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MANUAL NO. SIEP S800000 43B

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Overview of Setup

Installation

Wiring and Connection

Safety Function

Troubleshooting

Trial Operation(Checking Servomotor Operation)

SGDV SERVOPACKSGMJV/SGMAV/SGMPS/SGMGV/SGMSV/SGMCS Servomotors

Rotational Motor

Σ-V SeriesAC Servo Drives

USER'S MANUALSetup



Copyright © 2007 YASKAWA ELECTRIC CORPORATION

All rights reserved. No part of this publication may be reproduced, stored in a retrievalsystem, or transmitted, in any form, or by any means, mechanical, electronic, photo-copying, 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 constantly striving to improve its high-quality products,the information contained in this manual is subject to change without notice. Every

precaution has been taken in the preparation of this manual. Nevertheless, Yaskawaassumes no responsibility for errors or omissions. Neither is any liability assumed fordamages resulting from the use of the information contained in this publication.



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About this Manual

This manual describes procedures required for installation, wiring, and connectingΣ-V Series servo drives, including a JOG operation for servomotors not connected to

machinery.

Be sure to refer to this manual and perform setup operations correctly.

Keep this manual in a location where it can be accessed for reference wheneverrequired.

Description of Technical TermsThe following table shows the meanings of terms used in this manual.

IMPORTANT ExplanationsThe following icon is displayed for explanations requiring special attention.

Notation Used in this ManualIn this manual, the names of reverse signals (ones that are valid when low) are writtenwith a forward slash (/) before the signal name, as shown in the following example:

Example

S-ON = /S-ON

Term Meaning

Servomotor Σ-V Series SGMJV, SGMAV, SGMPS, SGMGV, SGMSV, or

SGMCS (Direct Drive) servomotor

SERVOPACK Σ-V Series SGDV SERVOPACK

Servo DriveA set including a servomotor and SERVOPACK (i.e., a servoamplifier)

Servo SystemA servo control system that includes the combination of a servodrive with a host controller and peripheral devices

Analog pulse modelAnalog voltage and pulse-train reference used for SERVOPACK

interface.

M-II modelMECHATROLINK-II communications reference used forSERVOPACK interface.

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

precautions, such as alarm displays, that do not involve potential damageto equipment.



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Manuals Related to the Σ-V Series

Refer to the following manuals as required.

Name

Selecting

ModelsandPeripheralDevices

Ratings

andSpecifi-cations

SystemDesign

PanelsandWiring

TrialOperation

Trial

OperationandServo

Adjustment

MaintenanceandInspection

Σ-V SeriesProduct Catalog(KAEP S800000 42)

Σ-V SeriesUser's ManualDesign andMaintenanceRotational Motor/

Analog Voltage andPulse TrainReference(SIEP S800000 45)

Σ−V SeriesUser's ManualDesign andMaintenanceRotational Motor/MECHATROLINK-IICommunicationsReference

(SIEP S800000 46)

Σ-V SeriesUser’s ManualOperation of DigitalOperator (SIEP S800000 55)

Σ-V SeriesUser’s ManualMECHATROLINK-IICommand(SIEP S800000 54)

Σ-V Series AC SERVOPACKSGDV SafetyPrecautions(TOBP C710800 10)

Σ SeriesDigital OperatorSafety Precautions(TOBP C730800 00)

AC SERVOMOTORSafety Precautions(TOBP C230200 00)



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Safety InformationThe following conventions are used to indicate precautions in this manual. Failure toheed precautions provided in this manual can result in serious or possibly even fatalinjury or damage to the products or to related equipment and systems.

Indicates precautions that, if not heeded, couldpossibly result in loss of life or serious injury.

Indicates precautions that, if not heeded, could resultin relatively serious or minor injury, damage to theproduct, or faulty operation.

In some situations, the precautions indicated couldhave serious consequences if not heeded.

Indicates prohibited actions that must not beperformed. For example, this symbol would be used to

indicate that fire is prohibited as follows:

Indicates compulsory actions that must be performed.For example, this symbol would be used as follows to

indicate that grounding is compulsory:

WARNING

CAUTION

PROHIBITED

MANDATORY



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Safety Precautions

These safety precautions are very important. Read them before performing any pro-cedures such as checking products on delivery, storage and transportation, installa-

tion, wiring, operation and inspection, or disposal. Be sure to always observe these precautions thoroughly.

WARNING

• Never touch any rotating motor parts while the motor is running.Failure to observe this warning may result in injury.

• Before starting operation with a machine connected, make sure that anemergency stop can be applied at any time.Failure to observe this warning may result in injury or damage to the product.

• Never touch the inside of the SERVOPACKs.Failure to observe this warning may result in electric shock.

• Do not remove the cover of the power supply terminals while the power isON.Failure to observe this warning may result in electric shock.

• After the power is turned OFF or after a voltage resistance test, do nottouch terminals while the CHARGE lamp is ON.Residual voltage may cause electric shock.

• Follow the procedures and instructions provided in this manual for trialoperation.Failure to do so may result not only in faulty operation and damage to equipment,

but also in personal injury.• The multi-turn output range for the Σ-V Series absolute position detecting

system is different from that of earlier systems (15-bit and 12-bit encoders).In particular, change the system to configure the Σ series infinite-lengthpositioning system with the Σ-V Series.

• The multi-turn limit value need not be changed except for special applica-tions.Changing it inappropriately or unintentionally can be dangerous.

• If the Multi-turn Limit Disagreement alarm occurs, check the setting ofparameter Pn205 in the SERVOPACK to be sure that it is correct.If Fn013 is executed when an incorrect value is set in Pn205, an incorrect valuewill be set in the encoder. The alarm will disappear even if an incorrect value is set,

but incorrect positions will be detected, resulting in a dangerous situation wherethe machine will move to unexpected positions.

• Do not remove the front cover, cables, connectors, or optional items fromthe upper front of the SERVOPACK while the power is ON.Failure to observe this warning may result in electric shock.

• Do not damage, press, exert excessive force on, or place heavy objects onthe cables.Failure to observe this warning may result in electric shock, stopping operation ofthe product, or fire.

• Do not modify the product.Failure to observe this warning may result in injury, fire, or damage to the product.



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Storage and Transportation

• Provide an appropriate stopping device on the machine side to ensuresafety. The holding brake on a servomotor with a brake is not a stopping

device for ensuring safety.Failure to observe this warning may result in injury.

• Do not come close to the machine immediately after resetting a momentarypower loss. The machine may restart unexpectedly. Take appropriate mea-sures to ensure safety against an unexpected restart.Failure to observe this warning may result in injury.

• Connect the ground terminal according to local electrical codes (100 Ω orless for a SERVOPACK with a 100, 200 V power supply. 10 Ω or less for aSERVOPACK with a 400 V power supply.)Improper grounding may result in electric shock or fire.

• Installation, disassembly, or repair must be performed only by authorizedpersonnel.Failure to observe this warning may result in electric shock or injury.

• The person who designs a system using the safety function (Hard WireBaseblock function) must have full knowledge of the related safety stan-dards and full understanding of the instructions in Σ -V Series User’s Man-ual Design and Maintenance (SIEP S800000 45/46).Failure to observe this warning may result in injury or damage to the product.

WARNING

CAUTION

• Do not store or install the product in the following locations.Failure to observe this caution may result in fire, electric shock, or damage to the

product.• Locations subject to direct sunlight• Locations subject to temperatures outside the range specified in the storage/

installation temperature conditions• Locations subject to humidity outside the range specified in the storage/instal-

lation humidity conditions• Locations subject to condensation as the result of extreme changes in tempera-

ture• Locations subject to corrosive or flammable gases• Locations subject to dust, salts, or iron dust• Locations subject to exposure to water, oil, or chemicals• Locations subject to shock or vibration

• Do not hold the product by the cables, motor shaft or detector while trans-porting it.Failure to observe this caution may result in injury or malfunction.

• Do not place any load exceeding the limit specified on the packing box.Failure to observe this caution may result in injury or malfunction.



viii

Storage and Transportation (cont’d)

Installation

CAUTION

• If disinfectants or insecticides must be used to treat packing materials suchas wooden frames, pallets, or plywood, the packing materials must betreated before the product is packaged, and methods other than fumigationmust 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 productsinstalled in machines, are packed with fumigated wooden materials, the electricalcomponents may be greatly damaged by the gases or fumes resulting from thefumigation process. In particular, disinfectants containing halogen, which includeschlorine, fluorine, bromine, or iodine can contribute to the erosion of the capaci-tors.

CAUTION

• Never use the product in an environment subject to water, corrosive gases,inflammable gases, or combustibles.Failure to observe this caution may result in electric shock or fire.

• Do not step on or place a heavy object on the product.Failure to observe this caution may result in injury.

• Do not cover the inlet or outlet ports and prevent any foreign objects fromentering the product.Failure to observe this caution may cause internal elements to deteriorate resultingin 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 con-trol 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.



ix

Wiring

CAUTION

• Be sure to wire correctly and securely.Failure to observe this caution may result in motor overrun, injury, or malfunction.

• Do not connect a commercial power supply to the U, V, or W terminals forthe servomotor connection.Failure to observe this caution may result in injury or fire.

• Securely connect the main circuit power supply terminals and servomotorconnection terminals.Failure to observe this caution may result in fire.

• Do not bundle or run the main circuit cables together with the I/O signalcables or the encoder cables in the same duct. Keep them separated by atleast 30 cm.Failure to do so may result in malfunction.

• Use shielded twisted-pair wires or multi-core shielded twisted-pair wires forI/O signal cables and the encoder cables.

• I/O signal cables must be no longer than 3 m, encoder cables must be nolonger than 50 m, and control power supply (+24 V, 0 V) cables for a 400 Vinput SERVOPACK must be no longer than 10 m.

• Do not touch the power terminals while the CHARGE lamp is ON after turn-ing 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 detachable main circuit terminals from the SERVOPACK prior to wir-

ing.

• Insert only one main circuit cable per opening in the main circuit terminals.• Make sure that no part of the core wire comes into contact with (i.e., short-cir-

cuit) adjacent wires.

• Install a battery at either the host controller or the battery unit of theencoder, but not both.It is dangerous to install batteries at both ends simultaneously, because that sets upa loop circuit between the batteries.

• Always use the specified power supply voltage.An incorrect voltage may result in fire or malfunction.

• Take appropriate measures to ensure that the input power supply is sup-plied 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 inexternal wiring.Failure to observe this caution may result in fire.

• Take appropriate and sufficient countermeasures for each form of potentialinterference when installing systems in the following locations.• Locations subject to static electricity or other forms of noise• Locations subject to strong electromagnetic fields and magnetic fields• Locations subject to possible exposure to radioactivity• Locations close to power supplies

Failure to observe this caution may result in damage to the product.



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Wiring (cont’d)

Operation

CAUTION

• Do not reverse the polarity of the battery when connecting it.Failure to observe this caution may result in damage to the battery, the SERVO-PACK, or cause an explosion.

• Wiring or inspection must be performed by a technical expert.

• Use a 24 VDC power supply with double insulation or reinforced insulation.

CAUTION

• Conduct trial operations on the servomotor alone, with the motor shaft dis-connected from the machine to avoid accidents.Failure to observe this caution may result in injury.

• Before starting operation with a machine connected, change the settings tomatch the parameters of the machine.Starting operation without matching the proper settings may cause the machine torun out of control or malfunction.

• Do not frequently turn power ON and OFF.Since the SERVOPACK has a capacitor in the power supply, a high charging cur-rent flows when power is turned ON. Frequently turning power ON and OFFcauses main power devices like capacitors and fuses to deteriorate, resulting in

unexpected problems.• When using JOG operations (Fn002) origin search operations (Fn003), or

EasyFFT operations (Fn206), the dynamic brake function does not work forreverse overtravel or forward overtravel. Take necessary precautions.Failure to observe this caution may result in damage to the product.

• When using the servomotor for a vertical axis, install safety devices to pre-vent workpieces from falling due to alarms or overtravels. Set the servomo-tor so that it will stop in the zero clamp state when overtravel occurs.Failure to observe this caution may cause workpieces to fall due to overtravel.

• When not using turning-less function, set to the correct moment of inertiaratio (Pn103).Setting to an incorrect moment of inertia ratio may cause vibration.

• Do not touch the SERVOPACK heatsinks, regenerative resistor, or servo-motor 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 tounstable operation.

• When an alarm occurs, remove the cause, reset the alarm after confirmingsafety, and then resume operation.Failure to observe this caution may result in damage to the product, fire, or injury.

• Do not use the holding brake of the servomotor for braking.Failure to observe this caution may result in malfunction.



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Operation (cont’d)

Maintenance and Inspection

CAUTION

• Always use the servomotor and SERVOPACK in one of the specified com-binations.Failure to observe this caution may result in fire or malfunction.

• The servomotor stopping method of turning the main-circuit or control-cir-cuit power OFF without turning the servo OFF during operation can not beset in Parameter Pn001. Use the following method to stop the servomotor.• When turning the main-circuit power OFF without turning the servo OFF:

The servomotor will be stopped by dynamic braking (DB).• When turning the control-circuit power OFF without turning the servo OFF:

The stopping method will vary depending on the SERVOPACK model.Refer to the Σ-V Series User's Manual Design and Maintenance for details.

CAUTION

• Do not disassemble the SERVOPACK.Failure to observe this caution may result in electric shock or injury.

• Do not attempt to change wiring while the power is ON.Failure to observe this caution may result in electric shock or injury.

• When replacing the SERVOPACK, resume operation only after copying theprevious SERVOPACK parameters to the new SERVOPACK.Failure to observe this caution may result in damage to the product.



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Disposal

General Precautions

CAUTION

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

Observe the following general precautionsto ensure safe application.

• The products shown in illustrations in this manual are sometimes shown without cov-ers or protective guards. Always replace the cover or protective guard as specifiedfirst, and then operate the products in accordance with the manual.

• The drawings presented in this manual are typical examples and may not match the product you received.• This manual is subject to change due to product improvement, specification modifica-

tion, and manual improvement. When this manual is revised, the manual code isupdated and the new manual is published as a next edition. The edition numberappears on the front and back covers.

• If the manual must be ordered due to loss or damage, inform your nearest Yaskawarepresentative or one of the offices listed on the back of this manual.

• Yaskawa will not take responsibility for the results of unauthorized modifications ofthis product.Yaskawa shall not be liable for any damages or troubles resulting from unauthorizedmodification.



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Applicable Standards

North American Safety Standards (UL)

∗ Underwriters Laboratories Inc.

European Standards

Note: Because SERVOPACKs and servomotors are built into machines, certification is

required after installation in the user’s product.

Model UL∗ Standards(UL File No.)

SERVOPACK • SGDV UL508C (E147823)

Servomotor

• SGMJV• SGMAV• SGMPS• SGMGV• SGMSV

UL1004 (E165827)

ModelLow Voltage

Directive

EMC Directive SafetyStandardsEMI EMS

SERVOPACK • SGDVEN50178

EN61800-5-1

EN55011/A2group 1 class A

EN61800-3

EN61800-3EN61000-6-2

EN954-1IEC61508-1

to 4

Servomotor

• SGMJV• SGMAV• SGMPS• SGMGV• SGMSV

IEC60034-1IEC60034-5IEC60034-8IEC60034-9

EN55011/A2group 1 class A

EN61800-3

EN61800-3EN61000-6-2

–



xiv

CONTENTS

About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii

1 Overview of Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

2.1 Installation Environment and Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.1 Servomotor Installation Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.2 SERVOPACK Installation Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2.1.3 Installation Conditions for Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.2 Servomotor Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-52.2.1 Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.2.2 Installation Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.2.3 Connecting Servomotor to Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

2.2.4 Protective Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

2.2.5 Other Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

2.3 SERVOPACK Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

2.3.1 Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

2.3.2 Installation Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10

2.4 EMC Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12

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

3.1 Precautions for Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3.2 System Configuration Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.2.1 Connecting to SGDV-F01A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.2.2 Connecting to SGDV- A01A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . 3-4

3.2.3 Connecting to SGDV-D01A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . 3-5

3.2.4 Connecting to SGDV-F11A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . 3-6

3.2.5 Connecting to SGDV- A11A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . 3-7

3.2.6 Connecting to SGDV-D11A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . 3-8

3.3 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-93.3.1 Names and Functions of Main Circuit Terminals . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

3.3.2 SERVOPACK Main Circuit Wire Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10

3.3.3 Typical Main Circuit Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14

3.3.4 Wiring the Main Circuit Terminal Connector (Spring Type) . . . . . . . . . . . . . . . . 3-18

3.4 Connecting Regenerative Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21

3.4.1 Connecting Regenerative Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21



xv

4 Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

4.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

4.2 Hard Wire Base Block (HWBB) Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.3 Safety Function Signal (CN8) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . 4-44.4 Precautions When Not Using the Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4.5 When Using the Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

5 Trial Operation (Checking Servomotor Operation) . . . . . . . . . . . . . . . 5-1

5.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5.2 Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5.3 JOG Operation Using a Panel Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5

5.4 JOG Operation Using a Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7

5.5 JOG Operation Using SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10

6 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

6.1 Troubleshooting of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6.2 Troubleshooting of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-25

6.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor 6-30

Revision History



1-1

1

O v e r v i e w

o f S e t u p

1

Overview of Setup

This chapter describes how to set up the Σ-V series of servo drives.



2-1

2

I n s t a l

l a t i o n

2

Installation

This chapter describes how to install the servomotor and the SERVOPACK.

2.1 Installation Environment and Applicable Standards . . . . . . . . . 2-2

2.1.1 Servomotor Installation Environment . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.2 SERVOPACK Installation Environment . . . . . . . . . . . . . . . . . . . . 2-3

2.1.3 Installation Conditions for Applicable Standards . . . . . . . . . . . . . . 2-4

2.2 Servomotor Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.2.1 Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.2.2 Installation Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.2.3 Connecting Servomotor to Machine . . . . . . . . . . . . . . . . . . . . . . . 2-62.2.4 Protective Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

2.2.5 Other Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

2.3 SERVOPACK Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

2.3.1 Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

2.3.2 Installation Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10

2.4 EMC Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12



2 Installation

2.1.1 Servomotor Installation Environment

2-2

2 Installation Environment and Applicable Standards

The installation environment and the applicable standards for servomotors andSERVOPACKs are described in this section.

2 Servomotor Installation Environment

Ambient temperature: 0 to 40°C

Ambient humidity: 80% RH or less (with no condensation)

Altitude: 1, 000 m or less

Vibration resistance

Shock resistance: 490 m/s2 at servomotor flange

Installation site: An environment that satisfies the following conditions

• Indoors and free of corrosive or explosive gases

• Well-ventilated and free of dust and moisture

• Facilitates inspection and cleaning

• Free of high magnetic field

The servomotor will withstand the followingvibration acceleration in three directions: vertical,side to side, and front to back.

Servomotor ModelVibration Acceleration

at Flange

SGMJV, SGMAV, SGMPS,SGMCS-02 to -35 49 m/s2

SGMGV-03 to -44,SGMSV-10 to -55

49 m/s2 (Front to back direction:

24.5m/s2)

SGMGV-55 to -1E,SGMCS-45 to -2Z 24.5 m/s2

SGMSV-70 14.7 m/s2

Horizontal

Impact Applied to theServomotor

Vertical

Front toBack

Side to Side



2 Installation

2.1.3 Installation Conditions for Applicable Standards

2-4

2 3 Installation Conditions for Applicable Standards

ApplicableStandards

UL508CEN50178, EN55011/A2 group1 classA, EN61000-6-2, EN61800-3,EN61800-5-1, EN954-1, IEC61508-1 to 4

OperatingConditions

Overvoltage Category: IIIPollution degree: 2Protection class: IP10

InstallationConditions

UL Standard and Low Voltage Directive:Satisfy the conditions outlined in Σ -V Series AC SERVOPACK SGDV Safety Precautions (TOBP C710800 10)EMC Directive:Certification is required after installation in the user’s machine under theconditions outlined in 2.4 EMC Installation Conditions of this manual.



2.2 Servomotor Installation

2-5

2

I n s t a l

l a t i o n

2 2 Servomotor Installation

2 2 Orientation

Servomotors can be installed either horizontally or vertically.Servomotors with gears can be installed only horizontally, depending on gear lubrica-tion conditions. Refer to Σ -V Series Product Catalog (KAEP S800000 42) for details.

2 2 2 Installation Standards

The motor rated specifications (rated output, rated torque, and rated speed) are thecontinuous allowable values at an ambient temperature of 40°C when servomotorsare installed with heat sinks.For more information on heat sinks, refer to Σ -V Series Product Catalog (KAEP

S800000 42) .

When a motor is mounted on a small surface, the motor temperature may rise consid-erably because of the limited heat radiating abilities of the surface. To restrict thetemperature rise, you should either mount a heat sink or limit the electrical, thermal,and mechanical stress on the motor (derating). Refer to Σ -V Series Product Catalog(KAEP S800000 42) for the relation between heat sink size and derating. The data inthe catalog is given only for reference, as the actual temperature rise depends on howthe heat sink (motor mounting section) is fixed on the installation surface and whatmaterial is used for the motor mounting section. Always check the actual motor temperature.

If the servomotor is covered, or if a heating element is installed near the servomotor,the motor temperature may rise considerably. In this case, take following counter-measures.

• Reduce the load ratio.

• Reconsider the motor heating conditions.

• Install a cooling fan to forcedly cool the motor.



2 Installation

2.2.3 Connecting Servomotor to Machine

2-6

2 2 3 Connecting Servomotor to Machine

The end of the motor shaft is coated with anticorrosive paint. Thoroughly remove the paint prior to installation.

Align the shaft of the servomotor with the shaft of the machine, and then couple theshafts. Install the servomotor so that alignment accuracy falls within the followingrange. Vibration will damage the bearings or encoders if the shafts are not properlyaligned.

Do not allow direct impact to be applied to the shafts when installing the coupling asthe encoder mounted on the opposite end of the shaft may be damaged.

Measure this distance at fourdifferent positions on thecircumference. The differencebetween the maximum andminimum measurements must be0.03 mm or less.(Turn together with coupling.)

Alignment Accuracy



2.2 Servomotor Installation

2-7

2

I n s t a l l a t i o n

2 2 4 Protective Structure

The servomotor protective structure* is described below.

∗ Except through shaft section. The protective structure specifications can be satisfied onlywhen using a specified cable.

When the through shaft section is subject to oil exposure, refer to 2.2.5 Other Pre-cautions.For SGMJV and SGMAV servomotors, the protective structure specifications can be

satisfied only when using a specified cable.

Model Without Gears With GearsSGMJV, SGMAV IP65 IP55

SGMPSIP55

IP67 (Optional)IP55

SGMGV IP67 −

SGMSVIP67

(SGMSV-70 servomotor only:IP22)

−

SGMCS-02 to -35IP42

(expect for gaps on the rotatingsection of the shaft)

−

SGMCS-45 to -2Z IP44 −

Through shaft section

Shaft

Flange

This refers to the gap wherethe shaft protrudes fromthe end of the motor.



2 Installation

2.2.5 Other Precautions

2-8

2 2 5 Other Precautions

Handling Oil and Water

If the servomotor is used in a location that is subject to water or oil mist, use a servo-motor with an oil seal to seal the through shaft section. Precautions on using a servo-motor with an oil seal are described below.

• Put the oil surface under the oil seal lip.

• Use an oil seal in favorably lubricated condition.

• When using a servomotor with its shaft upward direction, be sure that oil will not

stay in the oil seal lips.

Cable Stress

Make sure there are no bends or tension on the motor main circuit cables and encodercables.Be especially careful to wire encoder cables so that they are not subject to stress

because the core wires are very thin at only 0.2 or 0.3 mm2.

Connectors

Observe the following precautions:

• Make sure there is no foreign matters such as dust and metal chips in the connector

before connecting.

• When the connectors are connected to the motor, be sure to connect the end of

motor main circuit cables before connecting the encoder cable’s end.

If the encoder cable’s end is connected, the encoder may break because of the volt-

age differences between FG.

• Make sure of the pin arrangement.

• Do not apply shock to resin connectors. Otherwise, they may be damaged.

• When handling a servomotor with its cables connected, hold the servomotor or the

connectors and cables will be damaged.

• Fix the connector to SGMJV, SGMAV, SGMPS-01/-02/-04 or SGMGV-03/-05

servomotors with screws. Make sure that the connector is securely fixed withscrews.

If not, the protective construction specifications may not be satisfied.

• Be sure not to apply stress on the connector. The connector may be damaged by

stress.

Radial and Thrust loads

Design the mechanical system so thrust and radial loads applied to the servomotorshaft end during operation fall within the allowable ranges of each motor. Refer toΣ -V Series Product Catalog (KAEP S800000 42) for the allowable ranges.



2.3 SERVOPACK Installation

2-9

2


2 3 SERVOPACK Installation

2 3 Orientation

The SERVOPACK is available in models that are base-mounted, models that arerack-mounted, and models that are duct-ventilated. In any case, mount the SERVO-PACK with a vertical orientation.

Firmly secure the SERVOPACK to the mounting surface, using either two or fourmounting holes depending on the SERVOPACK capacity.

• Base-mounted

• Rack-mounted

Air Flow

Base

Rack

Air Flow



2.3 SERVOPACK Installation

2-11

2


• Mounting SERVOPACKs Side by Side in a Control Panel

Leave sufficient space on each side and at the top and the bottom of each SERVO-PACK. The width on each side varies in accordance with the models of the SERVO-PACKS used.

Also install cooling fans above the SERVOPACKs to disperse local pockets ofwarmer air around the SERVOPACKs.

• Inside the Control PanelThe conditions inside the control panel should be the same as the environmental con-ditions of the SERVOPACK. Refer to 2.1.2 SERVOPACK Installation Environment .

Fan

30 mm

or more40 mm or more

40 mm or more

Width varies withSERVOPACK model

Fan

SERVOPACK ModelSGDV-

SideTop and bottom

Left Right

R70F, R90F, 2R1F,

R70A, R90A, 1R6A, 2R8A1 mm or more

40 mm or more2R8F, 3R8A, 5R5A, 7R6A 1 mm or more 10 mm or more120A, 180A, 200A, 330A,

470A, 550A, 590A, 780A,

1R9D, 3R5D, 5R4D, 8R4D,

120D, 170D, 210D, 260D,280D, 370D

10 mm or more



2.4 EMC Installation Conditions

2-13

2


• Three-phase 200 V

SGDV-A01A ( = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6)

Symbol Cable Name Specification

I/O signal cable Shield cable

Safety signal cable Shield cable

Motor main circuit cable Shield cable Encoder cable Shield cable

Main circuit cable Shield cable

Power supply:Three-phase200 VAC

U, V, W

L1, L2, L3

L1C, L2C

CN2

CN1

Shield box

SERVOPACK

PE

PE

1

3

4

5 C l a m p

Noise

filter

Brake PowerSupply

C l a m p

C l a m p

C l a m p

CN8

2

Surgeabsorber

One turn

One turn

C o r e

C o r e

C o r e

Core Core

C o r e

Two turnTwo turnClamp

Encoder

Servomotor

Brake

Hostcontroller

Safety unit



2 Installation

2-14


SGDV-A01A ( = 120)






1

3

4

5

2


Shield box

SERVOPACK

C l a m p

Noise

filter

Brake PowerSupply

C l a m p

C l a m p

C l a m p

Surgeabsorber

C o r e

C o r e

Core CoreTwo turnTwo turn

Clamp

Encoder

Servomotor

Brake

Hostcontroller

Safety unit

U, V, W

L1, L2, L3

L1C, L2C

CN2

CN1

PE

PE

CN8

One turn




2-15

2



SGDV-A01A ( = 180, 200, 330)






U, V, W

L1, L2, L3

L1C, L2C

CN2

CN1

PE

PE

1

3

4

5

CN8

2


Shield box

SERVOPACK

C l a m p

Noise

filter

Brake PowerSupply

C l a m p

C l a m p

C l a m p

Surgeabsorber

C o r e

Core CoreTwo turnTwo turn

Clamp

Encoder

Servomotor

Brake

Hostcontroller

Safety unit

One turn



2 Installation

2-16


SGDV-A01A ( = 470, 550, 590, 780)



Safety signal cable Shield cable Motor main circuit cable Shield cable

Encoder cable Shield cable


Regenerative resistor unit cable Non-shield cable

Cooling fan cable Shield cable


Shield box

SERVOPACK

Noise

filter

Brake Power

Supply

Surgeabsorber

Hostcontroller

Safety unit

U, V, W

L1, L2, L3

L1C, L2C

CN2

CN1B1, B2

PE

PE

Encoder

Servomotor

Brake

Cooling fan

1

3

4

5 C l a m p

C l a m p

C l a m p

C l a m p

CN8

2

Clamp Clamp

Regenerative

resistor unit

C l a m

p

6

7




2-17

2



SGDV-D01A ( = 1R9, 3R5, 5R4, 8R4, 120, 170)

∗1. Products that have received CE marking are recommended for the 24 VDC power supply.

∗2. Install the following noise filter on the power line between the single-phase 200 V power

supply and the 24 VDC power supply.

Model number: FN2070-6/07 (SCHAFFNER)

∗3. For more information on this filter, refer to Σ -V Series Product Catalog . (KAEP S800000

42)

SERVOPACK

Brake Power

Supply

Hostcontroller

Safety unit

Encoder

Servomotor

Brake

Power supply:Single-phase200 VAC


U, V, W

L1, L2, L3

24 V, 0 V

CN2

CN1

Shield box

PE

PE

1 2

3

4

6

5

C l a m p

C l a m p

C o r e

C o r e

C l a m p

C o r e

C o r e C

l a m p

Noise

filter*3

Core

CN8

Core

Surge

absorber

Surgeabsorber

C o r e

Noise

filter*2

Controlpowersupply

24 VDC*1

C l a m p

Clamp Clamp

One turn

One turn

Two turnTwo turn

One turn




Motor main circuit cable Shield cable


Control power cable Shield cable




2 Installation

2-18


SGDV-D01A ( = 210, 260, 280, 370)





∗3. For more information on this filter, refer to Σ -V Series Product Catalog . (KAEP S800000

42)









SERVOPACK

Brake PowerSupply

Hostcontroller

Safety unit

Encoder

Servomotor

Brake



U, V, W

L1, L2, L3

24 V, 0 V

CN2

CN1

Shield box

PEPE

1 2

3

4

6

5

C l a m p

C l a m p

C l a m p C

l a m p

Noise

filter*3

CN8

Surgeabsorber

Surgeabsorber

Noisefilter*2

Controlpowersupply

24 VDC*1

C l a m

p

Clamp Clamp

B1, B2Regenerativeresistor unit

cable7




2-19

2


SGDV-11A (M-II model)

• Single-phase 100 V

SGDV-F11A ( = R70, R90, 2R1, 2R8)







MECHATROLINK-II communication cable Shield cable

U, V, W

L1, L2

L1C, L2C

CN2

CN1

Shield box

PE

PE

1

3

4

5 C l a m p

C l a m p

C l a m p

CN8

2

One turn

C o r e

C o r e


MECHATROLINK-II

controller CN6

6 C l a m p


SERVOPACK

Encoder

Servomotor

Brake

C l a m p

Noise

filter

Brake Power

Supply

Surgeabsorber

Two turn

C o r e

Core Core

C o r e

Safety unit

One turn

Hostcontroller



2 Installation

2-20


SGDV-A11A ( = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6)








Shield box

C l a m p

C l a m p

C l a m p

One turn

C o r e

C o r e

Two turnTwo turn

Clamp

MECHATROLINK-II

controller C

l a m p


SERVOPACK

Encoder

Servomotor

Brake

C l a m p

Noise

filter

Brake PowerSupply

Surgeabsorber

C o r e

Core Core

C o r e

Safety unit

U, V, W

L1, L2, L3

L1C, L2C

CN2

CN1

CN6

PE

PE

21

3

4

5

6CN8

One turn

Hostcontroller




2-21

2



SGDV-A11A ( = 120)








U, V, W

L1, L2, L3

L1C, L2C

CN2

CN1

CN6

PE

PE

21

3

4

5

6CN8

Shield box

C l a m p

C l a m p

C l a m p

One turn

C o r e

C o r e


MECHATROLINK-II

controller C l a m p


SERVOPACK

Encoder

Servomotor

Brake

C l a m p

Noise

filter

Brake PowerSupply

Surgeabsorber

Core Core

Safety unitHostcontroller



2 Installation

2-22


SGDV-A11A ( = 180, 200, 330)








U, V, W

L1, L2, L3

L1C, L2C

CN2

CN1PE

PE

1

3

4

5

CN8

2

CN66

Shield box

C l a m p

C l a m p

C l a m p

One turn

C o r e


MECHATROLINK-II

controller C l a m p


SERVOPACK

Encoder

Servomotor

Brake

C l a m p

Noise

filter

Brake PowerSupply

Surgeabsorber

Core Core

Safety unitHostcontroller




2-23

2



SGDV-A11A ( = 470, 550, 590, 780)








Cooling fan cable Shield cable


U, V, W

L1, L2, L3

L1C, L2C

B1, B2

CN2

CN1 PE

PE

1

3

4

5

CN8

2

MECHATROLINK-II

controller CN6

8 C l a m p

6

7


Shield box

SERVOPACK

Noise

filter

Brake Power

Supply

Surgeabsorber

Safety unit

Encoder

Servomotor

Brake

Cooling fan

C l a m p

C l a m p

C l a m p

C l a m p

Clamp Clamp

Regenerative

resistor unit

C l a m

p

Hostcontroller




2-25

2



SGDV-D11A ( = 210, 260, 280, 370)





∗3.For more information on this filter, refer to

Σ -V Series Product Catalog . (KAEP S80000042)










U, V, W

L1, L2, L3

24 V, 0 V

CN2

CN1

Encoder

PE

PE

Servomotor

Brake

1 2

3

6

5

CN8

Clamp Clamp

MECHATROLINK-II

controller CN6

8 C l a m p

B1, B27

4

SERVOPACK

Brake PowerSupply

Safety unit



Shield box

C l a m p

C l a m p

C l a m p C

l a m p

Noise

filter*3

Surgeabsorber

Surgeabsorber

Noisefilter*2

Controlpowersupply

24 VDC*1

C l a m

p

Regenerativeresistor cable

Hostcontroller



2 Installation

2-26

Attachment Methods of Ferrite Cores

Recommended Ferrite Core

Recommended Noise Filter and Surge Absorber

For more information on recommended noise filters and surge absorbers, refer to Σ -VSeries Product Catalog . (KAEP S800000 42)

Fixing the Cable

Fix and ground the cable shield using a piece of conductive metal.

• Example of Cable Clamp

Shield Box

A shield box, which is a closed metallic enclosure, is effective as reinforced shieldingagainst electromagnetic interference (EMI) from SERVOPACKs. The structure of the box should allow the main body, door, and cooling unit to be attached to the ground.The box opening should be as small as possible.

<Note>

Do not connect the digital operator and the analog monitor cable to the SERVOPACKduring operations. Connect them only when the machinery is stopped during mainte-nance.

One turn Two turn

Cable Name Ferrite Core Model Manufacturer

Motor main circuit cable ESD-SR-250 NEC TOKIN Corp.

Cable

Ferrite core

Cable

Ferrite core

Host controller side

Ground plate

Cable

Cableclamp

Shield (cable sheath stripped)

Fix and ground the cable shieldusing a piece of conductive metal.

Remove paint on mounting surface.



3-1

3

W i r i n g a n d

C o n n e c t i o n

3

Wiring and Connection

This chapter describes how to set up the wiring and connections required for trial

operation.For more information on the wiring and connection, refer to the following manuals.

• Σ-V Series User's Manual Design and Maintenance Rotational Motor/Analog Volt-

age and Pulse Train Reference (SIEP S800000 45)

• Σ-V Series User's Manual Design and Maintenance Rotational Motor/ MECHA-

TROLINK-II Communications Reference (SIEP S800000 46)

3.1 Precautions for Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3.2 System Configuration Diagram . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.2.1 Connecting to SGDV-F01A SERVOPACK . . . . . . . 3-33.2.2 Connecting to SGDV- A01A SERVOPACK . . . . . . . 3-4

3.2.3 Connecting to SGDV-D01A SERVOPACK . . . . . . . 3-5

3.2.4 Connecting to SGDV-F11A SERVOPACK . . . . . . . 3-6

3.2.5 Connecting to SGDV- A11A SERVOPACK . . . . . . . 3-7

3.2.6 Connecting to SGDV-D11A SERVOPACK . . . . . . . 3-8

3.3 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

3.3.1 Names and Functions of Main Circuit Terminals . . . . . . . 3-9

3.3.2 SERVOPACK Main Circuit Wire Size . . . . . . . . . . . . . . . 3-103.3.3 Typical Main Circuit Wiring Examples . . . . . . . . . . . . . . 3-14

3.3.4 Wiring the Main Circuit Terminal Connector

(Spring Type) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18

3.4 Connecting Regenerative Resistors . . . . . . . . . . . . . . . . . . . . 3-21

3.4.1 Connecting Regenerative Resistor . . . . . . . . . . . . . . . . 3-21



3 Wiring and Connection

3-2

3 Precautions for Wiring

CAUTION

• Be sure to wire correctly and securely.Failure to observe this caution may result in motor overrun, injury, or malfunction.

• Do not bundle or run the main circuit cables together with the I/O signal cables orthe encoder cables in the same duct. Keep them separated by at least 30 cm.Failure to do so may result in malfunction.

• Use shielded twisted-pair wires or multi-core shielded twisted-pair wires for I/Osignal cables and the encoder cables.

• I/O signal cables must be no longer than 3 m, encoder cables must be no longerthan 50 m, and control power supply (+24 V, 0 V) cables for a 400 V input SER-VOPACK must be no longer than 10 m.

• Do not touch the power terminals while the CHARGE lamp 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.



3.2 System Configuration Diagram

3-3

3

W i r i n g a n d

C o n n e c t i o n

3 2 System Configuration Diagram

3 2 Connecting to SGDV-F01A SERVOPACK

∗1. Use a 24 VDC power supply. (not included)

∗2. Before connecting an external regenerative resistor to the SERVOPACK, refer to3.4 Con-

necting Regenerative Resistors.

SGDV-F01ASERVOPACK

SGMJV/SGMAV/SGMPS

Servomotor

Power supply

Single-phase 100 VACR T

100 VAC

SGDV -2R1F01AGDV 2R1F 1A

100

Noise filter

Molded-casecircuit breaker(MCCB)Protects the power supplyline by shutting thecircuit OFF whenovercurrent isdetected.

Used to eliminateexternal noise fromthe power line. Magnetic

contactor Turns the servoON and OFF.Install a surgeabsorber.

Brake power supply*1

Magnetic contactor

Regenerativeresistor *2

Used for a servomotor with a brake.

Turns the brake power supplyON and OFF.Install a surge absorber.

Motor maincircuit cable

Encoder cable

Battery case (when an absolute encoder is used.)

When not using the safetyfunction, use the SERVOPACKwith the safety function jumper connector (JZSP-CVH05-E,provided as an accessory)inserted.

When using the safety function,insert a connection cablespecifically for the safety function.

Safety functiondevices

I/O signal cable

Connection cablefor digital operator

Connection cablefor personal computer

Digitaloperator

Personalcomputer

Host controller




3.2.2 Connecting to SGDV- A01A SERVOPACK

3-4

3 2 2 Connecting to SGDV- A01A SERVOPACK

∗1. Use a 24 VDC power supply. (not included)



Brake power supply *1


Encoder cable

Battery case

Magnetic contactor

Regenerativeresistor

Noise filter

Molded-casecircuit breaker

(MCCB)

Magneticcontactor

Host controller

When not using the safety function,use the SERVOPACK with the safetyfunction jumper connector(JZSP-CVH05-E, provided as anaccessory) inserted.

When using the safety function,insert a connection cable specificallyfor the safety function.


I/O signal cable

SGDV- A01A

SERVOPACK

SGMJV/SGMAV/SGMPS/

SGMGV/SGMSVServomotor

Power supplyThree-phase 200 VAC

R S T

Protects the power supplyline by shutting thecircuit OFF whenovercurrent isdetected.

Used to eliminateexternal noise fromthe power line.


Turns the servoON and OFF.Install a surgeabsorber.


(when an absolute encoder is used.)



Digitaloperator

Personalcomputer

*2

200 VAC




3-5

3

W i r i n g a n d

C o n n e c t i o n

3 2 3 Connecting to SGDV-D01A SERVOPACK

∗1. Use a 24 VDC power supply with double insulation or reinforced insulation. (The power

supply is not included)



∗3. Use a following power supply for 90 V brake. For details, refer toΣ -V series Product Cat-

alog (KAEP S800000 42).

• For 200 V input voltage: LPSE-2H01-E• For 100 V input voltage: LPDE-1H01-E


Battery case

Magnetic contactor

Noise filter

Molded-case

circuit breaker(MCCB)

Magneticcontactor

Host controller

I/O signal cable


Protects the powersupply line by shuttingthe circuit OFF whenovercurrent isdetected.


Used for a servomotor with a 90 V brake.





Connection cable

for personal computer

Digitaloperator

Personalcomputer



Encoder cable


When not using the safety function,use the SERVOPACK with the safetyfunction jumper connector (JZSP-CVH05-E, provided as anaccessory) inserted.

When using the safety function,insert a connection cable specifically

for the safety function.


SGDV-D01A

SERVOPACK

R S T

DC power supply (24 V

*1

100/200 VAC




3.2.4 Connecting to SGDV-F11A SERVOPACK

3-6

3 2 4 Connecting to SGDV-F11A SERVOPACK

∗1. Use a 24 VDC power supply. (not included.)

∗2. Before connecting an external regenerative resistor to the SERVOPACK, refer to3.4 Con-necting Regenerative Resistors.

Connect to the

MECHATROLINK-II

SGDV-F11ASERVOPACK

SGMJV/SGMAV/SGMPS

Servomotor

Power supply

Single-phase 100 VACR T

100 VAC

Noise filter

Molded-case

circuit breaker(MCCB)Protects the power supplyline by shutting thecircuit OFF whenovercurrent isdetected.


Magneticcontactor Turns the servoON and OFF.Install a surge

absorber.


Magnetic contactor

Regenerativeresistor*2




Encoder cable

Battery case (when an absolute encoder is used.)

When not using the safety

function, use the SERVOPACKwith the safety function jumper connector (JZSP-CVH05-E,provided as an accessory)inserted.

When using the safety function,insert a connection cablespecifically for the safety function.


I/O signal cable



Digitaloperator

Personalcomputer

Host controller




3-7

3

W i r i n g a n d

C o n n e c t i o n

3 2 5 Connecting to SGDV- A11A SERVOPACK

∗1. Use a 24 VDC power supply. (not included.)




Encoder cable

Battery case

Regenerativeresistor

Noise filter


(MCCB)

Magneticcontactor

When not using the safety function,use the SERVOPACK with the safetyfunction jumper connector(JZSP-CVH05-E, provided as an

accessory) inserted.



I/O signal cable

SGDV- A11A

SERVOPACK

SGMJV/SGMAV/SGMPS/SGMGV/SGMSVServomotor


R S T

Protects the power supplyline by shutting thecircuit OFF whenovercurrent isdetected.






Digitaloperator

Personalcomputer

Connect to theMECHATROLINK-II

*2

Brake power supply *1

Magnetic contactor



200 VAC

Host controller




3.2.6 Connecting to SGDV-D11A SERVOPACK

3-8

3 2 6 Connecting to SGDV-D11A SERVOPACK

∗1. Use a 24 VDC power supply with double insulation or reinforced insulation. (The power

supply is not included)



∗3. Use a following power supply for 90 V brake. For details, refer toΣ -V series Product Cat-alog (KAEP S800000 42).

• For 200 V input voltage: LPSE-2H01-E• For 100 V input voltage: LPDE-1H01-E

Battery case

Noise filter


(MCCB)

Magneticcontactor

I/O signal cable


Protects the powersupply line by shuttingthe circuit OFF whenovercurrent isdetected.

Used to eliminateexternal noise fromthe power line. Turns the servo

ON and OFF.Install a surgeabsorber.




Personalcomputer


Encoder cable


When not using the safety function,use the SERVOPACK with the safetyfunction jumper connector (JZSP-CVH05-E, provided as anaccessory) inserted.



SGDV-D11A

SERVOPACK

R S T

Digitaloperator

Connect to theMECHATROLINK-II


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

Used for a servomotor with a 90 V brake.


DC power supply (24 V

100/200 VAC

*1 Host controller



3.3 Main Circuit Wiring

3-9

3

W i r i n g a n d

C o n n e c t i o n

3 3 Main Circuit Wiring

The names, specifications, and functions of the main circuit terminals required fortrial operation are given below.

3 3 Names and Functions of Main Circuit Terminals

Analog Pulse Models M-II Models

NameTerminal

SymbolsModel SGDV- Description

Main circuit inputterminals

L1, L2 FSingle-phase 100 to 115 V,+10% to -15% (50/60 Hz)

L1, L2, L3

AThree-phase 200 to 230 V,+10% to -15% (50/60 Hz)

DThree-phase 380 to 480 V,+10% to -15% (50/60 Hz)

Control power

input terminals

L1C, L2C

FSingle-phase 100 to 115 V,+10% to -15% (50/60 Hz)

A Single-phase 200 to 230 V,+10% to -15% (50/60 Hz)

24V, 0V D 24 VDC, ±15%




3.3.2 SERVOPACK Main Circuit Wire Size

3-10

3 3 2 SERVOPACK Main Circuit Wire Size

This section describes the SERVOPACK Main Circuit Wire Size.

Externalregenerativeresistor terminals

B1/ , B2,or

B1, B2

R70F, R90F, 2R1F, 2R8F,R70A, R90A, 1R6A,2R8A

If the regenerative capacity is insuf-

ficient, connect an external regener-ative resistor (option) between B1/

and B2.

3R8A, 5R5A, 7R6A,120A, 180A, 200A,330A, 1R9D, 3R5D,5R4D, 8R4D, 120D,170D

If the internal regenerative resistor isinsufficient, remove the wire

between B2 and B3 and connect anexternal regenerative resistor

(option) between B1/ and B2, orB1 and B2.

470A, 550A, 590A,780A, 210D, 260D,

280D, 370D

Connect a regenerative resistor unit

(option) between B1/ and B2, or

B1 and B2.

DC reactorconnectionterminals forpower supplyharmonicsuppression

1, 2 A

D

Normally short 1 and 2.If a countermeasure against powersupply harmonic waves is needed,

connect a DC reactor between 1

and 2.

Main circuit plusterminals B1/ or B1

AD Use when DC power supply input is

used.Main circuit minusterminals 2 or

AD

Servomotorconnectionterminals

U, V, W Use for connecting to the servomotor.

Ground terminals(× 2)

Use for connecting the power supply ground terminal and servo-motor ground terminal.

(cont’d)

NameTerminalSymbols

Model SGDV- Description

1. Wire sizes are selected for three cables per bundle at 40°C sur-

rounding air temperature with the rated current.

2. Use a wire with a minimum withstand voltage of 600 V for the

main circuit.

3. If cables 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.




3-11

3

W i r i n g a n d

C o n n e c t i o n

Wire Types

Use the following type of wire for main circuit.

The following table shows the wire sizes and allowable currents for three wires. Usewires with specifications equal to or less than those shown in the table.

• 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV)

Note: The values in the table are for reference only.

Cable Type Allowable ConductorTemperature °CSymbol Name

IV 600 V polyvinyl chloride insulated wire 60

HIV600 V grade heat-resistant polyvinyl chlorideinsulated wire

75

AWGSize

NominalCross

SectionDiameter

(mm2)

Configuration(Number of

Wires/mm2)

ConductiveResistance

(Ω/km)

Allowable Current atSurrounding Air Temperature

(A)

30°C 40°C 50°C

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




3.3.2 SERVOPACK Main Circuit Wire Size

3-12

Single-phase, 100 V

Three-phase, 200 V

External Terminal NameTerminalSymbols

SERVOPACK Model SGDV-

R70 R90 2R1 2R8

Main circuit power inputterminals

L1, L2 HIV1.25 HIV2.0

Control power input terminals L1C, L2C HIV1.25

Servomotor connectionterminals

U, V, W HIV1.25

External regenerativeresistor connection terminals B1/ , B2 HIV1.25

Ground terminal HIV2.0 or higher

ExternalTerminal

Name

TerminalSymbols


R70 R90 1R6 2R8 3R8 5R5 7R6 120 180 200 330 470 550 590 780

Main circuitpower inputterminals

L1, L2,L3

HIV1.25 HIV2.0 HIV3.5HIV5.5

HIV8.0

HIV14.0

HIV22.0

Controlpower input

terminals

L1C,L2C

HIV1.25


U, V, W HIV1.25 HIV2.0HIV3.5

HIV5.5

HIV8.0

HIV14.0 HIV22.0

Externalregenerativeresistorconnectionterminals

B1/ ,B2

HIV1.25HIV2.0

HIV3.5

HIV5.5

HIV8.0 HIV22.0

Groundterminal

HIV2.0 or higher




3-13

3

W i r i n g a n d

C o n n e c t i o n

Three-phase, 400 V

ExternalTerminal Name

TerminalSymbols


1R9 3R5 5R4 8R4 120 170 210 260 280 370

Main circuitpower inputterminals

L1, L2, L3 HIV1.25 HIV2.0 HIV3.5HIV5.5

HIV8.0

HIV14.0

Control powerinput terminals

24V, 0V HIV1.25


U, V, W HIV1.25 HIV2.0HIV3.5

HIV5.5HIV8.0

HIV14.0

Externalregenerativeresistorconnectionterminals

B1/ , B2

(B1, B2)HIV1.25

HIV

2.0HIV3.5

HIV

5.5

HIV

8.0

Ground terminal HIV2.0 or higher




3.3.3 Typical Main Circuit Wiring Examples

3-14

3 3 3 Typical Main Circuit Wiring Examples

The following wiring examples show the Σ-V Series SGDV SERVOPACK (Analog pulse model).

Single-phase 100 V, SGDV-F (SGDV-R70F, R90F, 2R1F, 2R8F)

Use a molded-case circuit breaker (1QF) or fuse to protect the main

circuit.

• The SERVOPACK connects directly to a commercial power sup-ply; it is not isolated through a transformer or other device.

Always use a molded-case circuit breaker (1QF) or fuse to pro-

tect 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 configure a safer system, install a ground fault detector

against overloads and short-circuiting, or install a ground fault

detector combined with a molded-case circuit breaker.

Do not turn 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.

1PL: Indicator lamp

1SA: Surge absorber

2SA: Surge absorber

3SA: Surge absorber

1D: Flywheel diode

1QF: Molded-case circuit breaker

1FIL: Noise filter

1KM: Magnetic contactor (for control power supply)

2KM: Magnetic contactor (for main power supply)

1Ry: Relay

L1

ENC

SERVOPACK

SGDV-F

UV

WM

0 V

1Ry ALM+

ALM−

31

32 1D

2KM

1KM

B2

L2

CN1

1QF

R T

1FIL

+24V

B1/

3SA

(For servoalarm display)1Ry

1PL

supply ON 1KM

2KM

1SA

Servo power supply OFFServo power

1KM

1Ry1KM

2SA

L1C

L2C




3-15

3

W i r i n g a n d

C o n n e c t i o n

Three-phase 200 V, SGDV- A

• SGDV-R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, 120A, 180A, 200A,

330A

∗ For SGDV-R70A, -R90A, -1R6A, -2R8A, terminals B2 and B3 are not short-circuited.

• SGDV-470A, 550A, 590A, 780A

1PL: Indicator lamp

1SA: Surge absorber

2SA: Surge absorber

3SA: Surge absorber

1D: Flywheel diode


1FIL: Noise filter



1Ry: Relay

2KML1

ENC

SERVOPACK

SGDV- A

UV

WM

0 V

1Ry ALM+

ALM−

31

32 1D

B2

B3

L2

CN1

1KML1C

L3

L2C

1QF

R S T

1FIL

+24 V

12

3SA

∗

B1/1Ry

1PL

1KM

2KM

1SA

1Ry1KM

2SA

1KM

(For servoalarm display)

supply ONServo power

supply OFFServo power

2KML1

ENC

SGDV- A

UV

WM

0 V

1Ry ALM+

ALM−

31

32 1D

B2

L2

CN1

1KML1C

L3

L2C

1QF

R S T

1FIL

+24 V

3SA

B1/1Ry

1PL

1KM

2KM

1SA

1Ry1KM

2SA

1KMRegenerativeresistor unit




SERVOPACK

1QF: Molded-case circuit breaker 1FIL: Noise filter



1Ry: Relay

1PL: Indicator lamp1SA: Surge absorber

2SA: Surge absorber

3SA: Surge absorber

1D: Flywheel diode




3.3.3 Typical Main Circuit Wiring Examples

3-16

Three-phase 400 V, SGDV-D

• SGDV-1R9D, 3R5D, 5R4D, 8R4D, 120D, 170D

• SGDV-210D, 260D, 280D, 370D


1FIL: Noise filter



1Ry: Relay

1PL: Indicator lamp

1SA: Surge absorber

2SA: Surge absorber

3SA: Surge absorber

1D: Flywheel diode

ENC

SGDV-

D

UV

WM

0 V

1Ry ALM+

ALM−

31

32

1D

CN1

1QF

R S T

1FIL

+24 V

3SA

B2

B31

2

B1/1Ry

1PL

1KM

2KM

1SA

1Ry1KM

2SA

L1

2KM

L2L3

24VDC power supply24V

+−

1KM

0V

1KM


supply ON

Servo power

supply OFF

Servo power

SERVOPACK

ENC

SGDV-D

UV

WM

0 V

1Ry ALM+

ALM−

31

32 1D

CN1

1QF

R S T

1FIL

+24 V

3SA

B2

12

B1/1Ry

1PL

1KM

2KM

1SA

1Ry1KM

2SA

L1

2KM

L2L3

24VDC powersupply(24 V)

+−

1KM

0V

1KMRegenerativeresistor unit




SERVOPACK


1FIL: Noise filter 1KM: Magnetic contactor (for control power supply)


1Ry: Relay

1PL: Indicator lamp

1SA: Surge absorber 2SA: Surge absorber

3SA: Surge absorber

1D: Flywheel diode




3.3.4 Wiring the Main Circuit Terminal Connector (Spring Type)

3-18

• Precautions

When using more than one SERVOPACK with a DC power supply, refer to thesemanuals here for the appropriate wiring, connections, and required settings.

• Σ-V Series User's ManualDesign and Maintenance Rotational Motor/Analog Voltage and Pulse Train Ref-

erence (SIEP S800000 45)

• Σ-V Series User's Manual Design and Maintenance Rotational Motor/ MECHA-

TROLINK-II Communications

Reference (SIEP S800000 46)

3 3 4 Wiring the Main Circuit Terminal Connector (Spring Type)

Two types of main circuit terminals are available: a connector type and a terminal

screw type.

• SERVOPACKs with terminal screws:SGDV-180A, 200A, 330A, 470A, 550A, 590A, 780A, 8R4D, 120D, 170D, 210D, 260D,

280D, 370D

• SERVOPACKs with connectors:SGDV-R70F, R90F, 2R1F, 2R8F, R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, 120A,

1R9D, 3R5D, 5R4D

A spring connector is used for SERVOPACKs with connectors. The following sec-

tion describes how to wire the main circuit terminal using a connector.

CAUTION

• Observe the following precautions when wiring main circuit terminal connectors.• Do not turn ON the power to the SERVOPACK until all wiring has been completed,

including the main circuit terminal connectors.• Remove detachable main circuit terminal connectors from the SERVOPACK prior to

wiring.• Insert only one main circuit cable per opening in the main circuit terminal connector.• Make sure that no part of the core wire comes into contact with (i.e., short-circuit)

adjacent wires.




3-19

3

W i r i n g a n d

C o n n e c t i o n

Wiring Procedure

1. Remove the main circuit terminal connector from the SERVOPACK.

2. Strip the end of the wires.

3. Open the wire terminal on the terminal connector housing with a tool,

using the following methods. Either method can be used to open the

wire terminal.

Using a spring opener

Use the spring opener provided with the SERVOPACK to open the wire terminal asshown in the diagram.

Note: The spring opener (1981045-1) made by Tyco Electronics AMP K.K. can also be used.

Main circuit

terminal connector

Enlarged View

Lock

1Pressthe lock.

2. Remove the maincircuit terminalconnector whilepressing the lock.

Applicable wire sizes:

8 to 9 mm

Refer to 3.3.2 SERVOPACKMain Circuit Wire Size.

Wire

Spring opener




3.3.4 Wiring the Main Circuit Terminal Connector (Spring Type)

3-20

Using a screwdriver

Use a commercially available flat-blade screwdriver with a blade width of 3.0 to 3.5mm. Insert the screwdriver into the slot and press down firmly to open the wire termi-nal.

4. Insert the wire core into the opening, and then secure the wire into

position by removing the opener or screwdriver to close the opening.

5. Make all the required connections in the same way.

6. Attach the connector to the SERVOPACK.



3.4 Connecting Regenerative Resistors

3-21

3

W i r i n g a n d

C o n n e c t i o n

3 4 Connecting Regenerative Resistors

This section describes how to connect regenerative resistors and set the regenerativeresistor capacity. To learn how to select a regenerative resistor, and for detailed spec-

ifications, refer toΣ

-V Series Product Catalog (KAEP S800000 42).

For more information on how to set the capacity of regenerative resistors, refer toΣ -V Series User’s Manual Design and Maintenance (SIEP S800000 45/46).

3 4 Connecting Regenerative Resistor

SERVOPACKs: Model SGDV-R70F, R90F, 2R1F, 2R8F, R70A, R90A,

1R6A, 2R8A

Connect an external regenerative resistor between B1/ and B2 terminals. Afterconnecting a resistor, select the capacity.

WARNING

• Be sure to connect the regenerative resistor correctly.Failure to observe this warning may result in fire or damage to the product.

Enlarged View




3.4.1 Connecting Regenerative Resistor

3-22

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 theB1 and B2 terminals.

Note: Be sure to take out the lead wire between the B2 and B3 terminals.

Enlarged View



3.4 Connecting Regenerative Resistors

3-23

3

W i r i n g a n d

C o n n e c t i o n

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:

Connect a regenerative resistor unit between B1/ and B2 terminals.

When using a regenerative resistor unit, set Pn600 to 0W (factory setting).

MainCircuitPowerSupply

ApplicableSERVOPACKModel SGDV

ApplicableRegenerativeResistor Unit

Resistance(Ω)

Specifications

Three-

phase

200 V

470A JUSP-RA04-E 6.25 25 Ω (220 W); 4 resistors in paral-lel

550A, 590A,

780A

JUSP-RA05-E 3.13 25 Ω (220 W); 8 resistors in paral-lel

Three-

phase

400 V

210D, 260D JUSP-RA18-E 18 18 Ω (220 W); 2 resistors in serieswith 2 in parallel.

280D, 370D JUSP-RA19-E 14.25 28.5 Ω (220 W); 2 resistors inseries with 4 in parallel.

Regenerative Resistor UnitJUSP-RA-E

SERVOPACK



4-1

4

S a f e t y F u n c t i o n

4

Safety Function

This chapter describes the safety functions.

4.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

4.2 Hard Wire Base Block (HWBB) Function . . . . . . . . . . . . . . . . . 4-3

4.3 Safety Function Signal (CN8) Names and Functions . . . . . . . . 4-4

4.4 Precautions When Not Using the Safety Function . . . . . . . . . . 4-4

4.5 When Using the Safety Function . . . . . . . . . . . . . . . . . . . . . . . 4-5



4.2 Hard Wire Base Block (HWBB) Function

4-3

4


4 2 Hard Wire Base Block (HWBB) Function

The Hard Wire Base Block function (hereinafter referred to as HWBB function) is asafety function designed to baseblock the motor (shut off the motor current) by using

the hardwired circuits: Each circuit for two channel input signals blocks the run sig-nal to turn off the power module, and the motor current is shut off. (Refer to the dia-gram below.)

Note: 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, the ON and OFF status of signals for safety functions are defined as fol-

lows:

ON: The state in which the relay contacts are closed or the transistor is ON and current

flows into the signal line.

OFF: The state in which the relay contacts are open or the transistor is OFF and

no current flows into the signal line.

WARNING

• Perform risk assessment for the system and confirm that the safety requirementswith the following standards are fulfilled before using the HWBB function.EN954-1 Category3IEC61508-1 to 4 SIL2

/HWBB1+ 4

3

6

5

/HWBB1-

/HWBB2+

/HWBB2-0 V

Control circuit

Run signal

SERVOPACK

CN8Switch

Block

Block

Power module

Power supply

24-V power supply

Fuse

Motor



4.5 When Using the Safety Function

4-5

4


4 5 When Using the Safety Function

When using the safety function, remove the jumper connector for the safety functionand connect a safety device using the following procedure.

1. Remove the servomotor connection terminal connector while pressing

the lock.

2. Slide the lock injector of the safety function jumper connector to theSERVOPACK side to unlock and remove the safety function jumper

connector.

Note: The safety function jumper connector may be damaged if it is removed without being

unlocking.

3. Connect a safety device to CN8.

Servomotor

connection

terminal connector

Enlarged View

1. Press the lock.

Remove the

servomotor

connection terminal

connector while

pressing the lock.

Lock

2.

Lock injector Safety function jumper connector

1. Slide the lock injector

to the SERVOPACK

side.

Enlarged View

Remove the safety function

jumper connector while the lock

injector is slid to the SERVOPACK

side.

2.



5-1

5

T r i a l O p e r a t i o n ( C h e c k

i n g S e r v o m o t o r O p e r a t i o n )

5

Trial Operation (Checking Servomotor Operation)

This chapter describes how to perform trial operation.

5.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5.2 Inspection and Checking before Trial Operation . . . . . . . . . . . . 5-2

5.3 JOG Operation Using a Panel Operator . . . . . . . . . . . . . . . . . . 5-5

5.4 JOG Operation Using a Digital Operator . . . . . . . . . . . . . . . . . . 5-7

5.5 JOG Operation Using SigmaWin+ . . . . . . . . . . . . . . . . . . . . . 5-10



5 Trial Operation (Checking Servomotor Operation)

5-2

5 Outline

The trial operation described here is a JOG operation for servomotors not connectedto machinery (without a load). The purpose of this trial operation is to check whether

the SERVOPACK and servomotor are properly connected and whether the servomo-tor is operating normally.

To conduct trial operation executed from the host controller for the servomotor with-out load, or for the servomotor connected to the machine, refer to the following man-uals.

• Σ-V Series User's Manual Design and Maintenance Rotational Motor/Analog

Voltage and Pulse Train Reference (SIEP S800000 45).

• Σ-V Series User's Manual Design and Maintenance Rotational Motor/MECHA-

TROLINK-II Communications Reference (SIEP S800000 46).

5 2 Inspection and Checking before Trial Operation

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

Servomotors

Inspect and check the following items, and take appropriate measures before per-forming trial operation if any problem exists.

• Are all wiring and connections correct?

• Are all nuts and bolts securely tightened?

• If the servomotor has an oil seal, is the seal undamaged and is the motor oiled?• If the servomotor has a brake, is the brake released beforehand? To release the

brake, apply the specified voltage (24 VDC or 90 VDC). The following diagram

shows an example of the circuit wiring needed to release the holding brake before a

trial operation.

CAUTION

• Conduct trial operation on the servomotor alone with the motor shaft discon-nected from the machine to avoid any unexpected accidents. If it is unavoidableto perform trial operation while connected to a machine, then always make surethat an emergency stop can be immediately executed.



5.2 Inspection and Checking before Trial Operation

5-3

5



SERVOPACKs

Inspect and check the following items, and take appropriate measures before per-forming trial operation if any problem exists.

• Are all installation, wiring and connections correct?• Is the correct power supply voltage being supplied to the SERVOPACK?

Installing the Servomotor and SERVOPACK

Install the servomotor and SERVOPACK according to the installation conditions.

<Note>

• Be sure to secure the servomotor to the equipment, or the servomotor may turn

over when it starts rotating.

• Do not connect anything to the servomotor shaft.

Servomotorwith brakeSERVOPACK

Power supply

A 24 VDC power supply is not included.

Brake power supply Input voltage of 200 V: LPSE-2H01-E

M

BK

ENC

U

V

W

CN2

AC DC

L1

L2L3L1C

L2C

24 VDC power supplyor

Brake power supply

24 VDC or 90 VDC

Input voltage of 100 V: LPDE-1H01-E

An example of the circuit wiring

Do not connect any load to the shaft.

Secure the mounting plate of

the servomotor to the

equipment.



5.3 JOG Operation Using a Panel Operator

5-5

5



5 3 JOG Operation Using a Panel Operator

This section describes the procedure for executing a JOG operation using a paneloperator.

The panel operator is located under the front cover of the SERVOPACK (analog pulse models only).

Step Display after operation Keys Operation

1

Turn ON the power to the SERVOPACK.The forward run prohibited (P-OT) orreverse run prohibited (N-OT) message isdisplayed.When the JOG operation is executed, P-OT and N-OT are automatically disabled.

2Press the MODE/SET Key to select theutility function mode.

3 Press the Up ( ) or Down ( ) CursorKey to select Fn002.

4Press the DATA/SHIFT Key for approxi-mately one second.

5Press the MODE/SET Key.

The servomotor power will turn ON.

View with

front cover open

Panel operator

Alternatedisplay

MODE SET DATA

MODE SET DATA

MODE SET DATA

MODE SET DATA




5-6

6

Press the Up Cursor Key to rotate the ser-vomotor in the forward direction and pressthe Down Cursor Key to rotate it inreverse. The servomotor will operatewhile the key is being pressed. (The fac-

tory setting is 500 min-1.)

Confirm that the servomotor operation iscorrect. At the same time, carefullyinspect the servomotor’s condition andcheck the following points in particular.If a problem is found, correct it.• Is there any unusual vibration?• Is there any unusual sound?• Is the temperature rising unusually

high?

7

Press the MODE/SET Key. The servo-motor power will be OFF.

Note:The servomotor can be turned OFF by

pressing the DATA/SHIFT Key forapproximately one second.

8Press the DATA/SHIFT Key for approxi-mately one second."Fn002" is displayed again.

9 Press the MODE/SET Key to return tothe initial display (step 1).


MODE SET DATA

Forward

rotation

Reverse

rotation

MODE SET DATA

MODE SET DATA

Alternatedisplay

MODE SET DATA



5.4 JOG Operation Using a Digital Operator

5-7

5



5 4 JOG Operation Using a Digital Operator

This section describes the procedure for executing a JOG operation using a digitaloperator.

Connect the digital operator to the SERVOPACK CN3 connector.

The digital operator can be connected or removed while the SERVOPACK power isON.

SGDVSERVOPACK

Σ-III seriesJUSP-OP05A

Digital Operator

Σ-V seriesJUSP-OP05A-1-E

Digital Operator

Digital operator conversion conneotor

Model: JZSP-CVS05-A3-E

Insert securely into

SERVOPACK CN3 connector.


1

Turn ON the power to the SERVO-PACK. A message saying that the filelist is being loaded will appear and thenthe parameter/monitor mode willappear.

2

Press the Key to view the main

menu of the Utility Function mode.

Press the Key or Key to

select Fn002.

B B − F U N C T I O N −

F n 0 0 0 : A l m H i s t o r y

F n 0 0 2 : J O G

F n 0 0 3 : Z − S e a r c h

F n 0 0 4 : P r o g r a m J O G




5-8

3Press the Key.

The display changes to the executiondisplay of Fn002.

4Press the Key. "RUN" is dis-

played as the status, and the servomo-tor power turns ON.

5

Press the Key to rotate the ser-

vomotor in the forward direction and

press the Key to rotate it in

reverse. The servomotor will operatewhile the key is being pressed. (The

factory setting is 500 min-1.)

Confirm that the servomotor operationis correct. At the same time, carefullyinspect the servomotor’s condition andcheck the following points in particu-lar. If a problem is found, correct it.• Is there any unusual vibration?• Are there any unusual sound?• Is the temperature rising unusually

high?

6

After confirming that the servomotor is

running correctly, press the

Key."BB" is displayed as the status, and theservomotor power turns OFF.

7Press the Key to return to the

main menu of the Utility Function

mode.


B B − J O G −

P n 3 0 4 = 0 0 5 0 0

U n 0 0 0 = 0 0 0 0 0 0

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 D = 0 0 0 0 0 0 0 0 0 0 0

R U N − J O G −

P n 3 0 4 = 0 0 5 0 0

U n 0 0 0 = 0 0 0 0 0 0

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 D = 0 0 0 0 0 0 0 0 0 0 0

R U N − J O G −

P n 3 0 4 = 0 0 5 0 0

U n 0 0 0 = 0 0 0 0 0 0

U n 0 0 2 = 0 0 0 0 0 0U n 0 0 D = 0 0 0 0 0 0 0 0 0 0 0

Forward

rotation

Reverserotation

B B − J O G −

P n 3 0 4 = 0 0 5 0 0

U n 0 0 0 = 0 0 0 0 0 0

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 D = 0 0 0 0 0 0 0 0 0 0 0

B B − F U N C T I O N −

F n 0 0 0 : A l m H i s t o r y

F n 0 0 2 : J O G

F n 0 0 3 : Z − S e a r c h

F n 0 0 4 : P r o g r a m J O G



5.4 JOG Operation Using a Digital Operator

5-9

5



Alarm Display

An alarm is automatically displayed if a problem occurs for some reason. Refer toChapter 6 Troubleshooting section and apply the appropriate measures.

Error Display

The following messages will be displayed if a communications error occurs betweenthe SERVOPACK and the digital operator due to a connection problem such as poorconnector contact. Check the connections and turn the power ON again. If the prob-lem still persists, the digital operator or SERVOPACK must be replaced.

8 Press the Key twice to return to

the initial display (step 1).


C P F 0 0

C O M − E R R ( O P & S V )

C P F 0 1

C O M − E R R ( O P & S V )




5-10

5 5 JOG Operation Using SigmaWin+

This section describes the procedure for executing a JOG operation using Sig-maWin+.

In the following example, test-run procedures are explained using the JOG operationwindow of Test Run on the main menu of SigmaWin+.

Step Operation Display

1

• Connect a computer.Use a connection cable to connect a SERVO-PACK to a computer which has SigmaWin+installed.

2

• Start SigmaWin+ and open the main win-dow.(1) Turn ON the SERVOPACK.(2) Turn ON the computer.

(3) Double click the YE_Applications folderon the desktop.

(4) Double click the SigmaWin+ icon to display the SigmaWin+ startup screen.

Startup Screen

PC

SERVOPACK

JZSP-CVS06-02-E

CN7

Connection cable forpersonal computer

YE_Applications

SigmaWin+English Edition




5-12

3

• Run test operation.(1) Select Test Run first, and then select Jog

(J) from the menu on the main window.

Main Window

(2) Warnings for the JOG operation windowwill be displayed. Read them and click

.

Warnings for the JOG Operation Window

(3) The JOG operation window is open.

JOG Operation Window

（cont’d）


Test Run (R) → Jog (J)



5.5 JOG Operation Using SigmaWin+

5-13

5



4

• Set the JOG speed

The motor speed is set to 500 [min-1]. Click

if you need to change it.

5

• Servo ON

Click . The display changes from

Servo OFF to Servo ON and is lit in green.

（cont’d）





5-14

Refer to the online manual for SigmaWin+ for details. Follow the steps below to viewthe online manual.

<How to view the online manual>

1. Turn ON the computer.

2. Open the YE_Applications folder.

3. Open the Manual folder.

4. Open SigmaWin+ English Edition Online Manual.

6

• Start JOG operation.

When you click the servomotor

will rotate in the forward direction. When

you click it will rotate in reverse.

Confirm that the servomotor operation is cor-rect. At the same time, carefully inspect theservomotor’s condition and check the follow-ing points in particular. If a problem is found,

correct it.• Is there any unusual vibration?• Is there any unusual sound?• Is the temperature rising unusually high?

7

• Servo OFF

Click .

(Screen display will return to the displayshown at step 4.)

8

• Terminate JOG operation.

Click to end JOG operation. You will return to the main window.

（cont’d）




6-1

6

T r

o u b l e s h o o t i n g

6

Troubleshooting

This chapter describes the problems that can occur during setup and suggests

measures for correcting them.

6.1 Troubleshooting of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6.2 Troubleshooting of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . 6-25

6.3 Troubleshooting Malfunction Based on Operation and

Conditions of the Servomotor . . . . . . . . . . . . . . . . . . . . . . . . 6-30



6 Troubleshooting

6-2

6 Troubleshooting of Alarms

When an error occurs in SERVOPACKs, an alarm display such as A. andCPF on the panel operator.

Refer to the following table to identify the cause of an alarm and the action to betaken.

For alarms not described here, refer to the following manuals.

• Σ-V Series User's Manual Design and Maintenance Rotational Motor/Analog Volt-age and Pulse Train Reference (SIEP S800000 45).



Alarm: Alarm Name Cause Investigative Actions Corrective Actions

A.020:ParameterChecksum Error1

(The parameterdata in the SER-VOPACK is incor-rect.)

The power supply voltagesuddenly dropped.

Measure the power supplyvoltage.

Set the power supply volt-age within the specifiedrange, and set Fn005 to ini-tialize the parameter.

The power supply wentOFF while changing a

parameter setting.

Note the circumstanceswhen the power supplywent OFF.

Set Fn005 to initialize the parameter and then set the parameter again.

The number of times that

parameters were writtenexceeded the limit.

Were the parameters fre-

quently changed throughthe host controller?

The SERVOPACK may befaulty. Repair or replace the

SERVOPACK.Reconsider the method ofwriting parameters.

Malfunction caused bynoise from the AC powersupply or grounding line,static electricity noise,etc.

Turn the power supply ONand OFF several times. Ifthe alarm still occurs, theremay be noise interference.

Take countermeasuresagainst noise.

Gas, water drops, or cut-ting oil entered the SER-VOPACK and causedfailure of the internalcomponents.

Check the installation con-ditions.

The SERVOPACK may befaulty. Replace the SERVO-PACK.

A SERVOPACK faultoccurred.

Turn the power supply ONand OFF several times. Ifthe alarm still occurs, theSERVOPACK is faulty.

The SERVOPACK may befaulty. Replace the SERVO-PACK.

A.021:

ParameterFormat Error 1

(The parameterdata in the SER-VOPACK is incor-rect.)

The software version ofSERVOPACK that causedthe alarm is older thanthat of the written param-eter.

Check Fn012 to see if theset software version agreeswith that of the SERVO-PACK. If not, an alarm mayoccur.

Write the parameter ofanother SERVOPACK ofthe same model with thesame software version.Then turn the power OFFand then ON again.


−The SERVOPACK may befaulty. Replace the SERVO-PACK.



6 Troubleshooting

6-4

A.042:Parameter Com-bination Error (cont’d)

The moving speed of

advanced autotuning islower than the settingrange after havingchanged the electronicgear ratio (Pn20E/Pn210)or the servomotor.

Check that the detection

conditions*1 is satisfied.Reduce the electronic gearratio (Pn20E/Pn210).

A.044:

Fully-closedLoop ControlParameterSetting Error

The setting of the optionmodule does not matchwith that of Pn002.3.

Check the settings ofPn002.3.

The setting of option mod-ule must be compatiblewith the setting of Pn002.3.

A.04A*2:

ParameterSetting Error 2

For a 4-byte parameter

bank, no registration intwo consecutive bytes fortwo bank members.

– Change the number of bytesfor bank members to anappropriate value.

The total amount of bank

data exceeds 64. (Pn900 × Pn901 > 64)

– Reduce the total amount of

bank data to 64 or less.

A.050:

CombinationError

(The SERVO-PACK and servo-motor capacitiesdo not corre-spond.)

The SERVOPACK andservomotor capacities do

not match each other.

Check the capacities to seeif they satisfy the followingcondition:(Servomotor capacity)/(SERVOPACK capacity) ≤

1/4, or (Servomotor capac-ity)/(SERVOPACK capac-ity) ≤ 4.

Select the proper combina-tion of SERVOPACK and

servomotor capacities.

An encoder faultoccurred.

Replace the servomotor andsee if the alarm occursagain.

Replace the servomotor(encoder).



A.051:

UnsupportedDevice Alarm

An unsupported serialconverter unit, serial

encoder, or externalencoder is connected tothe SERVOPACK.

Check the product specifi-

cations, and select the cor-rect model.

Select the correct combina-tion of units.

A.0b0:

Cancelled ServoON Command

Alarm

After executing the util-ity function to turn ONthe power to the motor,the Servo ON commandwas sent from the hostcontroller.

−Turn the SERVOPACK

power supply OFF and thenON again.

∗1.

∗2. These errors occur in SERVOPACKs using MECHATROLINK-II

(cont’d)

Alarm:

Alarm NameCause Investigative Actions Corrective Actions

Pn533 [min-1] ×

6 ×

105

2 (encoder resolution)

≤Pn20E

Pn210



6.1 Troubleshooting of Alarms

6-5

6

T r


A.100:

Overcurrent orHeat SinkOverheated

(An overcurrentflowed through theIGBT or heat sinkof SERVOPACKoverheated.)

Incorrect wiring or con-

tact fault of main circuitcable or motor main cir-cuit cable.

Check the wiring. Refer to

3.1 Main Circuit Wiring (SIEP S800000 45/46).

Correct the wiring.

Short-circuit or groundfault of main circuit cableor motor main circuitcable.

Check for short-circuitsacross the servomotor ter-minals, U, V, and W, or

between the grounding andservomotor terminal U, V,or W. Refer to 3.1 MainCircuit Wiring (SIEPS800000 45/46).

Some cables may be dam-aged. Replace damagedcables.

Short-circuit or groundfault inside the servomo-tor.

Check for short-circuits

across the servomotor ter-minals, U, V, and W on theSERVOPACK, or betweenthe grounding and servo-motor terminal U, V, or W.Refer to 3.1 Main CircuitWiring (SIEP S800000 45/46).

The servomotor may befaulty. Replace the servo-motor.

Short-circuit or groundfault inside the SERVO-

PACK.

Check for short-circuitsacross the servomotor con-nection terminals, U, V, andW on the SERVOPACK, or

between the grounding andterminal U, V, or W. Referto 3.1 Main Circuit Wiring (SIEP S800000 45/46).

The SERVOPACK may befaulty. Replace the SERVO-

PACK.

Incorrect wiring or con-tact fault of the regenera-tive resistor.

Check the wiring. Refer to3.6 Connecting Regenera-tive Resistors (SIEPS800000 45) or3.7 Connecting Regenera-tive Resistors (SIEPS800000 46).

Correct the wiring.

The dynamic brake (DB:Emergency stop executedfrom the SERVOPACK)was frequently activated,or the DB overload alarmoccurred.

Check the resistor power

consumption monitorUn00B to see how manytimes the DB has been used.Or, check the alarm trace

back monitor Fn000 to seeif the DB overload alarmA.730 or A.731 wasreported.

Change the SERVOPACKmodel, operation condi-tions, or the mechanism sothat the DB does not needto be used so frequently.

The generated regenera-tive energy exceeded theSERVOPACK regenera-tive energy processing

capacity.

Check the regenerative loadratio monitor Un00A to seehow many times the regen-erative resistor has been

used.

Check the operation condi-tion including overload, andreconsider the regenerativeresistor value.

(cont’d)

Alarm:




6 Troubleshooting

6-6

A.100:

Overcurrent orHeat SinkOverheated

(An overcurrentflowed through theIGBT or heat sinkof SERVOPACK

overheated.)(cont’d)

The SERVOPACK regen-erative resistance is toosmall.

Check the regenerative load

ratio monitor Un00A to seehow many times the regen-erative resistor has beenused.

Change the regenerative

resistance value to a valuelarger than the SERVO-PACK minimum allowableresistance value.

A heavy load was appliedwhile the servomotor wasstopped or running at alow-speed.

Check to see if the operat-ing conditions are outsideservo drive specifications.

Reduce the load applied tothe servomotor or increasethe operation speed.

Malfunction caused bynoise interference.

Improve the wiring orinstallation environment,such as by reducing noise,and check to see if thealarm recurs.

Take countermeasures fornoise, such as correct wir-ing of the FG. Use an FGwire size equivalent to the

SERVOPACK main circuitwire size.


−

Turn the power supply OFFand then ON again. If thealarm still occurs, the SER-VOPACK may be faulty.Replace the SERVOPACK.

A.300:

RegenerationError

Regenerative resistorcapacity (Pn600) is set toa value other than 0 for aSGDV-R70,-R90, -1R6, or -2R8 SER-VOPACK, and an exter-nal regenerative resistor isnot connected.

Check the external regener-ative resistor connection

and the value of the Pn600.

Connect the external regen-erative resistor, or setPn600 to 0 if no regenera-tive resistor is required.

The jumper between the power supply terminalsB2 and B3 is removed.

Confirm that a jumper ismounted between the

power supply terminals B2and B3.

Correctly mount a jumper.

The external regenerativeresistor is incorrectlywired, or is removed ordisconnected.

Check the external regener-ative resistor connection.

Correctly connect the exter-nal regenerative resistor.


−

While the main circuit power supply is OFF, turnthe control power supplyOFF and then turn ONagain. If the alarm stilloccurs, the SERVOPACKmay by faulty. Replace theSERVOPACK.

(cont’d)

Alarm:





6-7

6

T r


A.320:RegenerativeOverload

The power supply voltage

exceeds the specifiedlimit.

Measure the power supply

voltage.

Set the power supply volt-

age within the specifiedrange.

Incorrect external regen-erative resistance.Insufficient SERVO-PACKcapacity or regenerativeresistor capacity.Or, regenerative powerhas been continuouslyflowing back.

Check the operation condi-tion or the capacity usingthe capacity selection Soft-ware SigmaJunmaSize+,etc.

Change the regenerativeresistance, regenerativeresistor capacity, or SER-VOPACK capacity. Recon-sider the operationconditions using the capac-ity selection software Sig-maJunmaSize+, etc.

Regenerative power con-

tinuously flowed back because negative loadwas continuously applied.

Check the load to the servo-motor during operation.

Reconsider the systemincluding servo, machine,and operation conditions.

The setting of parameterPn600 is smaller than theexternal regenerativeresistor's capacity.

Check the external regener-ative resistor connectionand the value of the Pn600.

Set the Pn600 to a correctvalue.

The external regenerativeresistance is too high.

Check the regenerativeresistance.

Change the regenerativeresistance to a correct valueor use an external regenera-tive resistor of appropriatecapacity.



A.330:Main CircuitPower SupplyWiring Error

(Detected whenthe power to themain circuit isturned ON.)

The regenerative resistordisconnected when theSERVOPACK powervoltage was increased.

Measure the resistance ofthe regenerative resistor.

When using a regenerativeresistor built in the SERVO-PACK:Replace the SERVOPACK.When using an externalregenerative resistor:Replace the external regen-erative resistor.

In the AC power inputmode, DC power wassupplied.

Check the power supply tosee if it is a DC power sup-

ply.

Correct the settings tomatch the actual power sup-

ply specifications.

In the DC power inputmode, AC power wassupplied.

Check the power supply tosee if it is a AC power sup-

ply.

Correct the settings tomatch the actual power sup-

ply specifications.

Regenerative resistorcapacity (Pn600) is notset to 0 even though theregenerative resistor isdisconnected.

Is the regenerative resistorconnected?If it is, check the regenera-tive resistor capacity.

Set Pn600 to 0.



(cont’d)

Alarm:




6 Troubleshooting

6-8

A.400:

Overvoltage

(Detected in theSERVOPACKmain circuit powersupply section.)

• For 100 VAC SERVO-

PACKs:The AC power supplyvoltage exceeded 145V.

• For 200 VAC SERVO-PACKs:The AC power supplyvoltage exceeded 290V.

• For 400 VAC SERVO-PACKs:The AC power supplyvoltage exceeded 580V.

• For 200 VAC SERVO-PACKs with DC powersupply input: The

power supply voltageexceeded 410 V.

• For 400 VAC SERVO-PACKs with DC powersupply input: The

power supply voltageexceeded 820 V.


Set AC/DC power supplyvoltage within the speci-fied range.

The power supply isunstable, or was influ-enced by a lightningsurge.


Improve the power supplyconditions by installing a

surge absorber, etc. Then,turn the power supply ONagain. If the alarm stilloccurs, the SERVOPACKmay be faulty. Replace theSERVOPACK.

Acceleration/decelera-tion was executed underthe following conditions.• The AC power supply

voltage of 100 VACSERVOPACK was in

the range between 115V and 135 V.• The AC power supply

voltage of 200 VACSERVOPACK was inthe range between 230V and 270 V.

• The AC power supplyvoltage of 400 VACSERVOPACK was inthe range between 480V and 560 V.

Check the power supplyvoltage and the speed andtorque during operation.

Set AC power supply volt-age within the specifiedrange.

The external regenerativeresistance is too high forthe actual operation con-ditions.

Check the operation condi-tions and the regenerativeresistance.

Select a regenerative resis-tance value appropriate forthe operation conditionsand load.

(cont’d)

Alarm:




6 Troubleshooting

6-10

A.510:

Overspeed

(The servomotorspeed exceeds themaximum.)

The order of phases U, V,

and W in the servomotorwiring is incorrect.

Check the servomotor wir-

ing.

Confirm that the servomo-

tor is correctly wired.

A reference value exceed-ing the overspeed detec-tion level was input.

Check the input value.Reduce the reference valueor adjust the gain.

The motor speedexceeded the maximum.

Check the servomotorspeed waveform.

Reduce the speed referenceinput gain, adjust the servogain, or reconsider the oper-ation conditions.


−The SERVOPACK may befaulty. Replace the SERVO-

PACK.

A.511:

Overspeed ofEncoder OutputPulse Rate

The encoder output pulseoutput frequencyexceeded the limit.

Check the encoder output pulse output setting.

Decrease the setting of theencoder output pulse(Pn212).

The encoder output pulseoutput frequencyexceeded the limit

because the servomotorspeed was too high.

Check the encoder output pulse output setting and ser-vomotor speed.

Decrease the servomotorspeed.

A.520:

Vibration Alarm

Abnormal vibration wasdetected at the servomo-tor rotation speed.

Check for abnormal noisefrom the servomotor, and

check the speed and torquewaveform during operation.

Reduce the servomotorspeed or reduce the speedloop gain (Pn100).

The moment of inertiaratio (Pn103) value isgreater than the actualvalue or is greatlychanged.

Check the moment of iner-tia ratio.

Set the moment of inertiaratio (Pn103) to an appro-

priate value.

A.521:

Autotuning Alarm

(Vibration was

detected whileexecuting theadvanced autotun-ing, one-parame-ter tuning,EasyFFT, or tun-ing-less function.)

The servomotor vibratedconsiderably while per-forming tuning-less func-

tion (factory setting).


Reduce the load so that themoment of inertia ratio fallswithin the allowable value,or raise the tuning level orreduce the gain level using

the tuning-less function(Fn200).

The servomotor vibratedconsiderably duringadvanced autotuning,one-parameter tuning, orEasyFFT.


Check the operation proce-dure of corresponding func-tion and take a correctiveaction.

(cont’d)

Alarm:





6-11

6

T r


A.710: A.720:

Overload

A.710: High Load

A.720: Low Load

Incorrect wiring or con-

tact fault of servomotorand encoder. Check the wiring.

Confirm that the servomo-

tor and encoder are cor-rectly wired.

Operation beyond theoverload protection char-acteristics.

Check the servomotor over-load characteristics andexecuted run command.

Reconsider the load condi-tions and operation condi-tions. Or, increase theservomotor capacity.

Excessive load wasapplied during operation

because the servomotorwas not driven due tomechanical problems.

Check the executed runcommand and servomotorspeed.

Remove the mechanical problems.


− The SERVOPACK may befaulty. Replace the SERVO-PACK.

A.730: A.731:

Dynamic BrakeOverload

(An excessive power consump-tion of dynamic

brake wasdetected.)

The servomotor rotates because of external force.

Check the operation status.Take measures to ensure theservomotor will not rotate

because of external force.

The rotating energy at aDB stop exceeds the DBresistance capacity.

Check the DB resistor power consumption moni-tor (Un00B) to see howmany times the DB has

been used.

Reduce the servomotor ref-erence speed.Reduce the moment of iner-tia ratio.Reduce the number of timesof the DB stop operation.



A.740:

Overload ofSurge CurrentLimit Resistor

(The main circuit power is turnedON/OFF too fre-

quently.)

The inrush current limitresistor operation fre-quency at the main circuit

power supply ON/OFFoperation exceeds theallowable range.

−Reduce the frequency ofturning the main circuit

power supply ON/OFF.

A SERVOPACK fault

occurred.


PACK.

(cont’d)

Alarm:




6 Troubleshooting

6-12

A.7A0:

Heat SinkOverheated

(Detected whenthe heat sink tem-

perature exceeds100°C.)

The surrounding air temperature is too high.

Check the surrounding air

temperature using a ther-mostat.

Decrease the surrounding

air temperature by improv-ing the SERVOPACKinstallation conditions.

The overload alarm has been reset by turning OFFthe power too manytimes.

Check the alarm trace backmonitor (Fn000) to see ifthe overload alarm wasreported.

Change the method forresetting the alarm.

Excessive load or opera-tion beyond the regenera-tive energy processingcapacity.

Check the accumulatedload ratio monitor Un009 tosee the load during opera-tion, and the regenerativeload ratio monitor Un00A

to see the regenerativeenergy processing capacity.

Reconsider the load andoperation conditions.

Incorrect SERVOPACKinstallation orientation or/and insufficient spacearound the SERVO-PACK.

Check the SERVOPACKinstallation conditions.

Install the SERVOPACKcorrectly as specified.



A.7AB:Built-in Fan inSERVOPACKStopped

The fan inside the SER-VOPACK stopped.

Check for foreign matter ordebris inside the SERVO-PACK.

Remove foreign matter or

debris from the SERVO-PACK. If the alarm stilloccurs, the SERVOPACKmay be faulty. Replace theSERVOPACK.

A.810:Encoder BackupError

(Detected on theencoder side)(Only when anabsolute encoder isconnected.)

Alarm occurred when the power to the absoluteencoder was initiallyturned ON.

Check to see if the powerwas turned ON initially.

Set up the encoder (Fn008).

The encoder cable discon-nected, and connected

again.

Check to see if the powerwas turned ON initially.

Confirm the connection andset up the encoder (Fn008).

The power from both thecontrol power supply (+5V) and the battery powersupply from the SERVO-PACK is not being sup-

plied.

Check the encoder connec-tor battery or the connectorcontact status.

Replace the battery or takesimilar measures to supply

power to the encoder, andset up the encoder (Fn008).

An absolute encoder faultoccurred.

−

If the alar m cannot be reset by setting up the encoderagain, replace the servomo-tor.


− The SERVOPACK may befaulty. Replace the SERVO-PACK.

(cont’d)

Alarm:





6-13

6

T r


A.820:EncoderChecksum Error

(Detected on theencoder side.)


−

Set up the encoder again

using Fn008. If the alarmstill occurs, the servomotormay be faulty. Replace theservomotor.



A.830:

AbsoluteEncoder BatteryError

(The absoluteencoder batteryvoltage is lowerthan the specifiedvalue.)

The battery connection isincorrect.

Check the battery connec-tion.

Reconnect the battery.

The battery voltage islower than the specified

value 2.7 V.

Measure the battery volt-age.

Replace the battery.



A.840:

Encoder DataError

(Detected on the

encoder side.)

A malfunction occurredin the encoder.

−

Turn the power supply OFFand then ON again. If thealarm still occurs, the ser-vomotor may be faulty.Replace the servomotor.

Malfunction of encoder because of noise interfer-ence, etc.

−

Correct the wiring aroundthe encoder by separating

the encoder cable from theservomotor main circuitcable or by checking thegrounding and other wiring.

A.850:

EncoderOverspeed

(Detected whenthe control power

supply was turnedOFF and then ONagain.)(Detected on theencoder side.)

The servomotor was run-

ning at 200 min-1 orhigher when the control

power supply was turnedON.

Check the speed monitor(Un000) to confirm the ser-vomotor speed when the

power is turned ON.

Reduce the servomotorspeed to a value less than

200 min-1, and turn ON thecontrol power supply.

An encoder fault

occurred. −

Turn the power supply OFFand then ON again. If the

alarm still occurs, the ser-vomotor may be faulty.Replace the servomotor.


−


(cont’d)

Alarm:




6 Troubleshooting

6-14

A.860:

EncoderOverheated

(Only when anabsolute encoder isconnected.)(Detected on theencoder side.)

The ambient temperature

around the servomotor istoo high.

Measure the ambient tem-

perature around the servo-motor.

The ambient temperature

must be 40°C or less.

The servomotor load isgreater than the ratedload.

Check the accumulatedload ratio monitor (Un009)to see the load.

The servomotor load must be within the specifiedrange.


−



−

Turn the power supply OFF

and then ON again. If thealarm still occurs, the SER-VOPACK may be faulty.Replace the SERVOPACK.

A.8A0*3:

External EncoderError of Scale

Setting of the zero point position of absolute exter-nal scale failed becausethe servomotor rotated.

Before setting the zero point position, use the fully-closed feedback countermonitor (Un00E) to con-firm that the servomotor isnot rotating.

The servomotor must bestopped while setting thezero point position.

An external encoder faultoccurred.

−Replace the externalencoder.

A.8A1*3:

External EncoderError of Module



A serial converter unitfault occurred.

−Replace the serial con-verter unit.

A.8A2*3:

External EncoderError of Sensor

(Incremental)



A.8A3*3:

External EncoderError of Position

(Absolute)

An absolute externalencoder fault occurred.

−

The absolute external

encoder may be faulty.Refer to the encoder manu-facture’s instruction manualfor corrective actions.

A.8A5*3:

External EncoderOverspeed

The overspeed from theexternal encoderoccurred.

−Repair or replace the exter-nal encoder.

A.8A6*3:

External EncoderOverheated

The overheat from theexternal encoderoccurred.

−Repair or replace the exter-nal encoder.

∗3. The alarm that may occur in a SERVOPACK with option module for fully-closed loopcontrol.

(cont’d)

Alarm:





6-15

6

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A.b10:Speed Reference

A/D Error

(Detected whenthe servo is ON.)

A malfunction occurred

in the speed referenceinput section.−

Clear and reset the alarm

and restart the operation.


−


A.b11:

Speed Reference

A/D Data Error

A malfunction occurredin the speed referenceinput section.

−Clear and reset the alarmand restart the operation.


−



A.b20:

ReferenceTorque InputRead Error

(Detected whenthe servo is ON.)

A malfunction occurredin the reading section ofthe torque referenceinput.

−Clear and reset the alarmand restart the operation.


−

Turn the power supply OFFand then ON again. If thealarm still occurs, the SER-VOPACK may be faulty.

Replace the SERVOPACK.

A.b31:

CurrentDetection Error 1

(Phase-U)

The current detection cir-cuit for phase U is faulty.

−


A.b32:


(Phase-V)

The current detection cir-cuit for phase V is faulty.

−


A.b33:


(Current detector)

The detection circuit forthe current is faulty.

−


The servomotor main cir-cuit cable is disconnected.

Check for disconnection ofthe motor main circuitcable.

Correct the servomotor wir-ing.

A.b6A*2:

MECHATROLINK

Communications

ASIC Error 1

SERVOPACK MECHA-TROLINK communica-tion section fault.

− Replace the SERVOPACK.

∗2. These errors occur in SERVOPACKs using MECHATROLINK-II

(cont’d)

Alarm:




6 Troubleshooting

6-16

A.bF0:System Alarm 0


−



A.bF1:

System Alarm 1A SERVOPACK faultoccurred.

−


A.bF2:

System Alarm 2


−

Turn the power supply OFFand then ON again. If thealarm still occurs, the SER-

VOPACK may be faulty.Replace the SERVOPACK.

A.bF3:

System Alarm 3


−


A.bF4:

System Alarm 4A SERVOPACK faultoccurred.

−


A.C10:

Servo OverrunDetected

(Detected whenthe servomotor

power is ON.)

The order of phases U, V,and W in the servomotorwiring is incorrect.

Check the servomotor wir-ing.

Confirm that the servomo-tor is correctly wired.


−

If the alarm still occursafter turning the power OFFand then ON again, eventhough the servomotor iscorrectly wired, the servo-motor may be faulty.Replace the servomotor.


−Turn the power supply OFFand then ON again. If thealarm still occurs, the SER-VOPACK may be faulty.Replace the SERVOPACK.

A.C80:

AbsoluteEncoder ClearError and Multi-turn Limit Setting

Error


−


A SERVOPACK faultoccurred. −


alarm still occurs, the SER-VOPACK may be faulty.Replace the SERVOPACK.

(cont’d)

Alarm:





6-17

6

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A.C90:

EncoderCommunicationsError

Contact fault of encoder

connector or incorrectencoder wiring.

Check the encoder connec-

tor contact status.

Re-insert the encoder con-

nector and confirm that theencoder is correctly wired.

Encoder cable disconnec-tion or short-circuit.Or, incorrect cable imped-ance.

Check the encoder cable.Use the encoder cable withthe specified rating.

Corrosion caused byimproper temperature,humidity, or gasShort-circuit caused byintrusion of water dropsor cutting oil

Connector contact faultcaused by vibration.

Check the operating envi-ronment.

Improve the operating envi-ronmental conditions, andreplace the cable. If thealarm still occurs, replacethe SERVOPACK.

Malfunction caused bynoise interference.

−

Correct the wiring aroundthe encoder to avoid noiseinterference (Separate theencoder cable from the ser-vomotor main circuit cable,improve grounding, etc.)

A SERVOPACK fault

occurred. −

Connect the servomotor toanother SERVOPACK, andturn ON the control power.If no alarm occurs, theSERVOPACK may befaulty. Replace the SERVO-PACK.

A.C91:

EncoderCommunicationsPosition DataError

The noise interferenceoccurred on the input/out-

put signal line because theencoder cable is bent andthe sheath is damaged.

Check the encoder cableand connector.

Confirm that there is no problem with the encodercable layout.

The encoder cable is bun-dled with a high-currentline or near a high-current

line.

Check the encoder cablelayout.

Confirm that there is nosurge voltage on theencoder cable.

The FG potential varies because of influence frommachines on the servomo-tor side, such as thewelder.

Check the encoder cablelayout.

Properly ground the deviceto separate from theencoder FG.

(cont’d)

Alarm:




6 Troubleshooting

6-18

A.C92:

EncoderCommunicationsTimer Error

Noise interference

occurred on the input/output signal line from theencoder.

− Take countermeasuresagainst noise.

Excessive vibration andshocks were applied tothe encoder.


Reduce the machine vibra-tion or correctly install theservomotor.


−



−


A.CA0:

EncoderParameter Error


−


A SERVOPACK faultoccurred. −


alarm still occurs, the SER-VOPACK may be faulty.Replace the SERVOPACK.

A.Cb0:EncoderEchoback Error

The encoder wiring andcontact are incorrect.

Check the encoder wiring. Correct the encoder wiring.

Noise interferenceoccurred due to incorrectencoder cable specifica-tions.

−

Use tinned annealed copper twisted-pair or shieldedtwisted-pair cable with a

core of at least 0.12 mm2.

Noise interference

occurred because the wir-ing distance for theencoder cable is too long.

− The wiring distance must be 20 m max.

The FG potential varies because of influence frommachines on the servomo-tor side, such as thewelder.

Check the encoder cableand connector.

Make the grounding for themachine separately fromencoder side FG.

Excessive vibration andshocks were applied tothe encoder.


Reduce the machine vibra-tion or correctly install theservomotor.

(cont’d)

Alarm:





6-19

6

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A.Cb0:

EncoderEchoback Error

(cont’d)


−


and then ON again. If thealarm still occurs, the ser-vomotor may be faulty.Replace the servomotor.


−


A.CC0:

Multi-turn LimitDisagreement

When using a direct-drive(DD) servomotor, themulti-turn limit value

(Pn205) is different fromthat of the encoder.

Check the value of thePn205.

Correct the setting of Pn205(0 to 65535).

The multi-turn limit valueof the encoder is differentfrom that of the SERVO-PACK. Or, the multi-turnlimit value of the SER-VOPACK has beenchanged.

Check the value of thePn205 of the SERVO-PACK.

Execute Fn013 at the occur-rence of alarm.

A SERVOPACK fault

occurred. −


A.CF1*3:

Feedback OptionModuleCommunicationsError

(Reception error)

Wiring of cable betweenserial converter unit andSERVOPACK is incorrector contact is faulty.

Check the external encoderwiring.

Correct the cable wiring.

The specified cable is notused between serial con-verter unit and SERVO-PACK.

Confirm the externalencoder wiring specifica-tions.

Use the specified cable.

Cable between serial con-verter unit and SERVO-PACK is too long.

Measure the externalencoder cable length.

Use 20 m cable max.

Sheath of cable betweenserial converter unit andSERVOPACK is broken.

Check the external encodercable.

Replace the cable.

∗3. The alarm that may occur in a SERVOPACK with option module for fully-closed loop

control.

(cont’d)

Alarm:




6 Troubleshooting

6-20

A.CF2∗3:

Feedback OptionModuleCommunicationsError

(Timer stop)

Noise interferes with the

cable between serial con-verter unit and SERVO-PACK.

−

Correct the wiring around

serial converter unit, e.g.,separating input/output sig-nal line from main circuitcable or grounding.

A serial converter unitfault occurred.

−Replace the serial con-verter unit.



A.d00:

Position ErrorPulse Overflow

(Position errorexceeded the valueset in the excessive

position erroralarm level(Pn520))

The contact in the servo-motor U, V, and W wir-ings is faulty.

Check the motor main cir-cuit cable connection.

Confirm that there is nocontact fault in the motorwiring of encoder wiring.

The frequency of the position reference pulse istoo high.

Reduce the reference pulsefrequency, and operate theSERVOPACK.

Reduce the position refer-ence pulse frequency or ref-erence acceleration. Or,reconsider the electronicgear ratio.

The position referenceacceleration is too fast.

Reduce the reference accel-eration, and operate theSERVOPACK.

Apply the smoothing func-tion, such as using positionreference acceleration/deceleration time constant(Pn216).

Setting of the Pn520

(Excessive Position ErrorAlarm Level) is lowagainst the operating con-dition.

Check the alarm level(Pn520) to see if it is set toan appropriate value.

Set the Pn520 to propervalue.


−


A.d01:

Position Error

Pulse Overflow Alarm at ServoON

The /S_ON signal is to beturned ON when the num-

ber of position error pulses is greater than theset value of Pn526.

Check the error counter

monitor (Un008) while the /S_ON signal is OFF.

Set position error pulses to be cleared while the /S_ONsignal is OFF.

Or, correct the excessive position error alarm level atservo ON (Pn526).


control.

(cont’d)

Alarm:





6-21

6

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A.d02:

Position ErrorPulse Overflow

Alarm by SpeedLimit at ServoON

After a position error

pulse has been input,Pn529 limits the speed ifthe /S_ON signal isturned ON. If Pn529 lim-its the speed in such astate, this alarm occurswhen reference pulses areinput and the number of

position error pulsesexceeds the value set for

parameter Pn520 (Exces-sive Position Error AlarmLevel).

−

Set position error pulses to be cleared while the /S_ONsignal is OFF.Or, correct the excessive

position error alarm level(Pn520).Or, adjust the speed limitlevel at servo ON (Pn529).

A.d10*3:

Motor-loadPosition ErrorPulse Overflow

Motor rotation directionand external encoderinstallation direction areopposite.

Check the servomotor rota-tion direction and the exter-nal encoder installationdirection.

Install the external encoderin the opposite direction, orreverse the setting of theexternal encoder usagemethod (Pn002.3).

Mounting of the load(e.g., stage) and externalencoder joint installationare incorrect.

Check the external encodermechanical connection.

Check the mechanical joints.

A.E02*2:

MECHA-TROLINK-IIInternalSynchronizationError 1

A parameter was changed by the digital operator or

the personal computerduring MECHA-TROLINK-II communi-cations.

Confirm the way the parameters are edited.

Stop changing parametersusing digital operator or

personal computer duringMECHATROLINK-II com-munications.

MECHATROLINK-IItransmission cycle fluctu-ated.

−Remove the cause of trans-mission cycle fluctuation athost controller.


−


A.E40*2:

MECHA-TROLINK-IITransmissionCycle SettingError

Setting of MECHA-TROLINK-II transmis-sion cycle is out ofspecifications range.

Check the MECHA-TROLINK-II transmissioncycle setting.

Set the transmission cycleto the proper value.

∗2. These errors occur in SERVOPACKs using MECHATROLINK-II.


control.

(cont’d)

Alarm:




6 Troubleshooting

6-22

A.E50*2:

MECHA-TROLINK-IISynchronizationError

WDT data of host con-

troller was not updatedcorrectly.

Check the WDT data updat-

ing for the host controller.

Update the WDT data at the

host controller correctly.


−


A.E51*2:

MECHA-TROLINK-IISynchronizationFailed

WDT data of host con-troller was not updatedcorrectly at the synchroni-zation communicationsstart, and synchroniza-

tion communicationscould not start.

Check the WDT data updat-ing for the host controller.

Update the WDT data at thehost controller correctly.


−


A.E60*2:

MECHA-TROLINK-IICommunicationserror

(Reception error)

MECHATROLINK-IIwiring is incorrect.

Check the MECHA-TROLINK-II wirings.

Correct the MECHA-TROLINK-II wiring.Connect the terminator cor-rectly.

MECHATROLINK-IIdata reception erroroccurred due to noiseinterference.

−

Take measures againstnoise. Check the MECHA-TROLINK-II communica-tions cable and FG wiringand take measures such asadding ferrite core on theMECHATROLINK-II com-munications cable.


−



A.E61*2:

MECHA-TROLINK-IITransmissionCycle Error

(Synchronizationinterval error)



Remove the cause of trans-mission cycle fluctuation athost controller.


−


∗2. These errors occur in SERVOPACKs using MECHATROLINK-II.

(cont’d)

Alarm:





6-23

6

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A.EA2*2:

DRV Alarm 2

(SERVOPACKWDC error)

A parameter was changed

by the digital operator orthe personal computerduring MECHA-TROLINK-II communi-cations.

Confirm the way the parameters are edited.

Stop changing parameters

using digital operator or personal computer duringMECHATROLINK-II com-munications.



Remove the cause of trans-mission cycle fluctuation athost controller.


−



A.Eb1:

Safety FunctionSignal InputTiming Error

The lag between activa-tions of the input signals /HWBB1 and/HWBB2 for the HWBBfunction is ten second ormore.

Measure the time lag between the /HWBB1 and/HWBB2 signals.

The output signal circuits ordevices for /HWBB1 and/HWBB2 or the SERVO-PACK input signal circuitsmay be faulty. Alterna-tively, the input signalcables may be discon-nected. Repair or replacethem.

A.ED1*2:CommandExecutionTimeout

A timeout error occurredwhen using an MECHA-TROLINK command.

Check the motor status

when the command is exe-cuted.

Execute the SV_ON orSENS_ON command onlywhen the motor is not run-ning.

Check the external encoderstatus when the command isexecuted.

Execute the SENS_ONcommand only when anexternal scale is connected.

A.F10:

Main CircuitCable OpenPhase

(With the main power supply ON,voltage was lowfor more than 1second in an R, S,or T phase.)(Detected whenthe main powersupply was turnedON.)

The three-phase powersupply wiring is incorrect.

Check the power supplywiring.

Confirm that the powersupply is correctly wired.

The three-phase powersupply is unbalanced.

Measure the voltage at each phase of the three-phase power supply.

Balance the power supply by changing phases.

A single-phase power isinput without settingPn00B.2 (power supplymethod for three-phaseSERVOPACK) to 1 (sin-gle-phase power supply).

Check the power supplyand the parameter setting.

Match the parameter settingto the power supply.


−


∗2.These errors occur in SERVOPACKs using MECHATROLINK-II.

(cont’d)

Alarm:




6 Troubleshooting

6-24

CPF00:Digital OperatorTransmissionError 1

The contact between the

digital operator and theSERVOPACK is faulty.

Check the connector con-

tact.

Insert securely the connec-

tor or replace the cable.

Malfunction caused bynoise interference

−Keep the digital operator orthe cable away from noisesources.

CPF01:

Digital Operator

Transmission

Error 2

A digital operator faultoccurred.

−

Disconnect the digital oper-ator and then re-connect it.If the alarm still occurs, thedigital operator may befaulty. Replace the digitaloperator.


−


(cont’d)

Alarm:




6.2 Troubleshooting of Warnings

6-25

6

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6 2 Troubleshooting of Warnings

Refer to the following table to identity the cause of a warning and the action to betaken. Contact your Yaskawa representative if the problem cannot be solved by the

described corrective action.

For warnings not described here, refer to the following manuals.

• Σ-V Series User's Manual Design and Maintenance Rotational Motor/Analog Volt-

age and Pulse Train Reference (SIEP S800000 45).



Warning:Warning Name

Situation at WarningOccurrence

Cause Corrective Actions

A.900:Position ErrorPulse Overflow

Wiring of the servomo-tor U, V, or W line isincorrect.

Check the wiring ofthe cable for motormain circuit.

Check whether there is anyloose connection in motorwiring or encoder wiring.

The SERVOPACKgain is too low.

Check the SERVO-PACK gain.

Increase the servo gain byusing the function such asadvanced autotuning.

The position reference pulse frequency is toohigh.

Lower the positionreference pulse fre-quency.

Lower the position reference pulse frequency or the posi-tion reference acceleration, orcorrect the electronic gear

ratio.

The position referenceacceleration is toohigh.

Lower the positionreference accelera-tion.

Apply a smoothing function,such as a position referenceacceleration/decelerationtime constant (Pn216).

The excessive positionerror alarm level(Pn520) is too low forthe operating condi-tions.

Check the excessive position error alarmlevel (Pn520).

Set an appropriate value forthe Pn520.


-


A.901:Position ErrorPulse Overflow

Alarm at Servo

ON

When the /S_ON sig-nal was OFF, the ser-vomotor movedwithout cleaning thecounter for positionerror pulses. The num-

ber of position error

pulses exceeded themaximum number of

pulses allowed.

-

Set Pn200.2 to 0 to clear thenumber of position error

pulses when the/S_ON signal is OFF. Or setan appropriate value for theexcessive position error

warning level at servo ON(Pn528) when the /S_ON sig-nal is ON.



6 Troubleshooting

6-26

A.910:Overload

Warning beforealarm A710 orA720 occurs

The servomotor or

encoder wiring isincorrect or the con-nection is faulty.

Check the wiring.Correct the servomotor andencoder wiring if they arewrong.

The servomotor is inexcess of the overload

protective characteris-tics.

Check the overloadcharacteristics ofthe servomotor andreference input.

Reconsider the load and oper-ation conditions.Or, check the servomotorcapacity.

The servomotor is notdriven due to amechanical factor andthe operating load has

become excessive.

Check the refer-ence input andmotor speed.

Improve the mechanical fac-tor.


-The SERVOPACK may befaulty. Replace the SERVO-PACK.

A.911:Vibration

Unusual vibration wasdetected while themotor was rotating.

Check whetherunusual sound isgenerated from themotor, and checkthe speed, andtorque waveform of

the motor.

Lower the motor rotationspeed or lower the servo gain

by using the function such asone-parameter tuning.

The moment of inertiaratio (Pn103) is largerthan the actual value orgreatly changes.

Check the momentof inertia ratio.

Set an appropriate value forthe moment of inertia(Pn103).

A.920:RegenerativeOverload:

Warning before thealarm A320 occurs

The power supply volt-age is in excess of thespecified range.

Measure the powersupply voltage.

Set the power supply voltagewithin the specified range.

The external regenera-tive resistance, servoamplifier capacity, orregenerative resistorcapacity is insufficientor a continuous regen-erative state occurs.

Check the operat-ing conditions orcapacity using thecapacity selectionsoftware SigmaJun-maSize+, etc.

Change the regenerativeresistance, regenerative resis-tor capacity, or SERVOPACKcapacity. Reconsider theoperating conditions usingthe capacity selection soft-ware SigmaJunmaSize+, etc.

Regenerative powercontinuously flowed

back because negativeload was continuouslyapplied.

Check the load onthe servomotor dur-ing operation.

Reconsider the systemincluding the servo, machine,and operation conditions.

(cont’d)







6-27

6

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A.921:Dynamic BrakeOverload:

Warning before thealarm A.731occurs

The servomotor is

driven by an externalforce.

Check the operat-

ing conditions.

Do not drive the motor with

external force.

The rotating energy ata DB stop exceeds theDB resistance capacity.

Check the operat-ing frequency of theDB with power con-sumed by DB resis-tance monitor(Un00B).

• Reduce the servomotorreference speed.

• Reduce the moment ofinertia.

• Reduce the number oftimes of the DB stop oper-ation.

A SERVOPACK fault

occurred.


PACK.

A.930: AbsoluteEncoder BatteryError

(The absoluteencoder batteryvoltage is lowerthan the specifiedvalue.)(Only when anabsolute encoder isconnected.)

The battery connec-tion is incorrect.

Check the batteryconnection.

Reconnect the battery.

The battery voltage islower than the speci-fied value 2.7 V.

Measure the batteryvoltage.

Replace the battery.



PACK.

A.941:Change ofParametersRequires Restart

Parameters that requirethe restart have beenchanged.

−Turn OFF the power and ONagain.

A.94A*:Data SettingWarning 1

(Parameter Num- ber Error)

Disabled parameternumber was used.

– Use the correct parameternumber.

A.94B*:Data SettingWarning 2

(Out of Range)

Attempted to send val-ues outside the range tothe command data.

– Set the value of the parameterwithin the allowable range.

A.94C*:Data SettingWarning 3

(Calculation Error)

Calculation result ofset value is incorrect.

– Set the value of the parameterwithin the allowable range.

A.94D*:Data SettingWarning 4

(Parameter Size)

Parameter size set incommand is incorrect.

– Use the correct parametersize.

∗ These warnings occur in SERVOPACKs using MECHATROLINK-II.

(cont’d)






6 Troubleshooting

6-28

A.94E*:

Data SettingWarning 5

(Latch modeerror)

Latch mode error isdetected.

–

Change the setting value of

Pn850 or the LT_MOD datafor the LTMOD_ON com-mand sent by the host con-troller to the proper value.

A.95A*:CommandWarning 1

Command sendingcondition is not satis-fied.

– Send a command after com-mand sending condition issatisfied.

A.95B*:CommandWarning 2

SERVOPACKreceived unsupportedcommand.

– Do not sent an unsupportedcommand.

A.95D*:CommandWarning 4

Command sending

condition for latch-related commands isnot satisfied.

– Send a command aftercommand sending condi-tion is satisfied.

A.95E*:CommandWarning 5

Subcommand sendingcondition is not satis-fied.

– Send a command after com-mand sending condition issatisfied.

A.95F*:CommandWarning 6

(Undefined Com-mand)

Undefined commandwas sent.

– Do not use an undefinedcommand.

A.960*:MECHA-TROLINK Com-municationsWarning

MECHATROLINK-IIwiring is incorrect.

Confirm the wiring.

Correct the MECHA-TROLINK-II wiring.Or, connect a terminal to theterminal station.

MECHATROLINK-IIdata reception erroroccurred due to noise

interference.

Confirm theinstallationconditions.

Take measures against noise.Check the MECHA-TROLINK-II communica-tions cable and FG wiringand take measures such as

adding ferrite core on theMECHATROLINK-II com-munications cable.


–

A fault occurred in the SER-VOPACK.Repair or replace the SER-VOPACK.

∗ These warnings occur in SERVOPACKs using MECHATROLINK-II.

(cont’d)







6-29

6

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A.971:Undervoltage

• For 100 VAC SER-

VOPACKs:The AC power supply voltage is 60 Vor below.

• For 200 VAC SER-VOPACKs:The AC power sup-

ply voltage is 140 Vor below.

• For 400 VAC SER-VOPACKs:The AC power sup-

ply voltage is 280 Vor below.


Use a power supply voltagewithin the specified range.

The power supply volt-age dropped duringoperation.


Increase the power supplycapacity.

An instantaneous power failure occurred.


Lower the instantaneous power cut hold time (Pn509).

The fuse in the SER-VOPACK is burnedout.

−Replace the SERVOPACKand connect an AC/DC reac-tor to the SERVOPACK.



(cont’d)






6.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor

6-31

6

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ServomotorDoes NotStart

(cont’d)

SEN input is OFF.Check the ON/OFF status ofthe SEN input.

If using an absolute encoder,turn the SEN input signal

ON.

Reference pulse mode selec-tion is incorrect.

Check the Pn200.0 settingand the reference pulse sta-tus.

Match the Pn200.0 settingand the reference pulse sta-tus.

Speed control: Speed refer-ence input is incorrect.

Check V-REF and SG toconfirm if the controlmethod and the input areagreed.

Correct the control modeselection parameter, or theinput.

Torque control: Torque ref-erence input is incorrect.

Check T-REF and SG toconfirm if the controlmethod and the input are

agreed.


Position control: Reference pulse input is incorrect.

Check Pn200.0 reference pulse form or sign + pulsesignal.


Position error pulse clear (/CLR) input is turned ON.

Check /CLR input pins(CN1-14 and -15).

Turn /CLR input signalOFF.

The forward run prohibited(P-OT) and reverse run pro-hibited (N-OT) input signalsare turned OFF.

Check P-OT or N-OT inputsignal.

Turn P-OT or N-OT inputsignal ON.

The safety input signal (/HWBB1 or /HWBB2)remains OFF.

Check the /HWBB1 or /HWBB2 input signal.

Set the /HWBB1 or /HWBB2 input signal to ON.When not using the safetyfunction, mount the safetyfunction jumper connector(provided as an accessory)on the CN8.



ServomotorMoves Instan-taneously,

and thenStops

Servomotor wiring is incor-rect.

Check the servomotor wir-ing.

Correct the wiring.

Encoder wiring is incorrect. Check the encoder wiring. Correct the wiring.

ServomotorSpeedUnstable

Wiring connection to servo-motor is defective.

Check connections of maincircuit cable (phases-U, -V,and -W) and encoder con-nectors.

Tighten any loose terminalsor connectors.

(cont’d)

Problem Probable Cause Investigative Actions Corrective Actions



6 Troubleshooting

6-32

ServomotorRotatesWithoutReferenceInput

Speed control: Speed refer-

ence input is incorrect.

Check V-REF and SG toconfirm if the control

method and the input areagreed.

Correct the control modeselection parameter, or the

input signal.

Torque control: Torque ref-erence input is incorrect.

Check T-REF and SG toconfirm if the controlmethod and the input areagreed.

Correct the control modeselection parameter, or theinput signal.

Speed reference offset isincorrect.

The SERVOPACK offset isadjusted incorrectly.

Adjust the SERVOPACKoffset.

Position control: Reference pulse input is incorrect.

Check Pn200.0 reference pulse form or sign + pulsesignal.

Correct the control modeselection parameter, or theinput signal.



DynamicBrake DoesNot Operate

Improper Pn001 settingCheck the setting of param-eter Pn001.0.

Correct the parameter set-ting.

DB resistor disconnected

Check if excessive momentof inertia, motor overspeed,or DB frequently activatedoccurred.

Replace the SERVOPACK,and lighten the load.

DB drive circuit fault −There is a defective compo-nent in the DB circuit.


AbnormalNoise from

Servomotor

The servomotor largelyvibrated during execution oftuning-less function.

Check the servomotor speedwaveform.

Reduce the load so that themoment of inertia ratio

becomes within the allow-able value, or increase theload level or lower the tun-ing level for the tuning-lesslevel setting (Fn200).

Mounting is not secured.

Check if there are any loosemounting screws.

Tighten the mountingscrews.

Check if there is misalign-

ment of couplings.

Align the couplings.

Check if there are unbal-anced couplings.

Balance the couplings.

Bearings are defective.Check for noise and vibra-tion around the bearings.

Replace the servomotor.

Vibration source at thedriven machine

Check for any foreign mat-ter, damage, or deformationson the machinery's movable

parts.

Contact the machine manu-facturer.

(cont’d)





6-33

6

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AbnormalNoise fromServomotor

(cont’d)

Noise interference due to

incorrect input/output sig-nal cable specifications

The input/output signalcables must be tinned

annealed copper twisted- pair or shielded twisted-paircables with a core of 0.12

mm2 min.

Use the specified input sig-nal wires.

Noise interference due tolength of input/output signalcable.

Check the length of theinput/output cable.

The input/output cablelength must be no more than3 m.

Noise interference due toincorrect encoder cablespecifications.

The encoder cable must betinned annealed coppertwisted-pair or shieldedtwisted-pair cables with a

core of 0.12 mm2 min.

Use the specified encodercable.

Noise interference due tolength of encoder cable wir-ing

Check the length of theencoder cable.

The encoder cable must beno more than 20 m.

Noise interference due todamaged encoder cable

Check if the encoder cableis damaged or bent.

Replace the encoder cableand modify the encodercable layout.

Excessive noise to theencoder cable

Check if the encoder cableis bundled with high-currentline or near a high-currentline.

Correct the encoder cablelayout so that no surge isapplied.

FG potential varies becauseof influence of machinessuch as welders at the servo-motor.

Check if the machines arecorrectly grounded.

Ground machines correctly,and prevent diversion to theFG at the PG side.

SERVOPACK pulse count-ing error due to noise inter-ference

Check if there is noise inter-ference on the input/outputsignal line from the encoder.

Take measures against noisein the encoder wiring.

Excessive vibration andshock to the encoder

Check if vibration from themachine occurred or servo-motor installation is incor-rect (mounting surface

accuracy, fixing, alignment,etc.).

Reduce vibration from themachine, or secure the ser-vomotor installation.

An encoder fault occurred. − Replace the servomotor.

(cont’d)





6-35

6

T r


AbsoluteEncoder

PositionDifferenceError (Thepositionsaved in thehost controllerwhen thepower wasturned OFF isdifferent fromthe positionwhen thepower wasnext turnedON.)

(cont’d)

Noise interference due tolength of encoder cable.

Check the encoder cablelength.

The encoder cable lengthmust be no more than 20 m.

Noise interference due todamaged encoder cable

Check if the encoder cableis bent or if its sheath isdamaged.

Replace the encoder cableand correct the encodercable layout.

Excessive noise interferenceat the encoder cable

Check if the encoder cableis bundled with a high-cur-rent line or near high-cur-rent line.

Change the encoder cablelayout so that no surge isapplied.

FG potential varies becauseof influence of machinessuch as welders at the servo-motor.

Check if the machines arecorrectly grounded.

Ground machines correctly,and prevent diversion to theFG at the PG side.

SERVOPACK pulse count-ing error due to noise inter-ference

Check if there is noise inter-ference on the input/outputsignal line from the encoder.



Check if vibration from themachine occurred or servo-motor installation is incor-rect (mounting surfaceaccuracy, fixing, alignment,etc.).

Reduce vibration from themachine, or secure the ser-vomotor installation.

An encoder fault occurred. − Replace the servomotor.

A SERVOPACK faultoccurred.(The pulse count does notchange.)


Host controller multi-turndata reading error

Check the error detection atthe host controller.

Correct the error detectionsection of the host control-ler.

Check if the host controlleris executing data paritychecks.

Execute a multi-turn data parity check.

Check noise in the input/

output signal line betweenthe SERVOPACK and thehost controller.

Take measures against

noise, and again execute amultiturn data parity check.

(cont’d)




6 Troubleshooting

6-36

Overtravel(OT)

Forward or reverse run pro-hibited signal is input.

Check the external powersupply (+24 V) voltage for

the input signal.

Correct the external powersupply (+24 V) voltage.

Check if the overtravel limitswitch operates properly.

Correct the overtravel limitswitch.

Check if the overtravel limitswitch is wired correctly.

Correct the overtravel limitswitch wiring.

Forward or reverse run pro-hibited signal malfunction-ing.

Check the fluctuation of theinput signal external powersupply (+24 V) voltage.

Stabilize the external powersupply (+24 V) voltage.

Check if the overtravel limitswitch operates correctly.

Stabilize the operation ofthe overtravel limit switch.

Check if the overtravel limitswitch wiring is correct.(check for damaged cablesor loose screws.)

Correct the overtravel limitswitch wiring.

Incorrect forward or reverserun prohibited signal (P-OT/

N-OT) allocation (parame-ters Pn50A.3, Pn50B.0)

Check if the P-OT signal isallocated in Pn50A.3.

If another signal is allocatedin Pn50A.3, select P-OT.

Check if the N-OT signal isallocated in Pn50B.0.

If another signal is allocatedin Pn50B.0, select N-OT.

Incorrect servomotor stopmethod selection

Check Pn001.0 and Pn001.1when the servomotor poweris OFF.

Select a servo mode stopmethod other than "coast tostop."

Check Pn001.0 and Pn001.1when in torque control.

Select a servo mode stopmethod other than "coast tostop."

ImproperPosition toStop byOvertravel(OT) Signal

Improper limit switch posi-tion and dog length

−Install the limit switch at theappropriate position.

The overtravel limit switch position is too short for thecoasting distance.

−Install the overtravel limitswitch at the appropriate

position.

Position Error(Without

Alarm)

Noise interference due toimproper encoder cablespecifications

The encoder cable must betinned annealed copper

twisted-pair or shieldedtwisted-pair cable with a

core of 0.12 mm2 min.

Use encoder cable with thespecified specifications.

Noise interference due tolength of encoder cable

Check the encoder cablelength.

The encoder cable lengthmust be no more than 20 m.

Noise influence due to dam-aged encoder cable

Check if the encoder cableis bent or if its sheath isdamaged.

Replace the encoder cableand correct the encodercable layout.

Excessive noise interference

to encoder cable

Check if the encoder cableis bundled with a high-cur-

rent line or near a high-cur-rent line.

Change the encoder cablelayout so that no surge is

applied.

(cont’d)





6-37

6

T r


Position Error(Without

Alarm)

(cont’d)

FG potential varies becauseof influence of machines

such as welders at the servo-motor.

Check if the machines are

correctly grounded.

Ground machines correctly,and prevent diversion to the

FG at the PG side.

SERVOPACK pulse counterror due to noise

Check if the input/outputsignal line from the encoderis influenced by noise.



Check if vibration from themachine occurred or servo-motor installation is incor-rect (mounting surfaceaccuracy, fixing, alignment,etc.).

Reduce the machine vibra-tion or mount the servomo-tor securely.

Unsecured coupling between machine and servo-motor

Check if a position erroroccurs at the coupling between machine and servo-motor.

Secure the coupling between the machine andservomotor.

Noise interference due toimproper I/O signal cablespecifications

The I/O signal cable must betwisted-pair or shieldedtwisted-pair cable with a

core of 0.12 mm2 min. andtinned annealed coppertwisted wire.

Use input signal cable withthe specified specifications.

Noise interference due tolength of I/O signal cable

Check the I/O signal cablelength.

The I/O signal cable lengthmust be no more than 3 m.

An encoder fault occurred.(The pulse count does notchange.)

− Replace the servomotor.



ServomotorOverheated

Ambient temperature toohigh

Measure the servomotorambient temperature.

Reduce the ambient temper-ature to 40°C or less.

Servomotor surface dirty Visually check the surface.Clean dust and oil from thesurface.

Servomotor overloadedCheck the load status withmonitor.

If overloaded, reduce loador replace with larger capac-ity servomotor.

(cont’d)




Revision HistoryThe revision dates and numbers of the revised manuals are given at the bottom of the back cover.

Published in Japan November 2008 07- 4

Date of

publication Date of original publication

Revison number

MANUAL NO. SIEP S800000 43B

1

Date ofPublication

Rev.No.

Section Revised Contents

April 2007 – First edition

November 2008All chapters Completely revised

Back Cover Revision: Address

1



IRUMA BUSINESS CENTER (SOLUTION CENTER)480, Kamifujisawa, Iruma, Saitama 358-8555, JapanPhone 81-4-2962-5696 Fax 81-4-2962-6138

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