA/
8.7.2 Interpreting Output Signal Display Status

The status of allocated signals is displayed on the 7-segment display on the Panel Operator.
Top: OFF(H level)

Bottom: ON(L level)
765 4 3 2 1 Number
• When the output is in OFF (open) status, the top segment (LED) is lit.
• When the output is in ON (short-circuited) status, the bottom segment (LED) is lit.
Display LED
Output Terminal Name Factory Setting
Number
1 CN1-31, -32 ALM
2 CN1-25, -26 /COIN or /V-CMP
3 CN1-27, -28 /TGON
Monitor Modes (Un)
4 CN1-29, -30 /S-RDY

5 CN1-37 ALO1
6 CN1-38 ALO2
7 CN1-39 ALO3
8 − Reserved
8.7.3 Output Signal Display Example

Output signals are displayed as shown below. 8
• When ALM signal operates (alarm at H level)
The top segment of
number 1 is lit.
7 654 3 2 1
8-9
8.8 Monitor Display at Power ON

When Un number is set using Pn52F, the data of Un that was specified in the panel operator is displayed
when the power is turned ON. When the 0FFF is set (factory setting), the SERVOPACK becomes the status
display mode (bb, run) at power ON.
Monitor Display at Power ON Speed Position 　 Force

Classification
0 to 0FFF − 0FFF Immediately Setup
8.9 Monitoring I/O Signals

The following I/O signals can be monitored.
Un Number
LED Pin Number Signal Name
Number
Un005 Input Signal Monitor
1 CN1-40 (can be allocated) /S-ON (factory setting)
2 CN1-41 (can be allocated) /P-CON (factory setting)
3 CN1-42 (can be allocated) P-OT (factory setting)
4 CN1-43 (can be allocated) N-OT (factory setting)
5 CN1-44 (can be allocated) /ALM-RST (factory setting)
6 CN1-45 (can be allocated) /P-CL (factory setting)
7 CN1-46 (can be allocated) /N-CL (factory setting)
8 CN1-4 SEN
Un006 Output Signal Monitor
1 CN1-31, 32 ALM
/COIN or /V-CMP
2 CN1-25, 26 (can be allocated)
(factory setting)
3 CN1-27, 28 (can be allocated) /TGON (factory setting)
4 CN1-29, 30 (can be allocated) /S-RDY (factory setting)
5 CN1-37 ALO1
6 CN1-38 ALO2
7 CN1-39 ALO3
8 0 Zero fixed
Un015 Safety I/O Signal Monitor
1 CN8-4 /HWBB1+
2 CN8-3 /HWBB1-
3 CN8-6 /HWBB2+
4 CN8-5 /HWBB2-
5 CN8-8 EDM1+
6 CN8-7 EDM2+
7 - Reserved
8 - Reserved
SigmaWin+ I/O signal monitor function

I/O signals can be checked using the I/O signal monitor function of SigmaWin+.
This function can perform output signal output and output prohibited setting. Therefore, sequence of host con-
troller and wiring between the SERVOPACK and host controller, peripheral devices can be checked.
8-10
9
Troubleshooting
9.1 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9.1.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9.1.2 Troubleshooting of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6
9.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-20

9.2.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-20
9.2.2 Troubleshooting of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-21
9.3 Troubleshooting Malfunction Based on Operation

and Conditions of the Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-23
Troubleshooting
9-1
9 Troubleshooting
9.1.1 List of Alarms
9.1 Troubleshooting
The following sections describe troubleshooting in response to alarm displays.
The alarm name, alarm meaning, alarm stopping method, alarm reset capability and alarm code output are
listed in order of the alarm numbers in 9.1.1 List of Alarms.
The causes of alarms and troubleshooting methods are provided in 9.1.2 Troubleshooting of Alarms.

If an alarm occurs, the servomotor can be stopped by doing either of the following operations.
Gr.1: The servomotor is stopped according to the settings in Pn001.0 if an alarm occurs. Pn001.0 is factory-set
to stop the servomotor by applying the DB.
Gr.2: The servomotor is stopped according to the setting in Pn00B.1 if an alarm occurs. Pn00B.1 is factory-set
to stop the servomotor by setting the speed reference to "0." The servomotor under force 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 alarm stop method to prevent
machine damage that may result due to differences in the stop method.
Servo- Alarm Code Output

Alarm motor Alarm
Alarm Name Meaning
Display Stop Reset ALO1 ALO2 ALO3
Method
Parameter Checksum The data of the parameter in the SERVO-
A.020 Gr.1 N/A
Error 1 PACK is incorrect.
The data of the parameter in the SERVO-
A.021 Parameter Format Error 1 Gr.1 N/A
PACK is incorrect.
The data of the parameter in the SERVO-
A.022 System Checksum Error 1 Gr.1 N/A
PACK is incorrect.
Parameter Password Error The data of the parameter in the SERVO-
A.023 Gr.1 N/A
1 PACK is incorrect.
A.030 Main Circuit Detector Error Detection data for power circuit is incorrect. Gr.1 Available
The parameter setting is outside the allow-
A.040 Parameter Setting Error 1 Gr.1 N/A
able setting range.
The encoder output pulse setting (pulse
Encoder Output Pulse unit) (Pn212) is outside the allowable set-
A.041 Gr.1 N/A
Setting Error ting range or not satisfies the setting condi-
tions. H H H
Parameter Combination Combination of some parameters exceeds
A.042 Gr.1 N/A
Error the setting range.
Fully-closed Loop Control The settings of the option module and
A.044 Gr.1 N/A
Parameter Setting Error Pn00B.3, Pn002.3 do not match.
The SERVOPACK and the servomotor
A.050 Combination Error Gr.1 Available
capacities do not match each other.
The device unit unsupported was con-
A.051 Unsupported Device Alarm Gr.1 N/A
nected.
The setting of the linear scale pitch (Pn282)
Linear Scale Pitch Setting
A.080 has not been changed from the default set- Gr.1 N/A
Error
ting.
The Host controller reference was sent to
Cancelled Servo ON
A.0b0 turn the Servo ON after the Servo ON func- Gr.1 Available
Command Alarm
tion was used with the utility function.
An overcurrent flowed through the IGBT.
Overcurrent or Heat Sink
A.100 Heat sink of the SERVOPACK was over- Gr.1 N/A L H H
Overheated
heated.
9-2
9.1 Troubleshooting

Alarm motor Alarm
Alarm Name Meaning
Method
Regenerative circuit or regenerative resistor
A.300 Regeneration Error Gr.1 Available
is faulty.
Regenerative energy exceeds regenerative
A.320 Regenerative Overload Gr.2 Available L L H
resistor capacity.
Main Circuit Power Detected when the power to the main circuit
A.330 Gr.1 Available
Supply Wiring Error is turned ON.
Main circuit DC voltage is excessively
A.400 Overvoltage Gr.1 Available
high.
A.410 Undervoltage Main circuit DC voltage is excessively low. Gr.2 Available H H L
Main-Circuit The capacitor of the main circuit has deteri-
A.450 Gr.1 N/A
Capacitor Overvoltage orated or is faulty.
A.510 Overspeed The servomotor speed is excessively high. Gr.1 Available
The motor speed upper limit of the set
Overspeed of Encoder
A.511 encoder output pulse (pulse unit) (Pn212) is Gr.1 Available
Output Pulse Rate
exceeded.
A.520 Vibration Alarm Vibration at the motor speed was detected. Gr.1 Available L H L
Vibration was detected while performing
A.521 Autotuning Alarm Gr.1 Available
tuning-less function.
Maximum Speed Setting The Pn385 setting is greater than the maxi-
Error mum speed.
The motor was operating for several sec-
A.710 Overload: High Load onds to several tens of seconds under a Gr.2 Available
force largely exceeding ratings.
The motor was operating continuously
A.720 Overload: Low Load Gr.1 Available
under a force largely exceeding ratings.
A.730 When the dynamic brake was applied, mov-

Dynamic Brake Overload ing energy exceeded the capacity of Gr.1 Available
A.731 L L L
dynamic brake resistor.
Overload of Surge The main circuit power was frequently
Current Limit Resistor turned ON and OFF.
The heat sink of the SERVOPACK
A.7A0 Heat Sink Overheated Gr.2 Available
exceeded 100°C.
Built-in Fan in
A.7AB The fan inside the SERVOPACK stopped. Gr.1 Available
SERVOPACK Stopped
The checksum results of encoder memory is
A.820 Encoder Checksum Error Gr.1 N/A
incorrect.
A.840 Encoder Data Error Data in the encoder is incorrect. Gr.1 N/A
The encoder was rotating at high speed
A.850 Encoder Overspeed Gr.1 N/A
when the power was turned ON. H H H
The internal temperature of encoder is too
A.860 Encoder Overheated Gr.1 N/A
high.
A.890 Encoder Scale Error A linear scale fault occurred Gr.1 N/A
Troubleshooting
A.891 Encoder Module Error Encoder module is faulty. Gr.1 N/A
9-3
9 Troubleshooting

Alarm motor Alarm
Alarm Name Meaning
Method
Speed Reference A/D The A/D converter for speed reference input
A.b10 Gr.2 Available
Error is faulty.
Speed Reference A/D A/D conversion data of speed reference is
Data Error incorrect.
Reference Force Input The A/D converter for force reference input
Read Error is faulty.
Current Detection Error1 The current detection circuit for phase-U is
A.b31 Gr.1 N/A
(Phase-U) faulty.
Current Detection Error 2 The current detection circuit for phase-V is
A.b32 Gr.1 N/A
(Phase-V) faulty.
Current Detection Error 3 The detection circuit for the current is
A.b33 Gr.1 N/A H H H
(Current detector) faulty.
"Internal program error 0" of the SERVO-
A.bF0 System Alarm 0 Gr.1 N/A
PACK occurred.
PACK occurred.
PACK occurred.
PACK occurred.
PACK occurred.
A.C10 Servo Overrun Detected The servomotor ran out of control. Gr.1 Available
A.C20 Phase Detection Error The detection of the phase is incorrect. Gr.1 N/A
A.C21 Hall Sensor Error The hall sensor is faulty. Gr.1 N/A
Phase Information
A.C22 The phase information does not match. Gr.1 N/A
Disagreement
A.C50 Polarity Detection Error The polarity detection failed. Gr.1 N/A
Overtravel Detection at The overtravel signal was detected at polar-
A.C51 Gr.1 Available
Polarity Detection ity detection.
Polarity Detection The servo was turned ON under the condi-
A.C52 Gr.1 Available
Uncompleted tion of polarity detection uncompleted.
Out of Range for Polarity The moving distance exceeded the set value
A.C53 Gr.1 N/A
Detection of Pn48E during polarity detection.
L H L
A.C54 Polarity Detection Error 2 The polarity detection failed. Gr.1 N/A
Absolute Encoder Clear The multi-turn for the absolute encoder was
A.C80 Gr.1 N/A
Error not properly cleared or set.
Encoder Communications Communications between the SERVO-
A.C90 Gr.1 N/A
Error PACK and the encoder is not possible.
Encoder Communications An encoder position data calculation error
A.C91 Gr.1 N/A
Position Data Error occurred.
An error occurs in the communications
Encoder Communications
A.C92 timer between the encoder and the SERVO- Gr.1 N/A
Timer Error
PACK.
A.CA0 Encoder Parameter Error Encoder parameters are faulty. Gr.1 N/A
Contents of communications with encoder
A.Cb0 Encoder Echoback Error Gr.1 N/A
is incorrect.
9-4
9.1 Troubleshooting

Alarm motor Alarm
Alarm Name Meaning
Method
Position Error Pulse Position error pulses exceeded parameter
A.d00 Gr.1 Available
Overflow (Pn520).
Position error pulses accumulated too
A.d01 Overflow Alarm at Servo Gr.1 Available
much.
ON
If the servo turns ON with position error L L H
pulses accumulated, the speed is limited by
Pn529. In this state, the reference pulse was
A.d02 Overflow Alarm by Speed Gr.2 Available
input without resetting the speed limit, and
Limit at Servo ON
the position error pulses exceeds the value
set for the parameter Pn520.
A.d30 Position Data Overflow The position data exceeded ±1879048192. Gr.1 N/A
Safety Function Signal The safety function signal input timing is
A.Eb1 Gr.1 N/A L
Input Timing Error faulty.
With the main power supply ON, voltage H L
Main Circuit Cable Open
A.F10 was low for more than 1 second in phase-R, Gr.2 Available H
Phase
-S or -T.
Digital Operator
CPF00 Digital operator (JUSP-OP05A) fails to − N/A
Transmission Error 1
communicate with the SERVOPACK (e.g., Not decided
Digital Operator CPU error).
CPF01 − N/A
Transmission Error 2
A.− − Not an error Normal operation status − − H H H
∗ Only when safety function is used.
Troubleshooting
9-5
9 Troubleshooting
9.1.2 Troubleshooting of Alarms

When an error occurs in SERVOPACKs, an alarm display such as A. and CPF on the panel operator.
Refer to the following table to identify the cause of an alarm and the action to be taken.
Contact your Yaskawa representative if the problem cannot be solved by the described corrective action.
Alarm:
Cause Investigative Actions Corrective Actions
Alarm Name
Set the power supply voltage within
The power supply voltage sud-
Measure the power supply voltage. the specified range, and set Fn005
denly dropped.
to initialize the parameter.
The power supply went OFF
Note 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- Were the parameters frequently Repair or replace the SERVO-
A.020: ters were written exceeded the changed through the host control- PACK.
Parameter Checksum limit. ler? Reconsider the method of writing
Error 1 parameters.
(The parameter data in Malfunction caused by noise Turn the power supply ON and OFF
the SERVOPACK is from the AC power supply or several times. If the alarm still Take countermeasures against
incorrect.) grounding line, static electricity occurs, there may be noise interfer- noise.
noise, etc. ence.
Gas, water drops, or cutting oil
entered the SERVOPACK and
Check the installation conditions. Repair or replace the SERVO-
caused failure of the internal
PACK.
components.
Turn the power supply ON and OFF The SERVOPACK may be faulty.
A SERVOPACK fault occurred. several times. If the alarm still Repair or replace the SERVO-
occurs, the SERVOPACK is faulty. PACK.
Write the parameter of another
The software version of SERVO- Check Fn012 to see if the set soft-
A.021: SERVOPACK of the same model
PACK that caused the alarm is ware version agrees with that of the
Parameter Format with the same software version.
older than that of the written SERVOPACK. If not, an alarm may
Error 1 Then turn the power OFF and then
parameter. occur.
(The parameter data in ON again.
the SERVOPACK is The SERVOPACK may be faulty.
incorrect.) A SERVOPACK fault occurred. − Repair or replace the SERVO-
PACK.
The power supply voltage sud-
Measure the power supply voltage. Repair or replace the SERVO-
A.022: denly dropped.
PACK.
System Checksum
Error 1 The power supply went OFF Note the circumstances when the
Repair or replace the SERVO-
(The parameter data in while setting an utility function. power supply went OFF.
PACK.
the SERVOPACK is
incorrect.) Turn the power supply ON and OFF The SERVOPACK may be faulty.
A SERVOPACK fault occurred. several times. If the alarm still Repair or replace the SERVO-
occurs, the SERVOPACK is faulty. PACK.
A.023:
Parameter Password
Error 1
A SERVOPACK fault occurred. − Repair or replace the SERVO-
(The parameter data in PACK.
the SERVOPACK is
incorrect.)
A.030: The SERVOPACK may be faulty.
Main Circuit Detector A SERVOPACK fault occurred. − Repair or replace the SERVO-
Error PACK.
9-6
9.1 Troubleshooting
Alarm:
Alarm Name
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.
A.040: The SERVOPACK may be faulty.
Parameter Setting A SERVOPACK fault occurred. − Repair or replace the SERVO-
Error 1 PACK.
(The parameter setting
was out of the allowable The parameter setting is out of Check the setting ranges of the Set the parameter to a value within
setting range.) the specified range. parameters that have been changed. the specified range.
Check the electronic gear ratio. The Set the electronic gear ratio in the
The electronics gear ratio is out ratio must satisfy: range: 0.001< (Pn20E/Pn210)
of the setting range.
0.001< (Pn20E/Pn210) <4000. <4000.
A.041: The encoder output pulse (Pn281)

is out of the setting range and
Encoder Output Pulse Check the parameter Pn281. Set Pn281 to a correct value.
does not satisfy the setting condi-
Setting Error tions.
The speed of program JOG oper-
ation (Fn004) is lower than the
setting range after having Check that the detection conditions Reduce the electronic gear ratio
changed the electronic gear ratio is satisfied.*1 (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 that the detection conditions Increase the setting for Pn533 "Pro-
Combination Error changed the setting of Pn533 is satisfied.*1 gram JOG Movement Speed."
"Program JOG Movement
Speed."
The moving speed of advanced
autotuning is lower than the set- Check that the detection conditions Reduce the electronic gear ratio
ting range after having changed
the electronic gear ratio (Pn20E/ is satisfied.*1 (Pn20E/Pn210).
Pn210) or the servomotor.
The setting of option module must
be compatible with the settings of
A.044:
The setting of the option module Pn00B.3 and Pn002.3.
Fully-closed Loop Check the settings of the option
does not match with those of Mount an option module or replace
Control Parameter module, Pn00B.3, and Pn002.3.
Pn00B.3 and Pn002.3. the mounted option module with an
Setting Error
appropriate model. Or change the
parameter setting.
Check the capacities to see if they
satisfy the following condition:
The SERVOPACK and servomo- Select the proper combination of
(Servomotor capacity)/(SERVO-
tor capacities do not match each SERVOPACK and servomotor
A.050: PACK capacity) ≤ 1/4, or (Servo-
other. capacities.
motor capacity)/(SERVOPACK
Combination Error
capacity) ≤ 4.
(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.
PACK.
Troubleshooting
An unsupported serial converter

A.051:
unit, serial encoder, or linear Check the product specifications, Select the correct combination of
Unsupported Device scale is connected to the SERVO- and select the correct model. units.
Alarm PACK.
Pn585 256 Pn20E
∗1. Linear scale by Heidenhain or Renishaw : × ҇
Pn282[µm] 10 7 Pn210
Pn585 512 Pn20E
Linear scale (ST78A) by Mitutoyo Pn282[µm] × 10 7 ҇ Pn210 9
9-7
9 Troubleshooting
Alarm:
Alarm Name
A.080:
The setting of the linear scale
Linear Scale pitch (Pn282) has not been Check the value of Pn282. Correct the value of Pn282.
Pitch Setting changed from the default setting.
Error
A.0b0: After executing the utility func-

tion to turn ON the power to the Restart the system including the
Cancelled Servo ON −
motor, the Servo ON command host controller.
Command Alarm was sent from the host controller.
Incorrect wiring or contact fault
Check the wiring. Refer to 3.1
of main circuit cable or motor Correct the wiring.
Main Circuit Wiring.
main circuit cable.
Check for short-circuits across the
Short-circuit or ground fault of servomotor terminal phase-U, -V,
Some cables may be damaged.
main circuit cable or motor main and -W, or between the grounding
Repair or replace damaged cables.
circuit cable. and servomotor terminal U, V, or W.
Refer to 3.1 Main Circuit Wiring.
servomotor terminal phase-U, -V,
Short-circuit or ground fault The servomotor may be faulty.
and -W, or between the grounding
inside the servomotor. Repair or replace the servomotor.
and servomotor terminal U, V, or W.
Refer to 3.1 Main Circuit Wiring.
servomotor connection terminals U,
Short-circuit or ground fault V, and W on the SERVOPACK, or
inside the SERVOPACK. between the grounding and terminal
PACK.
U, V, or W. Refer to 3.1 Main Cir-
cuit Wiring.
Check the wiring. Refer to 3.6
Incorrect wiring or contact fault
Connecting Regenerative Resis- Correct the wiring.
of the regenerative resistor.
A.100: tors.
Overcurrent or Heat Check the resistor power consump-
The dynamic brake (DB: Emer-
Sink Overheated tion monitor Un00B to see how Change the SERVOPACK model,
gency stop executed from the
(An overcurrent flowed many times the DB has been used. operation conditions, or the mecha-
SERVOPACK) was frequently
through the IGBT or Or, check the alarm trace back mon- nism so that the DB does not need
activated, or the DB overload
heat sink of SERVO- itor Fn000 to see if the DB overload to be used so frequently.
alarm occurred.
PACK overheated.) alarm A.730 or A.731 was reported.
The generated regenerative Check the regenerative load ratio
Check the operation condition
energy exceeded the SERVO- monitor Un00A to see how many
including overload, and reconsider
PACK regenerative energy pro- times the regenerative resistor has
the regenerative resistor value.
cessing capacity. been used.
Check the regenerative load ratio Change the regenerative resistance
The SERVOPACK regenerative monitor Un00A to see how many value to a value larger than the
resistance is too small. times the regenerative resistor has SERVOPACK minimum allowable
been used. resistance value.
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 operation
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.
Turn the power supply OFF and
then ON again. If the alarm still
A SERVOPACK fault occurred. − occurs, the SERVOPACK may be
faulty. Repair or replace the SER-
VOPACK.
9-8
9.1 Troubleshooting
Alarm:
Alarm Name
Regenerative resistor capacity
(Pn600) is set to a value other
Check the external regenerative Connect the external regenerative
than 0 for a SGDV-R70,
resistor connection and the value of resistor, or set Pn600 to 0 if no
-R90, -1R6, or -2R8 SERVO-
the Pn600. regenerative resistor is required.
PACK, and an external regenera-
tive resistor is not connected.
The jumper between the power Confirm that a jumper is mounted
supply terminals B2 and B3 is between the power supply terminals Correctly mount a jumper.
removed. B2 and B3.
The external regenerative resis-
Check the external regenerative Correctly connect the external
tor is incorrectly wired, or is
resistor connection. regenerative resistor.
removed or disconnected.
The power supply voltage Set the power supply voltage within
Measure the power supply voltage.
exceeds the specified limit. the specified range.
Change the regenerative resistance
The external regenerative resis- Check the external regenerative
to a correct value or use an external
tor capacity or the regenerative resistor to see if the capacity is
regenerative resistor of appropriate
resistance is incorrect. appropriate.
A.300: capacity.
Regeneration Error Insufficient SERVOPACK capac-
ity or insufficient regenerative
resistor capacity caused regenera- Reconsider the capacity selection. Reconsider the capacity selection.
tive power to continuously flow
back.
Regenerative power continu-
Reconsider the system including
ously flowed back because nega- Check the load to the servomotor
servo, machine, and operation con-
tive load was continuously during operation.
ditions.
applied.
The mass exceeds the allowable
Check the mass. Reconsider the capacity selection.
value.
While the main circuit power sup-
ply is OFF, turn the control power
supply OFF and then turn ON
A SERVOPACK fault occurred. − again. If the alarm still occurs, the
SERVOPACK may by faulty.
PACK.
The power supply voltage Set the power supply voltage within
exceeds the specified limit. the specified range.
Incorrect external regenerative
resistance. Change the regenerative resistance,
Check the operation condition or regenerative resistor capacity, or
Insufficient SERVOPACK capac-
the capacity using the capacity SERVOPACK capacity. Reconsider
ity or regenerative resistor capac-
selection Software SigmaJunma the operation conditions using the
ity.
Size+, etc. capacity selection software Sigma-
Or, regenerative power has been JunmaSize+, etc.
continuously flowing back.
Regenerative power continu-
Reconsider the system including
A.320: ously flowed back because nega- Check the load to the servomotor
servo, machine, and operation con-
Regenerative tive load was continuously during operation.
ditions.
Overload applied.
Troubleshooting
The setting of parameter Pn600 is Check the external regenerative

smaller than the external regener- resistor connection and the value of Set the Pn600 to a correct value.
ative resistor's capacity. the Pn600.
Change the regenerative resistance
The external regenerative resis- to a correct value or use an external
Check the regenerative resistance.
tance is too high. regenerative resistor of appropriate
capacity.
The SERVOPACK may be faulty. 9
PACK.
9-9
9 Troubleshooting
Alarm:
Alarm Name
When using a regenerative resistor
built in the SERVOPACK:
The regenerative resistor discon-
Measure the resistance of the regen- PACK.
nected when the SERVOPACK
erative resistor. When using an external regenera-
power voltage was increased.
tive resistor:
Replace the external regenerative
A.330: resistor.
Main Circuit Power In the AC power input mode, DC Check the power supply to see if it Correct the settings to match the
Supply Wiring Error power was supplied. is a DC power supply. actual power supply specifications.
(Detected when the
In the DC power input mode, AC Check the power supply to see if it Correct the settings to match the
power to the main circuit
power was supplied. is a AC power supply. actual power supply specifications.
is turned ON.)
Regenerative resistor capacity Is the regenerative resistor con-
(Pn600) is not set to 0 even nected?
Set Pn600 to 0.
though the regenerative resistor is If it is, check the regenerative resis-
disconnected. tor capacity.
PACK.
For 100 and 200 VAC SERVO-
PACKs:
The AC power supply voltage
exceeded 290 V.
For 400 VAC SERVOPACKs:
The AC power supply voltage
exceeded 580 V. Set AC power supply voltage within
For 200 VAC SERVOPACKs Measure the power supply voltage.
the specified range.
with DC power supply input: The
power supply voltage exceeded
410 V.
For 400 VAC SERVOPACKs
with DC power supply input: The
power supply voltage exceeded
820 V.
Improve the power supply condi-
tions by installing a surge absorber,
The power supply is unstable, or etc. Then, turn the power supply
was influenced by a lightning Measure the power supply voltage. ON again. If the alarm still occurs,
A.400: surge. the SERVOPACK may be faulty.
Overvoltage Repair or replace the SERVO-
(Detected in the SER- PACK.
VOPACK main circuit For 100 and 200 VAC SERVO-
power supply section.) PACKs:
The servomotor accelerated/
decelerated with the AC power Check the power supply voltage and
Set AC power supply voltage within
voltage between 230 and 270 V. the speed and force during opera-
For 400 VAC SERVOPACKs: tion.
The servomotor accelerated/
decelerated with the AC power
voltage between 480 and 560 V.
The external regenerative resis- Select a regenerative resistance
Check the operation conditions and
tance is too high for the actual value appropriate for the operation
the regenerative resistance.
operation conditions. conditions and load.
The mass exceeded the allowable Confirm that the mass is within the Increase the deceleration time, or
value. allowable range. reduce the load.
Turn the control power OFF and
then ON again while the main cir-
cuit power supply is OFF. If the
A SERVOPACK fault occurred. −
alarm still occurs, the SERVO-
PACK may be faulty. Repair or
replace the SERVOPACK.
9-10
9.1 Troubleshooting
Alarm:
Alarm Name
• For 100 VAC SERVOPACKs:
The power supply voltage is 49
V or less.
The power supply voltage is Measure the power supply voltage.
120 V or less.
The power supply voltage is
240 V or less.
A.410:
Undervoltage The power supply voltage
Measure the power supply voltage. Increase the power supply capacity.
dropped during operation.
(Detected in the SER-
VOPACK main circuit Set the power supply voltage within
power supply section.) Occurrence of instantaneous the specified range. When the
power interruption. instantaneous power cut hold time
Pn509 is set, decrease the setting.
The SERVOPACK fuse is blown
− PACK, connect an AC/DC reactor,
out.
and run the SERVOPACK.
PACK.
A.450:
Main-Circuit A SERVOPACK fault occurred. − Replace the SERVOPACK.
Capacitor Overvoltage
The order of phases U, V, and W
Confirm that the servomotor is cor-
in the servomotor wiring is incor- Check the servomotor wiring.
rectly wired.
rect.
A reference value exceeding the
Reduce the reference value or adjust
A.510: overspeed detection level was Check the input value.
the gain.
Overspeed input.
(The servomotor speed Reduce the reference input gain,
exceeds the maximum.) The motor speed overshoot Check the servomotor speed wave-
adjust the servo gain, or reconsider
occurred. form.
the operation conditions.
PACK.
The encoder output pulse output Check the encoder output pulse out- Decrease the setting of the encoder
frequency exceeded the limit. put setting. output pulse (Pn281).
A.511:
Overspeed of Encoder The encoder output pulse output
Output Pulse Rate frequency exceeded the limit Check the encoder output pulse out-
Decrease the servomotor speed.
because the servomotor speed put setting and servomotor speed.
was too high.
Check for abnormal noise from the
Abnormal vibration was detected servomotor, and check the speed Reduce the servomotor speed or
at the servomotor speed. and force waveform during opera- reduce the speed loop gain (Pn100).
A.520: tion.
Vibration Alarm
The mass ratio (Pn103) value is
Set the mass ratio (Pn103) to an
greater than the actual value or is Check the mass.
appropriate value.
greatly changed.
Troubleshooting
Reduce the load so that the mass

The servomotor vibrated consid- ratio falls within the allowable
A.521: Check the servomotor speed wave-
erably while performing tuning- value, or reduce the load level or the
Autotuning Alarm form.
less function (factory setting). gain level using the tuning-less
(Vibration was detected function (Fn200).
while performing tun-
ing-less function.) The servomotor vibrated consid-
Check the servomotor speed wave-
erably during advanced autotun- Execute advanced autotuning.
ing.
form. 9
9-11
9 Troubleshooting
Alarm:
Alarm Name
Check the value of Pn385 and
A.550: Set Pn385 to a value equal to or
The Pn385 setting is greater than Un101(Maximum motor speed
Maximum Speed lower than the motor maximum
the maximum speed. which is determined by encoder
Setting Error speed.
output pulses or by motor itself).
Incorrect wiring or contact fault Confirm that the servomotor and
Check the wiring.
of servomotor and encoder. encoder are correctly wired.
Check the servomotor overload Reconsider the load conditions and
Operation beyond the overload
characteristics and executed run operation conditions. Or, increase
protection characteristics.
command. the servomotor capacity.
Excessive load was applied dur-
A.710: ing operation because the servo- Check the executed run command
A.720: Remove the mechanical problems.
motor was not driven due to and servomotor speed.
Overload mechanical problems.
A.710: High Load
A.720: Low Load The setting of the linear scale
Check the setting of Pn282. Correct the setting of Pn282.
pitch (Pn282) is incorrect.
The setting of the motor phase
Check the setting of Pn080.1. Correct the setting of Pn080.1.
selection (Pn080.1) is incorrect.
PACK.
Take measures to ensure the servo-
A.730: The servomotor moves because
Check the operation status. motor will not move because of
A.731: of external force.
external force.
Dynamic Brake
Overload • Reduce the servomotor reference
Check the DB resistor power con- speed.
(Detected with SGDV- The moving energy at a DB stop
sumption monitor (Un00B) to see
3R8A, exceeds the DB resistance capac- • Reduce the mass.
how many times the DB has been
-5R5A, -7R6A, ity. • Reduce the number of times of
used.
-120A, -180A, the DB stop operation.
-200A, -330A,
-D SERVO-
PACKs.)
PACK.
The inrush current limit resistor
A.740: operation frequency at the main Reduce the frequency of turning the
Check how often the power supply
Overload of Surge circuit power supply ON/OFF main circuit power supply ON/OFF
has been turned ON/OFF.
Current Limit Resistor operation exceeds the allowable to less than once per minute.
(The main circuit power range.
is turned ON/OFF too The SERVOPACK may be faulty.
frequently.) A SERVOPACK fault occurred. − Repair or replace the SERVO-
PACK.
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 trace back monitor
Change the method for resetting the
reset by turning OFF the power (Fn000) to see if the overload alarm
alarm.
too many times. was reported.
Check the accumulated load ratio
A.7A0: monitor Un009 to see the load dur-
Excessive load or operation
Heat Sink Overheated ing operation, and the regenerative Reconsider the load and operation
beyond the regenerative energy
(Detected when the heat processing capacity. load ratio monitor Un00A to see the conditions.
sink temperature regenerative energy processing
exceeds 100°C.) capacity.
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.
PACK.
9-12
9.1 Troubleshooting
Alarm:
Alarm Name
A.7AB: Remove foreign matter or debris

from the SERVOPACK. If the
Built-in Fan in The fan inside the SERVOPACK Check for foreign matter or debris
alarm still occurs, the SERVO-
SERVOPACK stopped. inside the SERVOPACK.
PACK may be faulty. Repair or
Stopped
replace the SERVOPACK.
A.820: The linear scale may be faulty.

A linear scale fault occurred. −
Encoder Checksum Repair or replace the linear scale.
Error The SERVOPACK may be faulty.
(Detected on the encoder A SERVOPACK fault occurred. − Repair or replace the SERVO-
side.) PACK.
A linear scale fault occurred. − occurs, the linear scale may be
A.840: faulty. Repair or replace the linear
Encoder Data Error scale.
(Detected on the encoder Correct the wiring around the linear
side.) scale by separating the encoder
Malfunction of linear scale
− cable from the main circuit cable or
because of noise interference, etc.
by checking the grounding and
other wiring.
The servomotor speed is higher Reduce the motor speed to a value
Check the speed monitor (Un000)
than the specified speed, when below the speed specified by the
to confirm the servomotor speed
the control power supply was linear scale manufacturer, and turn
when the power is turned ON.
A.850: turned ON. ON the control power supply.
Encoder Overspeed Turn the power supply OFF and
(Detected when the con- then ON again. If the alarm still
trol power supply was An encoder fault occurred. − occurs, the servomotor may be
turned OFF and then ON faulty. Repair or replace the servo-
again.) motor.
(Detected on the encoder Turn the power supply OFF and
side.) then ON again. If the alarm still
VOPACK.
The surrounding air temperature
Measure the surrounding air tem- The surrounding air temperature
around the servomotor is too
perature around the servomotor. must be 40°C or less.
high.
The servomotor load is greater Check the accumulated load ratio The servomotor load must be within
than the rated load. monitor (Un009) to see the load. the specified range.
A.860:
Encoder Overheated Turn the power supply OFF and
(Only when an absolute then ON again. If the alarm still
encoder is connected.) An encoder fault occurred. − occurs, the servomotor may be
(Detected on the encoder faulty. Repair or replace the servo-
side.) motor.
VOPACK.
Troubleshooting
A.890: The linear scale may be faulty.

A linear scale fault occurred. −
Encoder Scale Error Repair or replace the linear scale.
A.891:
An encoder fault occurred. − occurs, the servomotor may be
Encoder Module Error faulty. Repair or replace the servo-
motor.
9
9-13
9 Troubleshooting
Alarm:
Alarm Name
A malfunction occurred in the Clear and reset the alarm and restart
−
A.b10: speed reference input section. the operation.
Speed Reference A/D Turn the power supply OFF and
Error then ON again. If the alarm still
(Detected when the A SERVOPACK fault occurred. − occurs, the SERVOPACK may be
servo is ON.) faulty. Repair or replace the SER-
VOPACK.
A malfunction occurred in the
detection section of the speed ref- Clear and reset the alarm and restart
−
erence A/D conversion data. (Not the operation.
an alarm.)
A.b11: A malfunction occurred in the Clear and reset the alarm and restart
−
Speed Reference A/D speed reference input section. the operation.
Data Error Turn the power supply OFF and
VOPACK.
A malfunction occurred in the
Clear and reset the alarm and restart
reading section of the force refer- −
A.b20: the operation.
ence input.
Reference Force
Input Read Error Turn the power supply OFF and
(Detected when the then ON again. If the alarm still
servo is ON.) A SERVOPACK fault occurred. − occurs, the SERVOPACK may be
VOPACK.
A.b31: Turn the power supply OFF and

Current Detection The current detection circuit for
− occurs, the SERVOPACK may be
Error 1 phase U is faulty.
(Phase-U) VOPACK.
A.b32: Turn the power supply OFF and

Current Detection The current detection circuit for
Error 2 phase V is faulty.
(Phase-V) VOPACK.
A.b33: The detection circuit for the cur-
Current Detection rent is faulty.
Error 3 VOPACK.
(Current detector)
The servomotor main circuit Check for disconnection of the
Correct the servomotor wiring.
cable is disconnected. motor main circuit cable.
A.bF0: then ON again. If the alarm still
System Alarm 0 A SERVOPACK fault occurred. − occurs, the SERVOPACK may be
(Scan C error) faulty. Repair or replace the SER-
VOPACK.
A.bF1:
System Alarm 1 faulty. Repair or replace the SER-
VOPACK.
A.bF2:
VOPACK.
9-14
9.1 Troubleshooting
Alarm:
Alarm Name
A.bF3: then ON again. If the alarm still
VOPACK.
A.bF4:
VOPACK.
The order of phases U, V, and W
Confirm that the servomotor is cor-
in the servomotor wiring is incor- Check the servomotor wiring.
rectly wired.
rect.
The setting of the motor phase
Check the setting of Pn080.1. Correct the setting of Pn080.1.
selection (Pn080.1) is incorrect.
A.C10: If the alarm still occurs after turning
Servo Overrun the power OFF and then ON again,
Detected even though the servomotor is cor-
An encoder fault occurred. −
(Detected when the rectly wired, the servomotor may be
servo is ON.) faulty. Repair or replace the servo-
motor.
VOPACK.
Fine-adjust the installation status of
Check the voltage of the linear scale
The linear scale signal is weak. the linear scale head, or replace the
signal.
linear scale.
Check the setting of Pn080.1
The count-up direction of the lin- Change the setting of Pn080.1
(Motor Phase Selection).
A.C20: ear scale does not match the for- (Motor Phase Selection).
Check the installation directions for
Phase Detection Error ward direction of the motor coil Correctly reinstall the linear scale
the linear scale and motor coil
assembly. and motor coil assembly.
assembly.
Correct the FG wiring and take
The hall sensor signal is affected
− measures against noise for the hall
by noise.
sensor wiring.
The hall sensor is protruding Correctly reinstall the motor coil
Check the hall sensor.
from the motor magnetic way. assembly or motor magnetic way.
The setting of the linear scale Check the setting of the linear scale
A.C21: Correct the value of Pn282.
pitch (Pn282) is incorrect. pitch (Pn282).
Hall Sensor Error
The hall sensor wiring is incor-
Check the hall sensor wiring. Correct the hall sensor wiring.
rect.
A hall sensor fault occurred. − Replace the hall sensor.
A.C22: The SERVOPACK phase data
Phase Information does not match that of the linear − Execute polarity detection (Fn080).
Disagreement scale.
The settings of the linear scale pitch
Troubleshooting
A.C50: (Pn282) and motor phase selection

Check the linear scale specifications
Polarity Detection Parameter settings are incorrect. (Pn080.1) may not match the actual
and feedback signal status.
Error product requirements. Set these
parameters to the correct values.
9-15
9 Troubleshooting
Alarm:
Alarm Name
Check the wiring to see if:
• Each FG of the serial converter
unit and linear servomotor is con-
nected to the FG of the SERVO-
PACK.
Take measures to avoid noise inter-
• The FG of the SERVOPACK is
Noise interference occurred on ference by correctly connecting FG
connected to the FG of the power
the scale signal. lines, shielding the encoder cable,
supply.
etc.
• The encoder cable is securely
shielded.
Check to see if the detection refer-
ence is repeatedly output in one
direction.
The polarity cannot be properly
detected if the detection reference is
0 (zero), but the speed feedback is
not 0 (zero) because of an external
A.C50: force, such as cable tension, applied
Polarity Detection to the motor coil assembly.
Error An external force was applied to Take measures to reduce the exter-
−
(cont’d) the motor coil assembly. nal force so that the speed feedback
becomes 0 for a 0 detection refer-
ence.
If external force cannot be reduced,
increase the value of the changes in
the sequence input signal allocation
for each signal (Pn481).
If the linear scale pitch is 100 μm or
longer, the SERVOPACK cannot
detect the correct speed feedback.
Use a scale pitch with higher accu-
racy (a pitch within 40 μm recom-
The linear scale resolution is too Check the linear scale pitch to see if mended.) Or, increase the value of
low. it is within 100 μm. the polarity detection reference
speed (Pn485). However, note that
increasing the value of Pn485 will
widen the servomotor movement
range required for polarity detec-
tion.
A.C51: Perform the wiring for an overtravel
Overtravel An overtravel signal was detected signal. Execute polarity detection at
Check the position after overtravel.
Detection at Polarity during polarity detection. a position where an overtravel sig-
Detection nal is not detected.
The servo has been turned ON
under the following circum-
A.C52: stances.
Polarity Detection • Polarity detection was not yet − Input the /PDET signal.
Uncompleted complete.
• The /PDET signal was not
input.
Increase the value of the polarity
A.C53: The moving distance exceeded detection range (Pn48E). Or,
Out of Range for the set value of Pn48E in the mid- − increase the value of the changes in
Polarity Detection dle of detection. the sequence input signal allocation
for each signal (Pn481).
Increase the value of the polarity
detection confirmation force refer-
ence (Pn495).
A.C54:
External force was applied to the Increase the value of the polarity
Polarity Detection −
servomotor. detection allowable error range
Error 2
(Pn498). Note that increasing the
allowable error will also increase
the motor temperature.
9-16
9.1 Troubleshooting
Alarm:
Alarm Name
faulty. Repair or replace the servo-
A.C80: motor.
Absolute Encoder
Clear Error Turn the power supply OFF and
VOPACK.
Re-insert the encoder connector and
Contact fault of encoder connec- Check the encoder connector con-
confirm that the encoder is correctly
tor or incorrect encoder wiring. tact status.
wired.
Encoder cable disconnection or
Use the encoder cable with the
short-circuit. Check the encoder cable.
specified rating.
Or, incorrect cable impedance.
Corrosion caused by improper
temperature, humidity, or gas Improve the operating environmen-
Short-circuit caused by intrusion tal conditions, and replace the cable.
Check the operating environment.
of water drops or cutting oil If the alarm still occurs, repair or
A.C90: Connector contact fault caused by replace the SERVOPACK.
Encoder vibration.
Communications Error
Correct the wiring around the
encoder to avoid noise interference
Malfunction caused by noise
− (Separate the encoder cable from
interference.
the main circuit cable, improve
grounding, etc.)
Connect the servomotor to another
SERVOPACK, and turn ON the
control power. If no alarm occurs,
A SERVOPACK fault occurred. −
the SERVOPACK may be faulty.
PACK.
The noise interference occurred
on the input/output signal line Check the encoder cable and con- Confirm that there is no problem
because the encoder cable is bent nector. with the encoder cable layout.
and the sheath is damaged.
A.C91:
The encoder cable is bundled
Encoder Confirm that there is no surge volt-
with a high-current line or near a Check the encoder cable layout.
Communications age on the encoder cable.
high-current line.
Position Data Error
The FG potential varies because
of influence from machines on Properly ground the device to sepa-
Check the encoder cable layout.
the servomotor side, such as the rate from the encoder FG.
welder.
Noise interference occurred on
Take countermeasures against
the input/output signal line from −
noise.
the encoder.
Excessive vibration and shocks Reduce the machine vibration or
were applied to the encoder. correctly install the servomotor.
Troubleshooting
A.C92: Turn the power supply OFF and

Encoder then ON again. If the alarm still
Communications An encoder fault occurred. − occurs, the servomotor may be
Timer Error faulty. Repair or replace the servo-
motor.
9
VOPACK.
9-17
9 Troubleshooting
Alarm:
Alarm Name
A.CA0: motor.
Encoder Parameter
Error Turn the power supply OFF and
VOPACK.
The encoder wiring and contact
Check the encoder wiring. Correct the encoder wiring.
are incorrect.
Noise interference occurred due Use tinned annealed copper twisted-
to incorrect encoder cable specifi- − pair or shielded twisted-pair cable
cations. with a core of at least 0.12 mm2.
Noise interference occurred
The wiring distance must be 20 m
because the wiring distance for −
max.
the encoder cable is too long.
The FG potential varies because
Make the grounding for the
of influence from machines on Check the encoder cable and con-
machine separately from encoder
A.Cb0: the servomotor side, such as the nector.
side FG.
Encoder Echoback welder.
Error Excessive vibration and shocks Reduce the machine vibration or
were applied to the encoder. correctly install the servomotor.
motor.
VOPACK.
Confirm that there is no contact
The contact in the servomotor U, Check the motor main circuit cable
fault in the motor wiring of encoder
V, and W wirings is faulty. connection.
wiring.
Increase the servo gain using the
Check the SERVOPACK gain to see
The SERVOPACK gain is low. parameters such as Pn100 and
if it is too low.
Pn102.
Reduce the position reference pulse
Reduce the reference pulse fre-
The frequency of the position ref- frequency or reference accelera-
quency, and operate the SERVO-
A.d00: erence pulse is too high. tion. Or, reconsider the electronic
PACK.
Position Error Pulse gear ratio.
Overflow Apply the smoothing function, such
(Position error exceeded The position reference accelera- Reduce the reference acceleration, as using position reference accelera-
the value set in the tion is too fast. and operate the SERVOPACK. tion/deceleration time constant
excessive position error (Pn216).
alarm level (Pn520))
Setting of the Pn520 (Excessive
Check the alarm level (Pn520) to
Position Error Alarm Level) is
see if it is set to an appropriate Set the Pn520 to proper value.
low against the operating condi-
value.
tion.
VOPACK.
9-18
9.1 Troubleshooting
Alarm:
Alarm Name
When setting not to clear position
A.d01: Set position error pulses to be
error pulses, the servomotor
Position Error Pulse Check the error counter (Un008) cleared while in servo OFF status.
rotated while the servo was OFF,
Overflow Alarm at while servo is OFF. Or, correct the excessive position
resulting in position error pulse
Servo ON error alarm level (Pn520).
overflow.
The servo was turned ON while
the position error pulses accumu- Set position error pulses to be
A.d02: lated, and the reference pulse was cleared while in servo OFF status.
Position Error Pulse input while the servomotor was
Check the error counter (Un008) Or, correct the excessive position
Overflow Alarm by running at the speed limit
while servo is OFF. error alarm level (Pn520).
Speed Limit at Servo (Pn529). As a result, the position
error count exceeded the exces- Or, adjust the speed limit level
ON
sive position error alarm level (Pn529) when servo turns ON.
(Pn520).
A.d30:
The position data exceeded Check the input reference pulse Reconsider the operating specifica-
Position Data ±1879048192. counter (Un00C). tions.
Overflow
The output signal circuits or devices
The lag between activations of for /HWBB1 and /HWBB2 or the
A.EB1:
the input signals /HWBB1 and Measure the time lag between the SERVOPACK input signal circuits
Safety Function Signal /HWBB2 for the HWBB function /HWBB1 and /HWBB2 signals. may be faulty. Alternatively, the
Input Timing Error is one second or more. input signal cables may be discon-
nected. Repair or replace them.
The three-phase power supply Confirm that the power supply is
Check the power supply wiring.
wiring is incorrect. correctly wired.
A.F10: The three-phase power supply is Measure the voltage at each phase Balance the power supply by chang-
Main Circuit Cable unbalanced. of the three-phase power supply. ing phases.
Open Phase
(With the main power A single-phase power is input
supply ON, voltage was without setting Pn00B.2 (power
Check the power supply and the Match the parameter setting to the
low for more than 1 sec- supply method for three-phase
parameter setting. power supply.
ond in an R, S, or T SERVOPACK) to 1 (single-phase
phase.) power supply).
(Detected when the main Turn the power supply OFF and
power supply was turned then ON again. If the alarm still
ON.) A SERVOPACK fault occurred. − occurs, the SERVOPACK may be
VOPACK.
The contact between the digital
Insert securely the connector or
CPF00: operator and the SERVOPACK is Check the connector contact.
replace the cable.
Digital Operator faulty.
Transmission Error 1 Malfunction caused by noise Keep the digital operator or the
−
interference cable away from noise sources.
Disconnect the digital operator and
then re-connect it. If the alarm still
A digital operator fault occurred. − occurs, the digital operator may be
faulty. Repair or replace the digital
CPF01: operator.
Digital Operator
Transmission Error 2 Turn the power supply OFF and
Troubleshooting

VOPACK.
9-19
9 Troubleshooting
9.2.1 List of Warnings
9.2 Warning Displays

The following sections describe troubleshooting in response to warning displays.
The warning name, warning meaning, and warning code output are listed in order of the warning numbers in
9.2.1 List of Warnings.
The causes of alarms and troubleshooting methods are provided in 9.2.2 Troubleshooting of Warnings.
9.2.1 List of Warnings

The relation between warning displays and warning code outputs are shown below.
Warning Warning Code Output

Warning Name Meaning
Display ALO1 ALO2 ALO3
Position Error Pulse Position error pulse exceeded the parameter settings
A.900 H H H
Overflow (Pn520×Pn51E/100).
When the servo turns ON, the position error pulses exceeded
A.901 Overflow Alarm at H H H
the parameter setting (Pn526×Pn528/100).
Servo ON
This warning occurs before the overload alarms (A.710 or
A.910 Overload A.720) occur. If the warning is ignored and operation contin- L H H
ues, an overload alarm may occur.
Abnormal vibration at the motor speed was detected. The
A.911 Vibration detection level is the same as A.520. Set whether to output an L H H
alarm or warning by "Vibration Detection Switch" of Pn310.
This warning occurs before the regenerative overload alarm
A.920 Regenerative Overload (A.320) occurs. If the warning is ignored and operation contin- H L H
ues, a regenerative overload alarm may occur.
This warning occurs before Dynamic Brake Overload (A.731)
Dynamic Brake
A.921 alarm occurs. If the warning is ignored and operation contin- H L H
Overload
ues, a dynamic brake overload alarm may occur.
Change of Parameters
A.941 Parameters that require the restart have been changed. H H L
Requires Restart
This warning occurs before Undervoltage (A.410) alarm
A.971 Undervoltage occurs. If the warning is ignored and operation continues, an L L L
undervoltage alarm may occur.
Note 1. Warning code is not outputted without setting Pn001.3 =1 (Outputs both Alarm Codes and Warning Codes.)
2. If Pn008.2 = 1 (Do not detect warning) is selected, all warnings will not be detected.
9-20
9.2 Warning Displays
9.2.2 Troubleshooting of Warnings

Refer to the following table to identity the cause of a warning and the action to be taken. Contact your
Yaskawa representative if the problem cannot be solved by the described corrective action.
Warning Situation at Warning

Warning Name Cause Corrective Actions
Display Occurrence
Wiring of the servomo- Check whether there is any loose con-
Check the wiring of the cable for
tor U, V, or W line is nection in motor wiring or encoder
motor main circuit.
incorrect. wiring.
The SERVOPACK gain Increase the speed loop gain (Pn100)
Check the SERVOPACK gain.
is too low. or position loop gain (Pn102).
Lower the position reference pulse
The position reference
Lower the position reference pulse frequency or the position reference
pulse frequency is too
frequency. acceleration, or correct the electronic
high.
gear ratio.
Position Error Apply a smoothing function, such as a
A.900 The position reference Lower the position reference accelera-
Pulse Overflow position reference acceleration/decel-
acceleration is too high. tion.
eration time constant (Pn216).
The excessive position
error alarm level
Check the excessive position error Set an appropriate value for the
(Pn520) is too low for
alarm level (Pn520). Pn520.
the operating condi-
tions.
Turn the power supply OFF and then
A SERVOPACK fault ON again. If the alarm still occurs, the
−
occurred. SERVOPACK may be faulty. Repair
or replace the SERVOPACK.
When the servo was
OFF, the servomotor
Position Error Make a setting to clear position error
moved without clearing
Pulse Overflow pulses when the servo is OFF or set an
A.901 position error pulses Check the error counter (Un008).
Alarm at Servo appropriate value for the excessive
and excessive position
ON position error alarm level (Pn520).
error pulses accumu-
lated.
The servomotor or
Overload:
encoder wiring is incor- Correct the servomotor and encoder
Warning before Check the wiring.
rect or the connection is wiring if they are wrong.
alarm A710 or faulty.
A720 occurs
In either of the fol- The servomotor is in Reconsider the load and operation
lowing cases: excess of the overload Check the overload characteristics of conditions.
1. 20% of the protective characteris- the servomotor and reference input.
Or, check the servomotor capacity.
overload tics.
A.910
detection level The servomotor is not
of A710 was driven due to a mechan-
reached. Check the reference input and motor
ical factor and the oper- Improve the mechanical factor.
2. 20% of the speed.
ating load has become
overload excessive.
detection level
of A720 was A SERVOPACK fault The SERVOPACK may be faulty.
−
Troubleshooting
reached. occurred. Repair or replace the SERVOPACK.
Check whether unusual sound is gen-

Unusual vibration was
erated from the motor, and check the Lower the motor movement speed or
detected while the
speed, and force waveform of the the speed loop gain (Pn100).
motor was moving.
motor.
A.911 Vibration
The mass ratio (Pn103)
is larger than the actual
Check the mass.
Set an appropriate value for the mass 9
value or greatly ratio (Pn103).
changes.
9-21
9 Troubleshooting
9.2.2 Troubleshooting of Warnings
Warning Situation at Warning

Warning Name Cause Corrective Actions
Display Occurrence
The power supply volt-
age is in excess of the Measure the power supply voltage.
specified range.
The external regenera-
Change the regenerative resistance,
tive resistance, servo
regenerative resistor capacity, or SER-
Regenerative amplifier capacity, or Check the operating conditions or
VOPACK capacity. Reconsider the
Overload: regenerative resistor capacity using the capacity selection
operating conditions using the capac-
A.920 Warning before capacity is insufficient software SigmaSize+, etc.
ity selection software SigmaSize+,
the alarm A320 or a continuous regener-
etc.
occurs ative state occurs.
Regenerative power
continuously flowed Reconsider the system including the
Check the load on the servomotor dur-
back because negative servo, machine, and operation condi-
ing operation.
load was continuously tions.
applied.
The servomotor is
Do not drive the motor with external
driven by an external Check the operating conditions.
force.
force.
Dynamic Brake • Reduce the servomotor reference

Overload: The moving energy at a Check the operating frequency of the speed.
A921 Warning before DB stop exceeds the DB DB with power consumed by DB • Reduce the mass.
the alarm A.731 resistance capacity. resistance (Un00B). • Reduce the number of times of the
occurs DB stop operation.
A SERVOPACK fault The SERVOPACK may be faulty.

−
occurred. Repair or replace the SERVOPACK.
Change of Parameters that require

A.941 Parameters the restart have been − Turn OFF the power and ON again.
Requires Restart changed.
age for a 200 VAC
model is 120 V or
Use a power supply voltage within the
below or the power sup- Measure the power supply voltage.
specified range.
ply for a 400 VAC
model is 240 V or
below.
age dropped during Measure the power supply voltage. Increase the power supply capacity.
operation.
A.971 Undervoltage
Set the power supply voltage to the
An instantaneous power
Measure the power supply voltage. specified range. Lower the instanta-
failure occurred.
neous power cut hold time (Pn509).
Repair or replace the SERVOPACK
The fuse in the SERVO-
− and connect an AC/DC reactor to the
PACK is burned out.
SERVOPACK.
A SERVOPACK fault The SERVOPACK may be faulty.

−
occurred. Repair or replace the SERVOPACK.
9-22
9.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor
9.3 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 control power circuit.
ON. power supply terminals.
The main circuit power supply is Check the voltage between power
Correct the power circuit.
not ON. supply terminals.
Wrong wiring or disconnection of I/ Check if the connector CN1 is prop- Correct the connector CN1 connec-
O signal connector CN1 erly inserted and connected. tion.
Linear Linear servomotor or serial con-
Servomotor Does Check the wiring. Correct the wiring.
verter unit wiring disconnected.
Not Start When
Using JOG Check the parameter Pn080. Correct the setting of Pn080.
Operation and • When using an incremental linear
Host Reference.
The polarity detection is not exe- scale, turn ON
cuted. Check /S-ON or /P-DET input sig- /S-ON or /P-DET input signal.
nal. • When using an absolute linear
scale, turn OFF external /S-ON
input signal and execute Fn080.
Check if the SERVOPACK board is
A SERVOPACK fault occurred. Replace the SERVOPACK.
damaged.
Reduce load or replace with larger
Overloaded Run under no load.
capacity servomotor.
Input speed/position references cor-
Speed/position references not input Check reference input pins.
rectly.
Setting for Pn50A to Pn50D "Input Check settings of parameters Correct the settings for Pn50A to
Signal Selection" is incorrect. Pn50A to Pn50D. Pn50D "Input Signal Selection."
Check settings of parameters Correct the parameter setting and
/S-ON input signal stays OFF.
Pn50A.0 and Pn50A.1. turn ON /S-ON input signal.
Set parameters to match the applica-
Control selection is incorrect. Check parameter Pn000.1.
tion.
Linear
Reference pulse mode selection is Check the parameter setting for the Correct setting of parameter
Servomotor Starts
incorrect. reference pulse form (Pn200.0). Pn200.0.
in JOG Operation
but Does Not Start Check V-REF and SG to confirm if
Speed control: Speed reference Correct the control mode selection
by Host the control method and the input are
input is incorrect. parameter, or the input.
Reference. agreed.
Check T-REF and SG to confirm if
Force control: Force reference input Correct the control mode selection
the control method and the input are
is incorrect. parameter, or the input.
agreed.
Position control: Reference pulse Check Pn200.0 reference pulse Correct the setting of Pn200.0 or the
input is incorrect. form or sign + pulse signal. input.
The error clear counter (CLR) input Check CLR or /CLR input pins Turn CLR or /CLR input signal
Troubleshooting
is turned ON. (CN1-14 and -15). OFF.

The forward run prohibited (P-OT)
Turn P-OT or N-OT input signal
or reverse run prohibited (N-OT) Check P-OT or N-OT input signal.
ON.
input signal is turned OFF.
Servomotor wiring is incorrect. Check the servomotor wiring. Correct the servomotor wiring.
Linear Serial converter unit wiring is incor- Check the serial converter unit wir- Correct the serial converter unit
Servomotor rect. ing. wiring.
Moves 9
Instantaneously, Linear scale wiring is incorrect. Check the linear scale wiring. Correct the linear scale wiring.
and then Stops Linear scale pitch (Pn282) is incor-
Check the setting of Pn282. Correct the setting of Pn282.
rect.
9-23
9 Troubleshooting

Change the setting of Pn080.1
Linear scale counting up direction (Motor Phase Selection).
Linear and linear servomotor coil assembly Check the directions.
Servomotor Match the linear scale direction and
forward direction do not agree.
Moves coil assembly direction.
Instantaneously, Check if the value of Un004 (Elec-
and then Stops Polarity detection is not performed trical Angle 2, angle from 0 (zero) Correct the settings for the polarity
(cont’d) correctly. degree of phase-U) at an arbitrary detection related parameter.
position is between ±10 degrees.
Linear Check connection of power lead
Wiring connection to servomotor is Tighten any loose terminals or con-
Servomotor (phases U, V, and W) and encoder
defective. nectors.
Speed Unstable connectors.
Check V-REF and SG to confirm if
Speed control: Speed reference Correct the control mode selection
input is incorrect. parameter, or the input correctly.
agreed.
Check T-REF and SG to confirm if
Force control: Force reference input Correct the control mode selection
is incorrect. parameter, or the input correctly.
agreed.
Check if the SERVOPACK offset is Adjust the SERVOPACK offset cor-
Speed reference offset is error.
adjusted incorrectly. rectly.
Linear
Servomotor Position control: Reference pulse Check Pn200.0 reference pulse Correct the control mode selection
Moves input is incorrect. form or sign + pulse signal. parameter, or the input correctly.
Without Check if the SERVOPACK board is
Reference A SERVOPACK fault occurred. Replace the SERVOPACK.
damaged.
Input
Change the setting of Pn080.1
Linear scale counting up direction (Motor Phase Selection).
and linear servomotor coil assembly Check the directions.
Match the linear scale direction and
forward direction do not agree.
servomotor direction.
Check if the value of Un004 (Elec-
Polarity detection is not performed trical Angle 2, angle from 0 (zero) Correct the settings for the polarity
correctly. degree of phase-U) at an arbitrary detection related parameter.
Check the setting of parameter
Correct the setting of parameter
Improper parameter setting Pn001.0 (Servo OFF or Alarm Gr.1
Pn001.0.
Stop Mode).
DB (dynamic
brake) Does Not Check if excessive mass, motor
Replace the SERVOPACK, and
Operate DB resistor disconnected overspeed, or DB frequent activa-
reconsider the load.
tion has occurred.
DB drive circuit fault Check if DB circuit parts are faulty. Replace the SERVOPACK.
Check if there are any loosen
Mounting not secured Tighten the mounting screws.
mounting screws.
Check the machine movable section
Vibration source on the driven
for foreign matter, damage or defor- Contact the machine manufacturer.
machine
mity.
The specifications of input signal
wires must be:
Noise interference due to incorrect Twisted-pair or twisted-pair
shielded wire with core Use the specified I/O signal cables.
I/O signal cable specifications
Abnormal Noise 2
0.12 mm min. and tinned annealed
from Servomotor copper twisted wire.
Noise interference due to long dis- Shorten the wiring distance for I/O
max. and the impedance a few hun-
tance of I/O signal cable signal cable to the specified value.
dreds ohm max.
The specifications of encoder cable
must be:
Noise interference due to incorrect Twisted-pair or twisted-pair Use the specified serial converter
serial converter unit connection shielded wire with core unit connection cable.
cable specifications
0.12 mm2 min. and tinned annealed
copper twisted wire.
9-24

Noise interference due to long serial Shorten the serial converter unit
converter unit connection cable wir- connection cable wiring distance to
max.
ing distance the specified value.
Check if the serial converter unit
Noise due to damaged serial con- Modify the serial converter unit
connection cable is not damaged or
verter unit connection cable connection cable layout.
bent.
Excessive noise to the serial con- connection cable is bundled with Install a surge absorber to the serial
verter unit connection cable high-current line or near the high- converter unit connection cable.
current line.
Abnormal Noise FG electrical potential varies by
Check if the machine is correctly Ground the machine separately
from Servomotor influence of such machines on the
grounded. from PG side FG.
(cont’d) servomotor side as welders.
Check if there is noise interference
SERVOPACK pulse counting error Take measure against noise for the
on the I/O signal cable from the
due to noise serial converter unit wiring.
encoder.
Check if vibration from the machine
occurred or serial converter unit Reduce vibration from the machine,
Excessive vibration and shock to installation is incorrect. or correct the serial converter unit
the serial converter unit
(Mounting surface accuracy, or fix- installation.
ing.)
Serial converter unit fault − Replace the serial converter unit.
Linear scale fault − Replace the linear scale.
Speed loop gain value (Pn100) is Check the setting of Pn100 (Speed Reduce speed loop gain (Pn100)
too high. Loop Gain). preset value.
Position loop gain value (Pn102) is Check the setting of Pn102 (Posi- Reduce position loop gain (Pn102)
too high. tion Loop Gain). preset value.
Servomotor
Incorrect speed loop integral time Check the setting of Pn101 (Speed Correct the speed loop integral time
Vibrates at about
constant (Pn101) setting Loop Integral Time Constant). constant (Pn101) setting.
200 to 400 Hz
Check the setting of Pn103 (Mass Correct the setting of Pn103 (Mass
Mass ratio data is incorrect.
Ratio). Ratio).
When the autotuning is used: Incor- Check the setting of Pn103 (Mass Correct the setting of Pn103 (Mass
rect mass ratio data setting Ratio). Ratio).
Speed loop gain value (Pn100) is Check the setting of Pn100 (Speed Reduce the speed loop gain (Pn100)
too low. Loop Gain). preset value.
Position loop gain value (Pn102) is Check the setting of Pn102 (Posi- Reduce the position loop gain
too high. tion Loop Gain). (Pn102) preset value.
Incorrect speed loop integral time Check the setting of Pn101 (Speed Correct the speed loop integral time
constant (Pn101) setting Loop Integral Time Constant). constant (Pn101) setting.
High
Speed Check the setting of Pn103 (Mass Correct the setting of Pn103 (Mass
Mass ratio data is incorrect.
Overshoot on Ratio). Ratio).
Starting and When the autotuning is used: Check the setting of Pn103 (Mass Correct the setting of Pn103 (Mass
Stopping. Mass ratio data is incorrect. Ratio). Ratio).
Check the force reference wave
The force reference is saturated. Use the mode switch function.
form.
Initial value of force limit:
The force limit (Pn483, Pn484) is Set a appropriate value for Pn483
Pn483 = 30%
Troubleshooting
set to the initial value. and Pn484 (Force Limit).

Pn484 = 30%
9-25
9 Troubleshooting

Check if the voltage of input signal
Connect to the external +24 V
external power supply (+24 V) is
power supply.
correct.
An overtravel signal is output (P-
OT (CN1-42) or N-OT (CN1-43)) is Check if the overtravel limit switch
Correct the overtravel limit SW.
at H. (SW) operates properly.
Check if the overtravel limit switch Correct the overtravel limit SW wir-
(SW) is connected correctly. ing.
Check the fluctuation of the input
Stabilize the external +24 V power
signal external power supply (+24
supply voltage.
V) voltage.
The overtravel signal does not oper-
Check if the overtravel limit switch Adjust the overtravel limit SW so
ate normally (P-OT or N-OT signal
(SW) activate correctly. that it operates correctly.
sometimes changes).
Check if the overtravel limit switch
Correct the overtravel limit SW wir-
wiring is correct. (check for dam-
ing.
aged cables or loosen screws.)
Check the P-OT signal mapping Correct the setting of P-OT signal
Incorrect P-OT/N-OT signal selec- (Pn50A.3). mapping (Pn50A.3).
tion Check the N-OT signal mapping Correct the setting of N-OT signal
(Pn50B.0). mapping (Pn50B.0).
Check if "coast to stop" in servo
Check Pn001.0 and Pn001.1.
Incorrect servomotor stop method OFF status is selected.
selection Check if "coast to stop" in force
Check Pn001.0 and Pn001.1.
control mode is selected.
Check if the distance to the position
Overtravel (OT) Improper overtravel position setting of OT (overtravel) is too short con- Correct the OT position.
sidering the coasting distance.
(Movement over
the zone specified The serial converter unit connection
by the host cable specifications must be:
controller) Noise interference due to improper Twisted-pair or twisted-pair Use serial converter unit connection
serial converter unit connection shielded wire with core cable with the specified specifica-
cable specifications 2 tions.
0.12 mm min. and tinned annealed
Noise interference because the The serial converter unit connection
serial converter unit connection cable distance must be within the
max.
cable distance is too long. specified range.
Noise influence due to damaged Check if the serial converter unit
Correct the serial converter unit
serial converter unit connection connection cable is bent or its
connection cable layout.
cable sheath is damaged.
Excessive noise interference to Change the serial converter unit
connection cable is bundled with a
serial converter unit connection connection cable layout so that no
high-current line or near high-cur-
cable surge voltage is applied.
rent line.
FG electrical potential varies by
Check if the machine is correctly Ground the machine separately
influence of such machines on the
grounded. from encoder side FG.
servomotor side as welders.
Check if the I/O signal cable from
SERVOPACK pulse count error due Take a measure against noise for the
the serial converter unit is influ-
to noise serial converter unit wiring.
enced by noise.
Check if machine vibration
Reduce the machine vibration or
Excessive vibration and shock to occurred or serial converter unit
mount the serial converter unit
the serial converter unit mounting such as mounting surface
securely.
precision, fixing is incorrect.
Serial converter unit fault − Replace the serial converter unit.
SERVOPACK fault − Replace the SERVOPACK.
9-26

The input signal cable specifica-
tions must be:
Noise interference due to improper Twisted-pair or twisted-pair Use I/O signal cable with the speci-
I/O signal cable specifications shielded wire with core fied specifications.
0.12 mm2 min. and tinned annealed
Position error The wiring distance must be 3 m
Noise interference because the I/O The I/O signal cable distance must
(without alarm) max. and the impedance several
signal cable distance is too long. be within the specified range.
hundreds ohm max.
Reduce the reference pulse fre-
Reference pulse frequency is too Check Un00C (Input Reference
quency to a value within the specifi-
high. Pulse Counter.)
cation.
Serial converter unit fault (pulse
− Replace the serial converter unit.
count does not change)
Surrounding air temperature is too Measure the servomotor surround- Reduce the surrounding air temper-
high. ing air temperature. ature to 40°C max.
Clean dust and oil from servomotor
Servomotor surface is dirty. Check visually.
surface.
Servomotor Reconsider load and operation con-
Overheated Overloaded Run under no load. ditions or replace with larger capac-
ity servomotor.
Check if the value of Un004 (Elec-
Polarity detection is not performed trical Angle 2, angle from 0 (zero) Correct the settings for the polarity
correctly. degree of phase-U) at an arbitrary detection related parameter.
Troubleshooting
9-27
10
Appendix
10.1 Connection to Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2

10.1.1 Example of Connection to MP2200/MP2300 Motion Module SVA-01 . . . . . . . . . . . 10-2
10.1.2 Example of Connection to MP920 4-axes Analog Module SVA-01 . . . . . . . . . . . . . 10-3
10.1.3 Example of Connection to OMRON’s Motion Control Unit . . . . . . . . . . . . . . . . . . . 10-4
10.1.4 Example of Connection to OMRON’s Position Control Unit . . . . . . . . . . . . . . . . . . 10-5
(SERVOPACK in Speed Control Mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-6
(SERVOPACK in Position Control Mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-7
10.2 List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-8

10.2.1 Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-8
10.2.2 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-9
10.3 Monitor Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-30

10.4 Parameter Recording Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-31
Appendix
10
10-1
10 Appendix
10.1.1 Example of Connection to MP2200/MP2300 Motion Module SVA-01
10.1 Connection to Host Controller

The following figures show the connection examples to host controllers.
10.1.1 Example of Connection to MP2200/MP2300 Motion Module SVA-01

MP2200/MP2300 Series
SVA-01 manufactured by Yaskawa SGDV SERVOPACK
CN1/CN2 CN1
SG 1 2 SG
AO_0 (NREF) 2 5 V-REF
PA 3 33 PA
PAL 4 34 /PA
PC 5 19 PC
PCL 6 20 /PC
SG 7 6 SG
AI_0 (VTG) 8
AO_1 (TREF) 9 9 T-REF
0V (for 24V) 10 32 ALM-
0V (for 24V) 11
DO_2 (PCON) 12 41 /C-SEL (Switches the control mode.)
DO_4 13 45 /P-CL (Depends on the user settings.)
DO_3 14 46
DI_3 (P-OT) 15 42 P-OT
+24V 16 47 +24V IN
DI_0 (SVALM) 17 31 ALM+
DI_2 (ZERO/HOME LS) 18
SG 19 10 SG
SEN (5V) 20 4 SEN L1C
L2C Control power supply
AI_1 (TMON) 21
L1
㧙 22 L2
PB 23 35 PB L3
Main circuit power supply
PBL 24 36 /PB
SG 25 28 TGON-(/BRK-)
Linear servomotor
AI-GND 26 27 TGON+(/BRK+)
AO-GND 27 1 SG U
V M
0V (for 24V) 28 30 /S-RDY- W
0V (for 24V) 29
DO_1 (ALMRST) 30 44 /ALM-RST Linear scale
DO_0 (SV ON) 31 40 /S-ON
Serial
DO_5 (SEN for VS866) 32 CN2 converter Enc
DI_4 (N-OT) 33 43 N-OT unit
+24V 34
DI_1 (SRDY) 35 29 /S-RDY+ Properly treat the end of
DI_5 (EXT/DEC) 36 22 BAT- shielded wires.
21 BAT+
FG FG
ABS encoder battery (3.6 V)

EXT/DEC input
ABS encoder battery (0 V)
ZERO/HOME LS input
P-OT input Brake interlock output (+)
N-OT input Brake interlock output (-)
Note 1. Connection cables (model: JEPMC-W2040-) to connect the SERVOPACK to the MP2200/MP2300 are pro-
vided by Yaskawa. For details, refer to Machine Controller MP2200/2300 Motion Module User’s Manual
(SIEPC88070016).
2. The SERVOPACK incorporates a safety function to protect people from the hazardous operation of the movable
parts of the machines, reduce the risk, and ensure the safety of the machine in operation.
Necessary circuits and settings are required to use this function. For details, refer to 5.11 Safety Function.
10-2
10.1.2 Example of Connection to MP920 4-axes Analog Module SVA-01

MP920 Series SVA-01
manufactured by
Yaskawa Electric Corporation SGDV SERVOPACK
CN1 to CN4 ∗ CN1

2 NREF V-REF 5 L1C
1 SG SG 2 L2C
Control power supply
3 PA PAO 33 L1
4 PAL /PAO 34 L2
23 PB PBO 35 Main circuit power supply
L3
24 PBL /PBO 36
5 PC PCO 19
6 PCL /PCO 20
7 SG SG 6 Linear servomotor
U
16 +24V OUT +24V-IN 47 V M
34 W
31 SVON /S-ON 40
Linear scale
30 ALMRST /ALM-RST 44
Serial
12 PCON /P-CON 41 CN2 converter Enc
unit
13 OTR N-OT 43
14 OTF P-OT 42
Properly treat the end of
32 DOSEN shielded wires.
11 0V
20 SEN SEN 4
19 SG SG 10
28 0V /S-RDY- 30
29 0V
17 SVALM ALM+ 31
10 0V ALM- 32
35 SVRDY /S-RDY+ 29
18 BRK /TGON+ 27
22 BAT BAT(+) 21
21 0BAT BAT(-) 22
FG

Note 1. Connection cables (model: JEPMC-W6050--E) to connect the SERVOPACK to the MP920 are provided by
Yaskawa. For details, refer to Machine Controller MP920 User’s Manual design and maintenance (SIEZ-C887-
2.1).
Appendix
10
10-3
10 Appendix
10.1.3 Example of Connection to OMRON’s Motion Control Unit
10.1.3 Example of Connection to OMRON’s Motion Control Unit

MC unit manufactured
by OMRON
C200H-MC221
(CS1W-MC221 / MC421)
(CV500-MC221 / MC421)
SGDV SERVOPACK
DRV connector
24 VDC
24V input 1 L1C
24V input ground 2 CN1 L2C
Control power supply
X-axis alarm input 3 ALM+ 31 L1
X-axis run reference output 4 /S-ON 40 L2
X-axis alarm reset output 5 /ALM-RST 44 Main circuit power supply
L3
∗
X-axis feedback ground 10 SG 1 Linear servomotor
X-axis phase-A input 11 PAO 33
X-axis phase-/A input 12 /PAO 34 U
X-axis phase-B input 13 PBO 35 V M
X-axis phase-/B input 14 /PBO 36 W
X-axis phase-Z input 15 PCO 19
X-axis phase-/Z input 16 /PCO 20
X-axis speed reference 17 V-REF 5 Linear scale
Axis speed reference ground 18 SG 6 Serial
CN2 converter Enc
FG Shell unit
24V output 19 +24V-IN 47
24V output ground 20 ALM- 32 Properly treat the ends of shielded wired.
I/O connector
24VDC
24V input 1
X-axis CW limit input 2
X-axis CCW limit input 4
X-axis immediate stop input 6
X-axis origin proximity input 10
24V input ground 14

Note 1. Only signals applicable to Yaskawa’s SGDV SERVOPACK and OMRON’s MC unit are shown in the diagram.
2. The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example.
3. Note that incorrect signal connection will cause damage to the MC unit and SERVOPACK.
4. Open the signal lines not to be used.
5. The above connection diagram shows only X-axis connection. When using another axes, make connection to the
SERVOPACK in the same way.
6. The normally closed (N.C.) input terminals not to be used at the motion control unit I/O connector section must
be short-circuited at the connector.
7. Make the setting so that the servo can be turned ON/OFF by the Servo ON (/S-ON) signal.
10-4
10.1.4 Example of Connection to OMRON’s Position Control Unit

Position control unit I/O power supply
CS1W-NC133 / 233 / 433 +24V + +24 V
-
manufactured by OMRON Corporation 024
5V power supply for pulse output A4 5VDC SGDV SERVOPACK

5V GND for pulse output A3 2
4 CN1
CW(+) output A5 PULS 7
CW(-) output
L1C Control
A6 /PULS 8 L2C
CCW(+) output power supply
A7 SIGN 11 L1
CCW(-) output A8 /SIGN 12 L2 Main circuit
CLR 15
Error counter reset output A11 L3 power supply
/CLR 14
Origin input signal A16 PCO 19
Origin input common A14 /PCO 20
COIN+ 25 Linear servomotor
24 V power supply for output A1 /COIN- 26
24 V GND for output A2 U
+24V-IN 47 V M
/S-ON 40 W
P-OT 42
N-OT 43 Linear scale
/ALM-RST 44 Serial
ALM- 32 CN2 converter Enc
1Ry 1 ALM+ 31 unit
X-axis external interrupt input A19
A21 Properly treat the end of
X-axis CCW limit input A23 shielded wires.
X-axis CW limit input A22 Connector
shell 3
X-axis immediate stop input A20
∗1. The ALM signal is output for about five seconds after the control power is turned ON. Take this into consideration
when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop the main
circuit power supply to the SERVOPACK.
∗2. Set parameter Pn200.0 to "1."
∗3. Connect the shield wire to the connector shell.

Note 1. Only signals applicable to Yaskawa’s SGDV SERVOPACK and OMRON’s MC unit (positioning unit) are shown
in the diagram.
Appendix
10
10-5
10 Appendix
10.1.5 Connection to MITSUBISHI’s AD72 Positioning Unit (SERVOPACK in Speed Control Mode)

(SERVOPACK in Speed Control Mode)
SGDV SERVOPACK
I/O power supply
+24V + +24 V
-
AD72 manufactured 024 V L1C
Control
by Mitsubishi Electric L2C power supply
Corporation ∗2
L1
CONT L2
Main circuit
1 ON when L3 power supply
positioning is
2 STOP cancelled
3 DOG ON when
proximity is CN1 Linear servomotor
detected
SERVO +24V-IN 47 U
1 /S-ON 40 V M
2 SV-ON W
1Ry 1
3 ALM+ 31
Linear scale
READY 1Ry
4 ALM - 32 Serial
5 V-REF (T-REF) 5(9) CN2 converter Enc
unit
6 Speed reference SG 6(10)
ENCO ∗4 Properly treat the end of
4 PBO 35 shielded wires.
5 PULSE A /PBO 36
7 PAO 33
8 PULSE B /PAO 34 CN1
10 PCO 19 42 P-OT
11 PULSE C /PCO 20
3 0V SG 1 43 N-OT 024 V
6 0V
9 0V
Connector
shell ∗3
∗1. The ALM signal is output for about five seconds after the control power is turned ON. Take this into consideration
when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop the main
circuit power supply to the SERVOPACK.
∗2. Pin numbers are the same both for X-axis and Y-axis.
∗3. Connect the connector wire to the connector shell.

Note 1. Only signals applicable to Yaskawa’s SGDV SERVOPACK and Mitsubishi’s AD72 Positioning Unit are shown
in the diagram.
10-6

(SERVOPACK in Position Control Mode)
I/O power
AD75 supply SGDV SERVOPACK
manufactured by +24 V
Mitsubishi +24V +
Electric - 0 24 V
Corporation L1C
L2C
Control
X-axis (Y-axis) power supply
L1
26 L2
1Ry Main circuit
7 READY ON when L3 power supply
positioning is
14 STOP cancelled
Linear servomotor
11 ON when
DOG proximity is CN1 U
detected V M
24 PCO 19 W
25 PGO /PCO 20
Linear scale
Serial
1Ry * CN2 converter Enc
unit
ALM+ 31
ALM - 32 Properly treat the end of
shielded wires.
3 PULS 7
21 PULSE /PULS 8 CN1
47 +24V
4 SIGN 11
22 SIGN /SIGN 12 40 /S-ON
2.2KΩ CLR 15 42 P-OT
5 /CLR 14 43 N-OT 0 24V
23 CLEAR
∗ The ALM signal is output for about five seconds when the control power is turned ON. Take this into consideration
when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop the main cir-
cuit power supply to the SERVOPACK.
Note 1. Only signals applicable to Yaskawa’s SGDV SERVOPACK and Mitsubishi’s AD75 Positioning Unit are shown
in the diagram.
Appendix
10
10-7
10 Appendix
10.2.1 Utility Functions
10.2 List of Parameters

10.2.1 Utility Functions
The following list shows the available utility functions.
Operation Operation from

Parameter from the the Digital Reference
Function
No. Panel Operator or Section
Operator SigmaWin+
Fn000 Alarm traceback data display { { 7.2
Fn002 JOG mode operation { { 7.3
Fn003 Origin search { { 7.4
Fn004 Program JOG operation { { 7.5
Fn005 Initialize parameter settings { { 7.6
Fn006 Clear alarm traceback data { { 7.7
5.3.2
Fn009 Automatic tuning of analog (speed, force) reference offset { {
5.5.2
Fn00A Manual servo tuning of speed reference offset { { 5.3.2
Fn00B Manual servo tuning of force reference offset { { 5.5.2
Fn00C Manual zero-adjustment of analog monitor output { { 7.8
Fn00D Manual gain-adjustment of analog monitor output { { 7.9
Fn00E Automatic offset-adjustment of motor current detection signal { { 7.10
Fn00F Manual offset-adjustment of motor current detection signal { { 7.11
Fn010 Write prohibited setting { { 7.12
Fn011 Check servomotor models { { 7.13
Fn012 Software version display { { 7.14
Fn014 Reset configuration error of option module { { 7.15
Fn01B Initialize vibration detection level { { 7.16
Fn01E SERVOPACK and servomotor ID display × { 7.17
Fn200 Tuning-less level setting { { 6.2.2
Fn201 Advanced autotuning × { 6.3.2
Fn202 Advanced autotuning by reference × { 6.4.2
Fn203 One-parameter tuning {* { 6.5.2
Fn204 Anti-resonance control adjustment function × { 6.6.2
Fn205 Vibration suppression function × { 6.7.2
Fn206 EasyFTT { { 7.18
Fn207 Online vibration monitor { { 7.19
Fn080 Polarity Detection { { 5.9.4
Fn020 Origin setting { { 5.9.5
Fn030 Software reset { { 7.20
{: Avaiable ×: Not available

∗ The following functional restrictions apply to the Panel Operator.
Note 1. A setting may be write-prohibited if the Panel Operator displays "no_oP" when any of the above utility function
is executed. Refer to 7.12 Write Prohibited Setting (Fn010).
2. When utility functions which cannot be operated from the panel operator are executed from the panel operator,
"no_oP" is displayed.
10-8
10.2.2 Parameters
Parameter Setting Factory When Reference

Name Units Classification
No. Range Setting Enabled Section
Basic Function Select Switch 0 0000 to 00B3 − 0000 After restart Setup −
digit digit digit digit
n.
Direction Selection (Refer to
(Refer to 5.2.2.)
5.2.2)
0 Sets the linear scale countiong up (phase-A lead) direction as forward direction.
1 Sets the linear scale countiong down (phase-B lead) direction as forward direction
(Reverse Movement Mode)
2 to 3 Reserved (Do not use.)
Control Method Selection (Referto

(Refer to5.7.)
5.7)
0 Speed control (analog reference)

1 Position control (pulse train reference)
2 Force control (analog reference)
Pn000
3 Internal set speed control (contact reference)
4 Internal set speed control (contact reference) ↔ Speed control (analog reference)
5 Internal set speed control (contact reference) ↔ Position control (pulse train reference)
6 Internal set speed control (contact reference) ↔ Force control (analog reference)
7 Position control (pulse train reference) ↔ Speed control (analog reference)
8 Position control (pulse train reference) ↔ Force control (analog reference)
9 Force control (analog reference) ↔ Speed control (analog reference)
A Speed control (analog reference) ↔ Zero clamp
B Position control (pulse train reference) ↔ Position control (Inhibit)
Reserved (Do not change.)
Appendix
10
10-9
10 Appendix
10.2.2 Parameters

Application Function Select Switch 1 0000 to 1122 − 0000 After restart Setup −
4th 3rd 2nd 1st
n.
Servo OFF or Alarm Gr.1 Stop Mode (Refer
(Refer to
to 5.2.2)
5.2.5.)
0 Stops the motor by applying DB (dynamic brake).
1 Stops the motor by applying dynamic brake (DB) and then releases DB.
2 Makes the motor coast to a stop state without using the dynamic brake (DB).
Overtravel (OT) Stop Mode (Refer

(Refer to
to 5.2.3)
5.2.3.)
0 Same setting as Pn001.0 (Stops the motor by applying DB or by coasting).
1 Sets the force of Pn406 to the maximum value, decelerate the motor to a stop,
Pn001 and then sets it to servolock state.
2 Sets the force of Pn406 to the maximum value, decelerates the motor to a stop,
and then sets it to coasting state.
AC/DC Power Input Selection (Refer

(Refer to
to 3.1.5)
3.1.5.)
0 Not applicable to DC power input: Input AC power supply through L1, L2 (, and L3) terminals.
1 Applicable to DC power input: Input DC power supply between B1/ + and −2, or input
DC power supply between B1/ and −2
Warning Code Output Selection (Refer

(Refer to
to 5.10.2)
5.10.2.)
0 ALO1, ALO2, and ALO3 output only alarm codes.
1 ALO1, ALO2, and ALO3 output both alarm codes and warning codes. While warning
codes are output, ALM signal output remains ON (normal state).
4th 3rd 2nd 1st
n.
Speed Control Option (T-REF Terminal Allocation)
0 N/A
1 Uses T-REF as an external force limit input. (Refer
(Refer to
(Refer to 5.8.3)
to 5.8.3)
5.8.3.)
2 Uses T-REF as a force feedforward input. (Refer to

(Refer to 6.8.2.)
6.8.2)
3 Uses T-REF as an external force limit input when P-CL and N-CL are ON. (Refer to
(Refer
(Refer to 5.8.4).
to 6.8.2)
5.8.4)
Pn002
Force Control Option (V-REF Terminal Allocation) (Refer
(Refer to
to 5.5.3)
5.5.3.)
0 N/A
1 Uses V-REF as an external speed limit input.
Absolute Linear Scale Usage

0 Uses absolute linear scale as an absolute linear scale.
1 Uses absolute linear scale as an incremental linear scale.
10-10

Application Function Select Switch 6 0000 to 005F − 0002 Immediately Setup −
4th 3rd 2nd 1st

n.
Analog Monitor 1 Signal Selection (Refer
(Refertoto6.1.3)
6.1.3.)
00 Motor speed (1 V/1000 mm/s)
01 Speed reference (1 V/1000 mm/s)
02 Force reference (1 V/100%)
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 mm/s)
Pn006
06 Reserved (Do not use.)
07 Motor load position error (0.01 V/1 reference unit)
08 Positioning completion signal (positioning completed: 5 V, positioning not completed: 0 V)
09 Speed feedforward (1 V/1000 mm/s)
0A Force feedforward (1 V/100%)
0B Active gain (1st gain: 1 V, 2nd gain: 2 V, 3rd gain: 3 V, 4th gain: 4 V)
0C Completion of position reference (completed: 5 V, not completed: 0 V)
0D Linear scale speed (1 V/1000 mm/s)
Application Function Select Switch 7 0000 to 005F − 0000 Immediately Setup −

4th 3rd 2nd 1st
n.
Analog Monitor 1 Signal Selection (Refer
(Refertoto6.1.3)
6.1.3.)
00 Motor speed (1 V/1000 mm/s)
01 Speed reference (1 V/1000 mm/s)
02 Force reference (1 V/100%)
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 mm/s)
Pn007 06 Reserved (Do not use.)
07 Motor load position error (0.01 V/1 reference unit)
08 Positioning completion signal (positioning completed: 5 V, positioning not completed: 0 V)
09 Speed feedforward (1 V/1000 mm/s)
0A Force feedforward (1 V/100%)
0B Active gain (1st gain: 1 V, 2nd gain: 2 V, 3rd gain: 3 V, 4th gain: 4 V)
0C Completion of position reference (completed: 5 V not completed: 0 V)
0D Linear scale speed (1 V/1000 mm/s)
Appendix
10
10-11
10 Appendix
10.2.2 Parameters

4th 3rd 2nd 1st
n.
Function Selection for Insufficient Voltage (Refer to

(Refer to 5.2.7.)
5.2.7)
0 Disables detection of insufficient voltage.
Pn008
1 Detects warning and limits force by host controller.
2 Detects warning and limits force by Pn424 and Pn425.
Warning Detection Selection (Refer

(Refertoto9.2.1)
9.2.1.)
0 Detects warning.
1 Does not detect warning.
Application Function Select Switch 9 0000 to 0111 − 0010 After restart Tuning −
4th 3rd 2nd 1st
n.
Current Control Method Selection (Refer

(Refer to
to 6.8.10)
6.8.10.)
Pn009 0 Current control method 1
1 Current control method 2
Speed Detection Method Selection (Refer

(Refer to
to 6.8.12)
6.8.12.)
0 Speed detection 1
1 Speed detection 2
Application Function Select Switch B 0000 to 1111 − 0000 After restart Setup −
4th 3rd 2nd 1st
n.
Parameter Display Selection (Refer
(Refer to
to 2.5.3)
2.5.3.)
0 Setup parameters
1 All parameters
Pn00B Alarm Gr.2 Stop Method Selection (Refer

(Referto
to5.2.4)
5.2.5.)
0 Stops the motor by setting the speed reference to "0".
1 Same setting as Pn001.0 (Stops the motor by applying DB or by coasting)
Power Supply Method for Three-phase SERVOPACK (Refer

(Refer to
to 3.1.6)
5.2.4)
5.2.5.)
0 Three-phase power supply
1 Single-phase power supply
10-12

Application Function Select Switch C 0000 to 0111 − 0000 After restart Setup −
4th 3rd 2nd 1st
n.
Selection of Test without Motor (Refer
(Referto
to4.5.4)
5.7.4.)
0 Test without motor disabled
1 Test without motor enabled
Pn00C
Encoder Type for Test without Motor (Refer to

(Refer to 4.5.4.)
4.5.4)
00 Incremental encoder
01 Absolute encoder
Axis Address Selection (for UART/

Pn010 0000 to 007F − 0001 After restart Setup −
USB communication)
Application Function Select Switch
0000 to 1111 − 0000 After restart Setup −
80
4th 3rd 2nd 1st
n.
Hall Sensor Selection
0 Enables selection
1 Disables selection
Pn080 Motor Phase Selection

0 Sets phase A lead as phase sequence of U,V,W.
1 Sets phase B lead as phase sequence of U,V,W.
Calculation Method for Maximum Speed or Divided Output Pulses

0 Determines divided output pulses with fixed maximum speed.
1 Determines maximum speed with fixed divided output pulses.
Pn100 Speed Loop Gain 10 to 20000 0.1 Hz 400 Immediately Tuning −

Pn101 Speed Loop Integral Time Constant 15 to 51200 0.01 ms 2000 Immediately Tuning −
Pn102 Position Loop Gain 10 to 20000 0.1/s 400 Immediately Tuning −
Pn103 Mass Ratio 0 to 20000 1% 100 Immediately Tuning −
Pn104 2nd Speed Loop Gain 10 to 20000 0.1 Hz 400 Immediately Tuning
2nd Speed Loop Integral Time Con-
Pn105 15 to 51200 0.01 ms 2000 Immediately Tuning 6.8.6
stant
Appendix
Pn106 2nd Position Loop Gain 10 to 20000 0.1/s 400 Immediately Tuning
Pn109 Feedforward Gain 0 to 100 1% 0 Immediately Tuning
6.8.1
Pn10A Feedforward Filter Time Constant 0 to 6400 0.01 ms 0 Immediately Tuning
10
10-13
10 Appendix
10.2.2 Parameters

Application Function for Gain Select
0000 to 5334 − 0000 − Setup −
Switch
4th 3rd 2nd 1st

n.
(Refer When
Mode Switch Selection (Refertoto6.8.5)
6.8.5.)
Enabled
0 Uses internal force reference as the condition (Level setting: Pn10C)

1 Uses speed reference as the condition (Level setting: Pn181)
Immediately
2 Uses acceleration as the condition (Level setting: Pn182)
Pn10B 3 Uses position error pulse as the condition (Level setting: Pn10F)
4 No mode switch function available
(Refer When
Speed Loop Control Method (Refertoto6.8.4)
6.8.4.)
Enabled
0 PI control
1 I-P control After restart
2 and 3 Reserved (Do not change.)
Pn10C Mode Switch (force reference) 0 to 800 1% 200 Immediately Tuning

1 refer- 6.8.5
Pn10F Mode Switch (position error pulse) 0 to 10000 0 Immediately Tuning
ence unit
Pn11F Position Integral Time Constant 0 to 50000 0.1 ms 0 Immediately Tuning 6.8.8
Pn121 Friction Compensation Gain 10 to 1000 1% 100 Immediately Tuning
Pn122 2nd Gain for Friction Compensation 10 to 1000 1% 100 Immediately Tuning
Pn123 Friction Compensation Coefficient 0 to 100 1% 0 Immediately Tuning
6.8.9
Friction Compensation Frequency -1000 to
Pn124 0.1 Hz 0 Immediately Tuning
Correction 10000
Friction Compensation Gain Correc-
Pn125 1 to 1000 1% 100 Immediately Tuning
tion
Pn131 Gain Switching Time 1 0 to 65535 1 ms 0 Immediately Tuning
Pn132 Gain Switching Time 2 0 to 65535 1 ms 0 Immediately Tuning
6.8.6
Pn135 Gain Switching Waiting Time 1 0 to 65535 1 ms 0 Immediately Tuning
Pn136 Gain Switching Waiting Time 2 0 to 65535 1 ms 0 Immediately Tuning
10-14

Automatic Gain Changeover Related
0000 to 0052 − 0000 Immediately Tuning −
Switch 1
4th 3rd 2nd 1st
n.
Gain Switching Selection Switch (Refer
(Referto
to6.8.6)
6.8.6.)
0 Manual gain switching
Changes gain manually using external input signals (G-SEL)
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 (Refer to

(Refer to 6.8.6.)
6.8.6)
0 Positioning completion signal (/COIN) ON
1 Positioning completion signal (/COIN) OFF
2 NEAR signal (/NEAR) ON
3 NEAR signal (/NEAR) OFF
4 Position reference filter output = 0 and reference pulse input OFF
5 Position reference pulse input ON
Pn13D Current Gain Level 100 to 2000 1% 2000 Immediately Tuning 6.8.11
Model Following Control Related
Switch
4th 3rd 2nd 1st
n.
Model Following Control Selection
0 Does not use model following control.
1 Uses model following control.
Vibration Suppression Selection

Pn140 0 Does not perform vibration suppression.
1 Performs vibration suppression over the specified frequency.
2 Performs vibration suppression over two different kinds of frequencies.
Vibration Suppression Adjustment Selection (Refer to 6.3.1，6.4.1，6.5.1

(Refer to 6.3.1, 6.4.1, 6.5.1and
and6.7.1)
6.7.1.)
0 Does not adjust vibration suppression automatically using utility function.
1 Adjusts vibration suppression automatically using utility function.
Selection of Speed Feedforward (VFF) / Force Feedforward (TFF) (Refer to 6.3.1，6.4.1）

(Refer to 6.3.1, 6.4.1.)
0 Does not use model following control and external speed/force feedforward together.
Appendix
1 Uses model following control and external speed/force feedforward together.
Pn141 Model Following Control Gain 10 to 20000 0.1/s 500 Immediately Tuning −
Model Following Control Gain Com-
Pn142 500 to 2000 0.1% 1000 Immediately Tuning −
pensation
10
Model Following Control Bias
(Forward Direction)
10-15
10 Appendix
10.2.2 Parameters

(Reverse Direction)
Pn145 Vibration Suppression 1 Frequency A 10 to 2500 0.1 Hz 500 Immediately Tuning −
Pn146 Vibration Suppression 1 Frequency B 10 to 2500 0.1 Hz 700 Immediately Tuning −
Model Following Control Speed
Feedforward Compensation
Pn148 2nd Model Following Control Gain 10 to 20000 0.1/s 500 Immediately Tuning −
2nd Model Following Control Gain
Compensation
Pn14A Vibration Suppression 2 Frequency 10 to 2000 0.1 Hz 800 Immediately Tuning −
Vibration Suppression 2 Compensa-
Pn14B 10 to 1000 1% 100 Immediately Tuning −
tion
Control Related Switch 0000 to 0011 － 0011 After restart Tuning –
4th 3rd 2nd 1st

n.
Model Following Control Type Selection (Refer to
(Refer to 6.3.1,
6.3.1, 6.4.1,
6.4.1, 6.5.1)
6.5.1)
0 Model Following Control 1

1 Model Following Control 2
Pn14F
Tuning-less Type Selection (Refer

(Refer to
to 6.2.2)
6.2.2)
0 Tuning-less type 1
1 Tuning-less type 2
Anti-Resonance Control Related

Switch
4th 3rd 2nd 1st
n.
Anti-Resonance Control Selection (Refer
(Refertoto6.3.1，6.5.1，6.5.1，6.7.1)
6.3.1, 6.4.1, 6.5.1 and 6.7.1.)
0 Does not use anti-resonance control.
Pn160 1 Uses anti-resonance control.
Anti-Resonance Control Adjustment Selection (Refer to 6.5.1，6.5.1，6.5.1，6.5.1)

(Refer to 6.3.1, 6.4.1, 6.5.1 and 6.7.1.)
0 Does not use adjust anti-resonance control automatically using utility function.
1 Adjusts anti-resonance control automatically using utility function.
Pn161 Anti-Resonance Frequency 10 to 20000 0.1 Hz 1000 Immediately Tuning −

Pn162 Anti-Resonance Gain Compensation 1 to 1000 1% 100 Immediately Tuning −
Pn163 Anti-Resonance Damping Gain 0 to 300 1% 0 Immediately Tuning −
Anti-Resonance Filter Time Constant
Pn164 -1000 to 1000 0.01 ms 0 Immediately Tuning −
1 Compensation
Anti-Resonance Filter Time Constant
Pn165 -1000 to 1000 0.01 ms 0 Immediately Tuning −
2 Compensation
10-16

Tuning-less Function Rated Switch 0000 to 2411 − 1401 − Setup 6.2
4th 3rd 2nd 1st
n.
When
Tuning-less Function Selection
Enabled
0 Tuning-less function disabled

After
1 Tuning-less function enabled restart
When
Pn170 Control Method during Speed Control
Enabled
0 Uses as speed control.

After
1 Uses as position control at host controller. restart
When
Tuning-less Level
Enabled
0 to 4 Sets tuning-less level. Immediaately
When
Tuning-less Load Level
Enabled
0 to 2 Sets tuning-less load level. Immediaately
Pn181 Mode Switch (Speed Reference) 0 to 10000 1 mm/s 0 Immediately Tuning 6.8.5
Pn182 Mode Switch (Acceleration) 0 to 30000 1 mm/s2 0 Immediately Tuning 6.8.5
Appendix
10
10-17
10 Appendix
10.2.2 Parameters

Position Control Reference Form
0000 to 2236 − 0000 After restart Setup −
Selection Switch
4th 3rd 2nd 1st
n.
Reference Pulse Form (Referto
(Refer to6.5.1)
5.4.1.)
0 Sign + Pulse, positive logic
1 Forward direction + Reverse direction, positive logic
2 Phase A + Phase B ( ×1), positive logic
5 Sign + Pulse, negative logic
6 Forward direction + Reverse direction, negative logic
Pn200 Clear Signal Form (Refer to

(Refer to 6.5.1)
5.4.2.)
0 Clears position error pulse when the signal is at H level.
1 Clears position error pulse at the rising edge of the signal.
2 Clears position error pulse when the signal is at L level.
3 Clears position error pulse at the falling edge of the signal.
Clear Operation 5.4.2.)

(Refer to 6.5.1)
0 Clears position error pulse at the baseblock (Servo OFF or alarm occurred).
1 Does not clear position error pulse (possible to clear error counter only with CLR signal)
2 Clears position error pulse when an alarm occurs.
Filter Selection (Referto

(Refer to6.5.1)
5.4.1.)
0 Reference input filter 1 for line driver signal (to 1 Mpps)
1 Reference input filter for open collector signal (to 200 kpps)
2 Reference input filter 2 for line driver signal (to 4 Mpps)
Position Control Function Switch 0000 to 2210 − 0000 After restart Setup −
4th 3rd 2nd 1st
n.
Position Control Option (Refer

(Refer to
to 6.5.1)
6.8.3.)
0 N/A
1 Uses V-REF as a speed feedforward input.
Pn207
/COIN Output Timing (Refer

(Refer to
to 6.5.1)
5.4.5.)
0 Outputs when the position error absolute value is the same or less than the positioning completion
width (Pn522).
1 Outputs when the position error absolute value is the position completion width (Pn522) or less
and the reference after position reference filtering is 0.
2 When the absolute value of the position error is below the positioning completed width setting
(Pn522), and the position reference input is 0.
10-18

1 to
Pn20E Electronic Gear Ratio (Numerator) 1073741824 - 4 After restart Setup
(230)
5.4.3
1 to
Pn210 Electronic Gear Ratio (Denominator) 1073741824 - 1 After restart Setup
(230)
Position Reference Acceleration/
Pn216 0 to 65535 0.1 ms 0 Immediately Setup
Deceleration Time Constant
5.4.4
Average Movement Time of Position
Pn217 0 to 10000 0.1 ms 0 Immediately Setup
Reference
Pn281 Encoder Output Resolution 1 to 4096 1 P/pitch 20 After restart Setup −
0.00 to
Pn282 Linear Scale Pitch 0.01 μm 0 After restart Setup −
65536.00
0.01V 5.3.1
Pn300 Speed Reference Input Gain 150 to 3000 / rated 600 Immediately Setup 5.5.3
speed 6.8.3
Pn305 Soft Start Acceleration Time 0 to 10000 1 ms 0 Immediately Setup
5.3.3
Pn306 Soft Start Deceleration Time 0 to 10000 1 ms 0 Immediately Setup
Pn307 Speed Reference Filter Time Constant 0 to 65535 0.01 ms 40 Immediately Setup 5.3.4
Vibration Detection Switch 0000 to 0002 − 0000 Immediately Setup −
4th 3rd 2nd 1st

n.
Vibration Detection Selection (Refer
(Refer to
to 7.16)
7.16.)
0 No detection.
Pn310 1 Outputs warning (A.911) when vibration is detected.
2 Outputs alarm (A.520) when vibration is detected.
Pn311 Vibration Detection Sensibility 50 to 500 1% 100 Immediately Tuning 7.16

Pn324 Mass Calculating Start Level 0 to 20000 1% 300 Immediately Setup −
Pn380 Internal Set Speed 1 0 to 10000 1 mm/s 10 Immediately Setup 5.6.1
Pn383 JOG Speed 0 to 10000 1 mm/s 50 Immediately Setup 7.3
Pn384 Vibration Detection Level 0 to 5000 1 mm/s 10 Immediately Tuning 7.16
Pn385 Motor Max.Speed 1 to 100 100 mm/s 50 After restart Setup 5.2.6
10 to100 0.1 V/ 30
5.5.1
Pn400 Force Reference Input Gain rated Immediately Setup
6.8.2
force
Appendix
Pn401 Force Reference Filter Time Constant 0 to 65535 0.01 ms 100 Immediately Tuning 6.8.7
Pn404 Forward External Force Limit 0 to 800 1% 100 Immediately Setup 5.8.2
Pn405 Reverse External Force Limit 0 to 800 1% 100 Immediately Setup 5.8.4
Pn406 Emergency Stop Force 0 to 800 1% 800 Immediately Setup 5.2.3
10
10-19
10 Appendix
10.2.2 Parameters

Force Related Function Switch 0000 to 1111 − 0000 − Setup −
4th 3rd 2nd 1st
n.
When
1st Step Notch Filter Selection (Refer
(Refer to
to 6.8.7)
6.8.7.) Enabled
0 N/A
Immediately
1 Uses 1st step notch filter for torque reference.
When
Speed Limit Selection (Refer
(Refer to
to 5.5.3)
5.5.3.) Enabled
0 Uses the smaller value between motor max. speed and parameter Pn480 as
Pn408 speed limit value.
After restart
1 Uses the smaller value between overspeed detection speed and parameter
Pn480 as speed limit value.
When
2nd Step Notch Filter Selection (Refer
(Referto
to6.8.7)
6.8.7.) Enabled
0 N/A
Immediately
1 Uses 2nd step notch filter for torque reference.
When
Friction Compensation Function Selection (Refer
(Refertoto6.8.9)
6.8.9.) Enabled
0 Disables use friction compesation function.

Immediately
1 Enables friction compsation function.
Pn409 1st Notch Filter Frequency 50 to 5000 1 Hz 5000 Immediately Tuning

Pn40A 1st Notch Filter Q Value 50 to 1000 0.01 70 Immediately Tuning
Pn40B 1st Notch Filter Depth 0 to 1000 0.001 0 Immediately Tuning
Pn40C 2nd Notch Filter Frequency 50 to 5000 1 Hz 5000 Immediately Tuning
6.8.7
Pn40D 2nd Notch Filter Q Value 50 to 1000 0.01 70 Immediately Tuning
Pn40E 2ndt Notch Filter Depth 0 to 1000 0.001 0 Immediately Tuning
Pn40F 2nd Force Reference Filter Frequency 100 to 5000 1 Hz 5000 Immediately Tuning
Pn410 2nd Force Reference Filter Q Value 50 to 100 0.01 50 Immediately Tuning
1st Step 2nd Force Reference Filter
Pn412 0 to 65535 0.01 ms 100 Immediately Tuning 6.8.6
Time Constant
Pn415 T-REF Filter Time Constant 0 to 65535 0.01 ms 0 Immediately Setup 6.8.2
Force Limit at Main Circuit Voltage
Pn424 0 to 100 1% 50 Immediately Setup
Drop
5.2.7
Release Time for Force Limit at Main
Pn425 0 to 1000 1 ms 100 Immediately Setup
Circuit Voltage Drop
Pn456 Sweep Force Reference Amplitude 1 to 800 1% 15 Immediately Tuning 7.18
10-20

6.3.1
Notch Filter Adjustment Switch 0000 to 0101 − 0101 Immediately Tuning 6.4.1
6.5.1
4th 3rd 2nd 1st

n.
Notch Filter Adjustment Selection 1
0 1st step notch filter is not adjusted automatically with utility function.
Pn460 1 1st step notch filter is adjusted automatically with utility function.
Notch Filter Adjustment Selection 2

0 2nd step notch filter is not adjusted automatically with utility function.
1 2nd step notch filter is adjusted automatically with utility function.
Pn480 Speed Limit during Force Control 0 to 10000 1 mm/s 10000 Immediately Setup 5.5.3
Pn481 Polarity Detection Speed Loop Gain 1.0 to 2000.0 0.1 Hz 40.0 Immediately Tuning −
Polarity Detection Speed Loop Inte-
Pn482 0.15 to 512.00 0.01 ms 30.00 Immediately Tuning −
gral Time Constant
Pn483 Forward Force Limit 0 to 800 1% 30 Immediately Setup 5.8.1
Pn484 Reverse Force Limit 0 to 800 1% 30 Immediately Setup 5.8.1
Pn485 Polarity Detection Reference Speed 0 to 100 1 mm/s 20 Immediately Setup −
Polarity Detection Reference Accel/
Pn486 0 to 100 1 ms 25 Immediately Tuning −
Decel Time
Polarity Detection Constant Speed
Time
Polarity Detection Reference Waiting
Time
Pn48E Polarity Detection Range 1 to 65535 1 mm 10 Immediately Tuning −
Pn490 Polarity Detection Load Level 0 to 20000 1% 100 Immediately Tuning −
Polarity Detection Confirmation
Pn495 0 to 200 1% 100 Immediately Tuning −
Force Reference
Polarity Detection Allowable Error
Pn498 0 to 30 1 deg 10 Immediately Tuning −
Range
Brake Reference - Servo OFF Delay
Pn506 0 to 50 10 ms 0 Immediately Setup −
Time
Waiting Time for Brake Signal When
Pn508 10 to 100 10 ms 50 Immediately Setup −
Motor Running
Pn509 Instantaneous Power Cut Hold time 20 to 1000 1 ms 20 Immediately Setup 5.2.5
Appendix
10
10-21
10 Appendix
10.2.2 Parameters

Input Signal Selection 1 0000 to FFF1 − 2100 After restart Setup −
4th 3rd 2nd 1st
n.
Input Signal Allocation Mode (Refer
(Refertoto3.3.1)
3.3.1.)
0 Uses the sequence input signal terminals with standard allocation.
1 Changes the sequence input signal allocation for each signal.
/S-ON Signal Mapping

Signal Polarity: Normal; Servo ON when ON (L-level) (Referto
(Refer to5.2.1)
5.2.1.)
Signal Polarity: Reverse; Servo ON when OFF (H-level)
0 ON when CN1-40 input signal is ON (L-level)

7 Sets signal ON.
8 Sets signal OFF.
9 OFF when CN1-40 input signal is OFF (H-level)
A OFF when CN1-41 input signal is OFF (H-level)
B OFF when CN1-42 input signal is OFF (H-level)
C OFF when CN1-43 input signal is OFF (H-level)
Pn50A D OFF when CN1-44 input signal is OFF (H-level)
E OFF when CN1-45 input signal is OFF (H-level)
F OFF when CN1-46 input signal is OFF (H-level)
/P-CON Signal Mapping (P control when ON (L-level)) (Refer

(Refer to
to 6.8.4)
6.8.4.)
0 to F Same as /S-ON
P-OT Signal Mapping (Overtravel when OFF (H-level)) (Refer to

(Refer to 5.2.3.)
5.2.3)
0 Forward run allowed when CN1-40 input signal is ON (L-level)

7 Forward run prohibited
8 Forward run allowed
9 Forward run allowed when CN1-40 input signal is OFF (H-level)
A Forward run allowed when CN1-41 input signal is OFF (H-level)
B Forward run allowed when CN1-42 input signal is OFF (H-level)
C Forward run allowed when CN1-43 input signal is OFF (H-level)
D Forward run allowed when CN1-44 input signal is OFF (H-level)
E Forward run allowed when CN1-45 input signal is OFF (H-level)
F Forward run allowed when CN1-46 input signal is OFF (H-level)
10-22

Input Signal Selection 2 0000 to FFFF − 6543 After restart Setup
4th 3rd 2nd 1st

n.
N-OT Signal Mapping (Overtravel when OFF (H-level)) (Refer to
(Refer to 5.2.3.)
5.2.3)
0 Reverse run allowed when CN1-40 input signal is ON (L-level).

3 Reverse run allowed when CN1-43 input signal is ON (L-level) .
7 Reverse run prohibited.
8 Reverse run allowed.
9 Reverse run allowed when CN1-40 input signal is OFF (H-level).
A Reverse run allowed when CN1-41 input signal is OFF (H-level).
B Reverse run allowed when CN1-42 input signal is OFF (H-level).
C Reverse run allowed when CN1-43 input signal is OFF (H-level).
D Reverse run allowed when CN1-44 input signal is OFF (H-level).
E Reverse run allowed when CN1-45 input signal is OFF (H-level).
F Reverse run allowed when CN1-46 input signal is OFF (H-level).
Pn50B /ALM-RST Signal Mapping (Refer

(Refer to
to 5.10.1)
5.10.1.)
(Alarm reset when OFF (H-level) to ON (L-level))
0 Active on the falling edge of CN1-40 input signal.
7 Reserved (Do not change.)
8 Sets signal OFF.
9 Active on the rising edge of CN1-40 input signal.
A Active on the rising edge of CN1-41 input signal.
B Active on the rising edge of CN1-42 input signal.
C Active on the rising edge of CN1-43 input signal.
D Active on the rising edge of CN1-44 input signal.
E Active on the rising edge of CN1-45 input signal.
F Active on the rising edge of CN1-46 input signal.
/P-CL Signal Mapping (Force Limit when ON (L-level)) (Refer

(Refer to
to 5.8.2)
5.8.2.)
0 to F Same as /S-ON, the setting of 2nd digit of Pn50A
Appendix
/N-CL Signal Mapping (Force Limit when ON (L-level)) (Referto

(Refer to5.8.2)
5.8.2.)
0 to F Same as /S-ON, the setting of 2nd digit of Pn50A
10
10-23
10 Appendix
10.2.2 Parameters
Input signal polarities

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

Input Signal Selection 3 0000 to FFFF − 8888 After restart Setup −
4th 3rd 2nd 1st

n.
/SPD-D Signal Mapping (Refer
(Refer to
to 5.6.1)
5.6.1.)
0 ON when CN1-40 input signal is ON (L-level).
7 Sets signal ON.
8 Sets signal OFF.
Pn50C 9 ON when CN1-40 input signal is OFF (H-level).
A ON when CN1-41 input signal is OFF (H-level).
B ON when CN1-42 input signal is OFF (H-level).
C ON when CN1-43 input signal is OFF (H-level).
D ON when CN1-44 input signal is OFF (H-level).
E ON when CN1-45 input signal is OFF (H-level).
F ON when CN1-46 input signal is OFF (H-level).
/SPD-A Signal Mapping (Refer

(Refer to
to 5.6.1)
5.6.1.)
0 to F Same as /SPD-D
/SPD-B Signal Mapping (Refer

(Refer to
to 5.6.1)
5.6.1.)
/C-SEL Signal Mapping (Control mode change when ON (L-level)) (Refer

(Refer to
to 5.7.2)
5.7.2.)
10-24

4th 3rd 2nd 1st
n.
/ZCLAMP Signal Mapping (Zero clamp when ON (L-level)) (Refer
(Refer to
to 5.3.5)
5.3.5.)
7 Sets signal ON.
8 Sets signal OFF.
Pn50D 9 ON when CN1-40 input signal is OFF (H-level).
A ON when CN1-41 input signal is OFF (H-level).
B ON when CN1-42 input signal is OFF (H-level).
C ON when CN1-43 input signal is OFF (H-level).
D ON when CN1-44 input signal is OFF (H-level).
E ON when CN1-45 input signal is OFF (H-level).
F ON when CN1-46 input signal is OFF (H-level).
/INHIBIT Signal Mapping (Reference pulse inhibit when ON (L-level)) (Refer

(Refer to
to 5.4.7)
5.4.7.)
0 to F Same as /ZCLAMP
/G-SEL1 Signal Mapping (Gain change when ON (L-level)) (Refer

(Refer to
to 6.8.6)
6.8.6.)
/P-DET Signal Mapping (Polarity detection starts when ON (L-level))

Output Signal Selection 1 0000 to 3333 − 3211 After restart Setup −
4th 3rd 2nd 1st

n.
Positioning Completion Signal Mapping (/COIN) (Refer
(Refer to
to 5.4.5)
5.4.5.)
0 Disabled (the above signal is not used.)
1 Outputs the signal from CN1-25, 26 output terminal.
2 Outputs the signal from CN1-27, 28 output terminal.
Pn50E 3 Outputs the signal from CN1-29, 30 output terminal.
Speed Coincidence Detection Signal Mapping (/V-CMP) (Refer to

(Refer to 5.3.8.)
5.3.8)
0 to 3 Same as /COIN
Appendix
Servomotor Movement Detection Signal Mapping (/TGON) (Refertoto5.10.3.)

(Refer 5.10.3)
0 to 3 Same as /COIN
Servo Ready Signal Mapping (/S-RDY) (Referto

(Refer to5.10.4.)
5.10.4)
0 to 3 Same as /COIN 10
10-25
10 Appendix
10.2.2 Parameters

4th 3rd 2nd 1st

n.
Force Limit Detection Signal Mapping (/CLT) (Refer
(Refertoto5.8.5)
5.8.5.)
1 Outputs the signal from CN1-25, -26 output terminal.
2 Outputs the signal from CN1-27, -28 output terminal.
Pn50F 3 Outputs the signal from CN1-29, -30 output terminal.
Speed Limit Detection Signal Mapping (/VLT) (Refer to

(Refer to 5.5.3)
5.5.3.)
0 to 3 Same as /CLT
Brake Signal Mapping (/BK) (Refer to

(Refer to 3.3.3.)
3.3.2)
0 to 3 Same as /CLT
Warning Signal Mapping (/WARN) (Refer

(Referto
to5.10.2)
5.10.2.)
0 to 3 Same as /CLT
4th 3rd 2nd 1st

n.
Near Signal Mapping (/NEAR) (Refer
(Refertoto5.4.6)
5.4.6.)
1 Outputs the signal from CN1-25, -26 terminal.
Pn510
4th 3rd 2nd 1st

n.
Pn511
10-26

Output Signal Inverse Setting 0000 to 0111 − 0000 After restart Setup 3.3.2
4th 3rd 2nd 1st

n.
Output Signal Inversion for CN1-25 or -26 Terminals
0 Does not inverse outputs.
1 Inverses outputs.
Pn512 Output Signal Inversion for CN1-27 or -28 Terminals

1 Inverses outputs.
Output Signal Inversion for CN1-29 or -30 Terminals

1 Inverses outputs.
4th 3rd 2nd 1st

n.
Pn513
Excessive Position Error Warning

Pn51E 10 to 100 1% 100 Immediately Setup 9.2.1
Level
1 to
1073741823 1 refer- 6.1.4
Pn520 Excessive Position Error Alarm Level 5242880 Immediately Setup
ence unit 9.1.1
(230-1)
0 to
1073741824 1 refer-
Pn522 Positioning Completed Width 7 Immediately Setup 5.4.5
ence unit
(230)
1 to
1073741824 1 refer- 1073741
Pn524 NEAR Signal Width Immediately Setup 5.4.6
ence unit 824
(230)
1 to
Excessive Position Error Alarm Level 1073741823 1 refer-
Pn526 5242880 Immediately Setup 9.1.1
at Servo ON ence unit
(230-1)
Pn528 10 to 100 1% 100 Immediately Setup 9.2.1
Level at Servo ON
Appendix
Pn52B Overload Warning Level 1 to 100 1% 20 Immediately Setup

Derating of Base Current at Detecting 5.2.8
Pn52C 10 to 100 1% 100 After restart Setup
Overload of Motor
Pn52F Monitor Display at Power ON 0000 to 0FFF − 0FFF Immediately Setup 8.8
10
10-27
10 Appendix
10.2.2 Parameters

Program JOG Operation Related
0000 to 0005 − 0000 Immediately Setup 7.5
Switch
4th 3rd 2nd 1st

n.
Program JOG Operation Related Switch
0 (Waiting time Pn535 → Forward movement Pn531) × Number of times of movement Pn536
1 (Waiting time Pn535 → Reverse movement Pn531) × Number of times of movements Pn536
2 (Waiting time Pn535 → Forward movement Pn531) × Number of times of movements Pn536
(Waiting time Pn535 → Reverse movement Pn531) × Number of times of movements Pn536
Pn530 3 (Waiting time Pn535 → Reverse movement Pn531) × Number of times of movements Pn536
(Waiting time Pn535 → Forward movement Pn531) × Number of times of movements Pn536
4 (Waiting time Pn535 → Forward movement Pn531 → Waiting time Pn535 →
Reverse movement Pn531) × Number of times of movement Pn536
5 (Waiting time Pn535 → Reverse movement Pn531 → Waiting time Pn535 →
Forward movement Pn531) × Number of times of movement Pn536
1 to
1073741824 1 refer-
Pn531 Program JOG Movement Distance 32768 Immediately Setup
ence unit
(230)
Program JOG Acceleration/Decelera-
Pn534 2 to 10000 1 ms 100 Immediately Setup 7.5
tion Time
Pn535 Program JOG Waiting Time 0 to 10000 1 ms 100 Immediately Setup
Number of Times of Program JOG
Pn536 0 to 1000 1 time 1 Immediately Setup
Movement
-1000.0 to
Pn550 Analog Monitor 1 Offset Voltage 0.1 V 0 Immediately Setup
1000.0
-1000.0 to
Pn551 Analog Monitor 2 Offset Voltage 0.1 V 0 Immediately Setup
1000.0
6.1.3
-100.00 to
Pn552 Analog Monitor Magnification (×1) ×0.01 1.00 Immediately Setup
100.00
-100.00 to
Pn553 Analog Monitor Magnification (×2) ×0.01 1.00 Immediately Setup
100.00
Pn560 Remained Vibration Detection Width 0.1 to 300.0 0.1% 400 Immediately Setup 6.7.1
Pn561 Overshoot Detection Level 0 to 100 1% 100 Immediately Setup −
Pn580 Zero Clamp Level 0 to 10000 1 mm/s 10 Immediately Setup 5.3.5
Pn581 Zero Speed Level 1 to 10000 1 mm/s 20 Immediately Setup 5.10.3
Speed Coincidence Signal Output
Pn582 0 to 100 1 mm/s 10 Immediately Setup 5.3.8
Width
Pn583 Brake Reference Output Speed Level 0 to 10000 1 mm/s 10 Immediately Setup −
Pn584 Speed Limit Level at Servo ON 0 to 10000 1 mm/s 10000 Immediately Setup 9.1.1
Pn585 Program JOG Movement Speed 1 to 10000 1 mm/s 50 Immediately Setup 7.5
1%/
Pn586 Motor Running Air-cooling Ratio 0 to 100 0 Immediately Setup −
maxvel
10-28

Polarity Detection for Absolute Scale 0000h to
− 0000h Immediately Setup −
Selection 0001h
4th 3rd 2nd 1st

n.
Polarity Detection for Absolute Scale Selection
Pn587 0 Does not detect polarity.

1 Detects polarity.
Depends on
Pn600 Regenerative Resistor Capacity ∗1 SERVOPACK 10 W 0 Immediately Setup 3.6.2
Capacity ∗2
Pn601 Reserved (Do not change.) − − 0 − − −
∗1. Normally set to "0." When using an external regenerative resistor, set the capacity (W) of the regenerative resistor.
∗2. The upper limit is the maximum output capacity (W) of the SERVOPACK.
Appendix
10
10-29
10 Appendix
10.3 Monitor Modes

The following list shows monitor modes available.
Parameter
Content of Display Unit
No.
Un000 Motor moving speed mm/s
Un001 Speed reference mm/s
Un002 Internal force reference (in percentage to the rated force) %
Un003 Electric angle 1 (32-bit decimal code) pulse
Un004 Electric angle 2 (Angle from 0 degree of phase-U) deg
*1 Input signal monitor −
Un005
Un006*2 Output signal monitor −
Un007 Input reference pulse speed (valid only in position control) mm/s
Un008 Error counter (position error amount) (valid only in position control) reference unit
Accumulated load ratio (in percentage to the rated force: effective force in
Un009 %
cycle of 10 seconds)
Regenerative load ratio (in percentage to the processable regenerative power:
Un00A %
regenerative power consumption in cycle of 10 seconds)
Power consumed by DB resistance
Un00B (in percentage to the processable power at DB activation: displayed in cycle %
of 10 seconds)
Input reference pulse counter (32-bit decimal code) (valid only in position
Un00C*3 control)
reference unit
Un00D*3 Feedback pulse counter (1/256 of linear scale pitch): 32-bit decimal code) encoder pulse
Un010 Allowable maximum motor speed of Encoder output resolution −
Un011 Hall sensor signal monitor −
Un084 Linear scale pitch (Scale pitch = Un084 × 10Un085 [pm]) −
Un085 Linear scale pitch index (Scale pitch = Un084 × 10Un085 [pm]) −
∗1. For details, refer to 8.6 Monitoring Input Signals.

∗2. For details, refer to 8.7 Monitoring Output Signals.
∗3. For details, refer to 8.3 Monitor Display of Reference Pulse Counter (Un00C) and Feedback Pulse Counter
(Un00D).
10-30
10.4 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.
Parame- Factory When

Name
ter Setting Enabled
Pn000 0000 Basic Function Select Switch 0 After restart
Pn001 0000 Application Function Select Switch 1 After restart
Pn006 0002 Application Function Select Switch 6 Immediately
Pn007 0000 Application Function Select Switch 7 Immediately
Pn00B 0000 Application Function Select Switch B After restart
Pn00C 0000 Application Function Select Switch C After restart
Axis Address Selection (for UART/
Pn010 0001 After restart
USB communication)
Application Function Select Switch
80
Pn100 40.0 Hz Speed Loop Gain Immediately
Pn101 20.00 ms Speed Loop Integral Time Constant Immediately
Pn102 40.0/s Position Loop Gain Immediately
Pn103 100 % Mass Ratio Immediately
Pn104 40.0 Hz 2nd Speed Loop Gain Immediately
2nd Speed Loop Integral Time Con-
Pn105 20.00 ms Immediately
stant
Pn106 40.0/s 2nd Position Loop Gain Immediately
Pn109 0% Feedforward Gain Immediately
Pn10A 0.00 ms Feedforward Filter Time Constant Immediately
Application Function for Gain Select
Pn10B 0000 −
Switch
Pn10C 200 % Mode Switch (force reference) Immediately
0 reference
Pn10F Mode Switch (position error pulse) Immediately
unit
Pn11F 0.0 ms 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 0.0 Hz Immediately
Correction
Friction Compensation Gain Correc-
Pn125 100% Immediately
tion
Pn131 0 ms Gain Switching Time 1 Immediately
Appendix
Pn132 0 ms Gain Switching Time 2 Immediately

Pn135 0 ms Gain Switching Waiting Time 1 Immediately
Pn136 0 ms Gain Switching Waiting Time 2 Immediately
Automatic Gain Changeover Related
Switch 1 10
Pn13D 2000% Current Gain Level Immediately
10-31
10 Appendix

Name
ter Setting Enabled
Model Following Control Related
Pn140 0100 Immediately
Switch
Pn141 50.0/s Model Following Control Gain Immediately
Model Following Control Gain Com-
Pn142 100.0% Immediately
pensation
(Forward Direction)
(Reverse Direction)
Pn145 50.0 Hz Vibration Suppression 1 Frequency A Immediately
Pn146 70.0 Hz Vibration Suppression 1 Frequency B Immediately
Model Following Control Speed
Feedforward Compensation
Pn148 50.0 /s 2nd Model Following Control Gain Immediately
2nd Model Following Control Gain
Compensation
Pn14A 80.0 Hz Vibration Suppression 2 Frequency Immediately
Vibration Suppression 2 Compensa-
Pn14B 100% Immediately
tion
Pn14F 0011 Control Related Switch After restart
Anti-Resonance Control Related
Switch
Pn161 100.0 Hz Anti-Resonance Frequency Immediately
Pn162 100% Anti-Resonance Gain Compensation Immediately
Pn163 0% Anti-Resonance Damping Gain Immediately
Anti-Resonance Filter Time Con-
stant 1 Compensation
Anti-Resonance Filter Time Con-
stant 2 Compensation
Pn170 1401 Tuning-less Function Related Switch −
Pn181 0 mm/s Mode Switch (Speed Reference) Immediately
Pn182 0 mm/s2 Mode Switch (Acceleration) Immediately
Position Control Reference Form
Selection Switch
Pn207 0010 Position Control Function Switch After restart
Pn20E 4 Electronic Gear Ratio (Numerator) After restart
Pn210 1 Electronic Gear Ratio (Denominator) After restart
Position Reference Acceleration/
Deceleration Time Constant
Average Movement Time of Position
Reference
Pn281 20 P/Pitch Encoder Output Resolution After restart
Pn282 0.00 μm Linear Scale Pitch After restart
6.00 V/
Pn300 Speed Reference Input Gain Immediately
Rated speed
Pn305 0 ms Soft Start Acceleration Time Immediately
Pn306 0 ms Soft Start Deceleration Time Immediately
Speed Reference Filter Time Con-
stant
Pn310 0000 Vibration Detection Switch Immediately
10-32

Name
ter Setting Enabled
Pn311 100 % Vibration Detection Sensibility Immediately
Pn324 300% Mass Calculating Start Level Immediately
Pn380 10 mm/s Internal Set Speed 1 Immediately
Pn383 50 mm/s JOG Speed Immediately
Pn384 10 mm/s Vibration Detection Level Immediately
Pn385 5000 mm/s Motor Max.Speed After restart
3.0 V/Rated
Pn400 Force Reference Input Gain Immediately
force
Pn401 1.00 ms Force Reference Filter Time Constant Immediately
Pn404 100 % Forward External Force Limit Immediately
Pn405 100 % Reverse External Force Limit Immediately
Pn406 800 % Emergency Stop Force Immediately
Pn408 0000 Force Related Function Switch −
Pn409 5000 Hz 1st Notch Filter Frequency Immediately
Pn40A 0.70 1st Notch Filter Q Value Immediately
Pn40B 0 1st Notch Filter Depth Immediately
Pn40C 5000 Hz 2nd Notch Filter Frequency Immediately
Pn40D 0.70 2nd Notch Filter Q Value Immediately
Pn40E 0.000 2nd Notch Filter Depth Immediately
2nd Force Reference Filter Fre-
Pn40F 5000 Hz Immediately
quency
Pn410 0.50 2nd Force Reference Filter Q Value Immediately
1st Step 2nd Force Reference Filter
Time Constant
Pn415 0.00 ms T-REF Filter Time Constant Immediately
Force Limit at Main Circuit Voltage
Drop
Release Time for Force Limit at Main
Pn425 100 ms Immediately
Circuit Voltage Drop
Pn456 15 % Sweep Force Reference Amplitude Immediately
Pn460 0101 Notch Filter Adjustment Switch Immediately
Pn480 10000 mm/s Speed Limit during Force Control Immediately
Pn481 4.00 Hz Polarity Detection Speed Loop Gain Immediately
Polarity Detection Speed Loop Inte-
gral Time Constant
Pn483 30% Forward Force Limit Immediately
Pn484 30% Reverse Force Limit Immediately
Pn485 20 mm/s Polarity Detection Reference Speed Immediately
Polarity Detection Reference Accel/
Decel Time
Polarity Detection Constant Speed
Appendix
Time
Polarity Detection Reference Wait-
ing Time
Pn48E 10 mm Polarity Detection Range Immediately
Pn490 100% Polarity Detection Load Level Immediately 10
10-33
10 Appendix

Name
ter Setting Enabled
Polarity Detection Confirmation
Force Reference
Polarity Detection Allowable Error
Pn498 10 deg Immediately
Range
Brake Reference - Servo OFF Delay
Time
Waiting Time for Brake Signal When
Motor Running
Pn509 20 ms Instantaneous Power Cut Hold time Immediately
Pn50A 2100 Input Signal Selection 1 After restart
Pn50B 6543 Input Signal Selection 2 After restart
Pn50C 8888 Input Signal Selection 3 After restart
Pn50D 8888 Input Signal Selection 4 After restart
Pn50E 3211 Output Signal Selection 1 After restart
Pn50F 0000 Output Signal Selection 2 After restart
Pn510 0000 Output Signal Selection 3 After restart
Pn511 8888 Input Signal Selection 5 After restart
Pn512 0000 Output Signal Reversal Setting After restart
Pn513 0000 Output Signal Selection 4 After restart
Pn51E 100% Immediately
Level
5242880
Excessive Position Error Alarm
Pn520 reference Immediately
Level
unit
7
Pn522 reference Positioning Completed Width Immediately
unit
1073741824
Pn524 reference NEAR Signal Width Immediately
unit
5242880
Excessive Position Error Alarm
Pn526 reference Immediately
Level at Servo ON
unit
Level at Servo ON
Pn52B 20% Overload Warning Level Immediately
Derating of Base Current at Detecting
Pn52C 100% After restart
Overload of Motor
Pn52F 0FFF Monitor Display at Power ON Immediately
Program JOG Operation Related
Switch
32768
Pn531 reference Program JOG Movement Distance Immediately
unit
Program JOG Acceleration/Decelera-
tion Time
Pn535 100 ms Program JOG Waiting Time Immediately
Number of Times of Program JOG
Pn536 once Immediately
Movement
Pn550 0.0 V Analog Monitor 1 Offset Voltage Immediately
Pn551 0.0 V Analog Monitor 2 Offset Voltage Immediately
Pn552 ×0.01 Analog Monitor Magnification (×1) Immediately
10-34

Name
ter Setting Enabled
Pn553 ×0.01 Analog Monitor Magnification (×2) Immediately
Pn560 40.0% Remained Vibration Detection Width Immediately
Pn561 100% Overshoot Detection Level Immediately
Pn580 10 mm/s Zero Clamp Level Immediately
Pn581 20 mm/s Zero Speed Level Immediately
Speed Coincidence Signal Output
Pn582 10 mm/s Immediately
Width
Pn583 10 mm/s Brake Reference Output Speed Level Immediately
Pn584 10000 mm/s Speed Limit Level at Servo ON Immediately
Pn585 50 mm/s Program JOG Movement Speed Immediately
Pn586 0%/maxvel Motor Running Air-cooling Ratio Immediately
Polarity Detection for Absolute Scale
Pn587 0000h Immediately
Selection
Pn600 0W Regenerative Resistor Capacity Immediately
Pn601 0 Reserved (Do not change.) −
Appendix
10
10-35
Revision History
The revision dates and numbers of the revised manuals are given on the bottom of the back cover.
MANUAL NO.‫ޓ‬SIEP S800000 47C

Published in Japan September 2009 07-7 2 -1
WEB revision number
Date of Revision number
publication Date of original
publication
WEB
Date of Rev. Rev. Section Revised Content
Publication No.
No.
July 2007 – – – First edition
August 2008 1 – All chapters Completely revised
Back cover Revision: Address
November 2008 2 0 Preface Addition: EMC Directive, Safety Standards
1.3.1 (2), (3), Addition: SERVOPACK Models
1.6, 3.1.1, 3.1.2 Three-phase 200 V: SGDV-470A, 550A, 590A, 780A
(3), (4), 3.1.3, Three-phase 400 V: SGDV-210D, 260D, 280D, 370D
3.1.5, 3.6.1, 6.8.10
1.3.2 Revision: Applicable Standards
Revision: Shock Resistance
1.4 Addition: SERVOPACK Internal Block Diagrams
1.5 Revision: Example of Servo System Configurations
3.3 Revision: I/O Signal Allocations
5.11.1 (11) Addition: Servo Alarm Output Signal (ALM) and Alarm Code Output Signals (AL01, AL02,
and AL03)
6.8.7 Revision: The diagram of Force Reference Filter
September 2009 1 Preface Addition: Warranty
Back cover Revision: Address
AC Servo Drives
Σ -V Series
USER'S MANUAL
Design and Maintenance
Linear Motor
Analog Voltage and Pulse Train Reference
IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama 358-8555, Japan
Phone 81-4-2962-5696 Fax 81-4-2962-6138
YASKAWA ELECTRIC AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone (800) YASKAWA (800-927-5292) or 1-847-887-7000 Fax 1-847-887-7370
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 ELECTRIC EUROPE GmbH
Hauptstraβe 185, 65760 Eschborn, 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, Youngdungpo-Ku, Seoul 150-877, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-02A, New Tech Park 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
No.18 Xizang Zhong Road. Room 1702-1707, Harbour Ring Plaza Shanghai 200001, China
Phone 86-21-5385-2200 Fax 86-21-5385-3299
YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE
Room 1011A, 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, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
YASKAWA ELECTRIC CORPORATION
YASKAWA
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.
© 2007-2009 YASKAWA ELECTRIC CORPORATION. All rights reserved.
MANUAL NO. SIEP S800000 47C

Published in Japan September 2009 07-7 2 -1
09-8-2

Series: User'S Manual Design and Maintenance

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AC Servo Drives

MANUAL NO. SIEP S800000 47C

 Description of Technical Terms

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

 Notation Used in this Manual

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

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

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

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

 Maintenance and Inspection

Observe the following general precautions

(1) Details of Warranty

 North American Safety Standards (UL)

Model UL∗ Standards

Low Voltage EMC Directive Safety

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

Chapter 2 Panel Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1

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

Chapter 5 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1

Chapter 7 Utility Functions (Fn) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1

Chapter 8 Monitor Modes (Un) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1

Chapter 9 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-1

Chapter 10 Appendix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-1

1.1 Σ-V Series SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

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

1.5 Examples of Servo System Configurations . . . . . . . . . . . . . . . . . . . . . . . 1-15

1.6 SERVOPACK Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18

1.1 Σ-V Series SERVOPACKs

1.2 Part Names

With front cover open

Panel display CN5 Analog monitor connector

Nameplate (side view)

1.3 SERVOPACK Ratings and Specifications

(1) 100 VAC Rating

(2) 200 VAC Rating

(3) 400 VAC Rating

1.3.2 Basic Specifications

Control Method Single or three-phase full-wave rectification IGBT-PWM (sine-wave driven)

Phase-A, -B, -C: line driver

Digital operator (JUSP-OP05A-1-E), personal computer (can be connected with

USB Interface Personal computer (can be connected with SigmaWin+.)

1.3.3 Speed/Position/Force Control Modes

Control Mode Specifications

Position Control Form For line driver, open collector

1.4 SERVOPACK Internal Block Diagrams

Voltage Relay Voltage Gate Temperature Gate drive Current

L1C Varistor ±12 V

Power Power Open during

CN3 CN7 CN8

1.4.2 Single-phase 100 V, SGDV-2R8F05A Model

Relay Gate Gate drive Temperature Current

L1C Varistor ±12 V

Power Power Open during

CN3 CN7 CN8

1.4.3 Three-phase 200 V, SGDV-R70A05A, -R90A05A, -1R6A05A Models

L1C Varistor +17V CN5

Power Power Open during

CN3 CN7 CN8

1.4.4 Three-phase 200 V, SGDV-2R8A05A Model

Description of Technical Terms

Notation Used in this Manual

Maintenance and Inspection

North American Safety Standards (UL)

Chapter 7 Utility Functions (Fn) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1

Chapter 8 Monitor Modes (Un) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1

1.5.1 Connecting to SGDV-F05A SERVOPACK

1.5.2 Connecting to SGDV-A05A SERVOPACK

1.5.3 Connecting to SGDV-D05A SERVOPACK

2.6 Parameter Setting Mode (Pn) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

2.7 Monitor Mode (Un) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11