Sigma5 Um en Sieps80000044a

AC Servodrive
Σ -V Series
USER'S MANUAL
Setup
Linear Motor
SGLGW/SGLFW/SGLTW/SGLCW Servomotors
SGDV SERVOPACK
MANUAL NO. SIEP S800000 44A

Copyright © 2007 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a retrieval
system, or transmitted, in any form, or by any means, mechanical, electronic, 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, Yaskawa
assumes no responsibility for errors or omissions. Neither is any liability assumed for
damages resulting from the use of the information contained in this publication.
About this Manual
This manual describes procedures required for installation, wiring, and connecting Σ-
V Series servodrives, including trial 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 whenever
required.
Description of Technical Terms

The following table shows the meanings of terms used in this manual.
Term Meaning
Σ-V Series SGMJV, SGMAV, SGMGV, or SGMCS (Direct
Servomotor Drive) servomotor
SERVOPACK Σ-V Series SGDV SERVOPACK
A set including a servomotor and SERVOPACK (i.e., a servo
Servodrive amplifier)
Servo System A servo control system that includes the combination of a servo-
drive with a host controller and peripheral devices
Parameter A switch or numeric data for a SERVOPACK
Analog pulse model Analog voltage and pulse-train reference used for SERVOPACK
interface.
MECHATROLINK-II communications reference used for
M-II model
SERVOPACK interface.
IMPORTANT Explanations
The following icon is displayed for explanations requiring special attention.
• Indicates important information that should be memorized, as well as

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

In this manual, the names of reverse signals (ones that are valid when low) are written
with a forward slash (/) before the signal name, as shown in the following example:
Example
S-ON = /S-ON
3
Manuals Related to the Σ-V Series
Refer to the following manuals as required.
Selecting Trial
Models Ratings Panels Operation Maintenance
and System Trial
Name and Specifi- Design and Operation and and
Peripheral Wiring Servo Inspection
Devices cations Adjustment
Σ-V Series
SGMV/SGDV
User's Manual 9 9
Setup Linear Motor
(SIEPS80000044)
Σ-V Series
SGMV/SGDV
Catalog 9 9
(KAEPS80000042)
Σ-V Series
SGMV/SGDV
User's Manual
Design and
Maintenance 9 9 9 9 9
Linear Motor/Analog
Voltage and Pulse
Train Reference
(SIEPS80000047)
Σ−V Series
SGMV/SGDV
User's Manual
Design and
Maintenance
9 9 9 9 9
Linear Motor/
MECHATROLINK-II
Communications
Reference
(SIEPS80000048)
Σ-V Series
SGMV/SGDV
User’s Manual
Operation of Digital 9 9 9
Operator
(SIEPS80000055)
Σ-V Series
SGMV/SGDV
User’s Manual
MECHATROLINK-II 9 9 9
Command
(SIEP80000054)
Σ-V Series
AC SERVOPACK
SGDV Safety 9
Precautions
(TOBPC71080010)
4
(cont’d)
Selecting Trial
Ratings
Models and System Panels Trial Operation Maintenance
Name and and and and
Peripheral Specifi- Design Wiring Operation Servo Inspection
cations
Devices Adjustment
Σ Series
Digital Operator
9
Safety Precautions
(TOBPC73080000)
Linear Σ Series
Servomotor 9
Safety Precautions
(TOBPC23080000)
5
Safety Information
The following conventions are used to indicate precautions in this manual. Failure to
heed precautions provided in this manual can result in serious or possibly even fatal
injury or damage to the products or to related equipment and systems.
Indicates precautions that, if not heeded, could

WARNING possibly result in loss of life or serious injury.
Indicates precautions that, if not heeded, could result
in relatively serious or minor injury, damage to the
CAUTION product, or faulty operation.
In some situations, the precautions indicated could
have series consequences if not heeded.
Indicates prohibited actions that must not be
performed. For example, this symbol would be used to
PROHIBITED
indicate that fire is prohibited as follows:
Indicates compulsory actions that must be performed.

For example, this symbol would be used as follows to
MANDATORY
indicate that grounding is compulsory:
6
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
• If you have a pacemaker or any other electronic medical device, do not go
near the magnetic way of the linear servomotor.
Failure to observe this warning may result in the malfunction of the medical
device.
• Be sure to use nonmagnetic tools when installing or working close to the
linear servomotor. (Example: a beryllium-copper alloy hexagonal wrench
set, made by NGK Insulators, Ltd.)
• Before starting operation with a machine connected, make sure that an
emergency stop can be applied at any time.
Failure to observe this warning may result in injury or damage to the product.
• Never touch the linear servomotor or machinery during operation.
Failure to observe this warning may result in injury.
• Before wiring, install the SERVOPACK and the linear servomotor.
Failure to observe this warning may result in electric shock.
• Never touch the inside of the SERVOPACKs.
• Do not remove the cover of the power supply terminal block while the
power is ON.
• Do not touch terminals for five minutes after the power is turned OFF.
Residual voltage may cause electric shock.
• Do not touch terminals for five minutes after a voltage resistance test.
Residual voltage may cause electric shock.
• Follow the procedures and instructions provided in the user’s manual of the
product for trial operation.
Failure to do so may result not only in faulty operation and damage to equipment,
but also in personal injury.
• Do not remove the front cover, cables, connectors, or optional items from
the upper front of the SERVOPACK while the power is ON.
• Do not damage, press, exert excessive force on, or place heavy objects on
the cables.
Failure to observe this warning may result in electric shock, stopping operation of
the product, or fire.
• Do not modify the product.
Failure to observe this warning may result in injury, fire, or damage to the product.
7
WARNING
• Provide an appropriate stopping device on the machine side to ensure
safety. A holding brake for a linear servomotor with brake is not a stopping
device for ensuring safety.
• Do not come close to the machine immediately after resetting momentary
power loss to avoid an unexpected restart. Take appropriate measures to
ensure safety against an unexpected restart.
• Connect the ground terminal according to local electrical codes (100 Ω or
less for a SERVOPACK with a 200 V power supply. 10 Ω or less for a
SERVOPACK with a 400 V power supply.)
Improper grounding may result in electric shock or fire.
• Installation, disassembly, or repair must be performed only by authorized
personnel.
Failure to observe this warning may result in electric shock or injury.
• The person who designs a system using the safety function (Hard Wire
Baseblock function) must have full knowledge of the related safety stan-
dards and full understanding of the instructions in Σ-V Series SGMV/
SGDV User’s Manual Design and Maintenance (SIEPS80000045/46).
Storage and Transportation
CAUTION
• Be sure to store the magnetic way in the package that was used for deliv-
ery.
• 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 carry the linear servomotor by its cables.
Failure to observe this caution may result in injury or malfunction.
• Do not place any load exceeding the limit specified on the packing box.
Failure to observe this caution may result in injury or malfunction.
8
Installation
CAUTION
• When unpacking and installing magnetic way, check that no metal frag-
ments or magnetized objects near the magnetic because they may be
affected by the magnetic attraction of the magnetic way.
Failure to observe this caution may result in injury or damage to the magnetic
way's magnets.
• Do not use the magnetic way near metal or other magnetized objects.
Failure to observe this caution may result in injury.
• Do not place clocks, magnetic cards, floppy disks, or measuring instru-
ments close to the magnetic way.
Failure to observe this caution may result in malfunction or damage to these items
by the magnetic force.
• Securely mount the linear servomotor onto the machine.
If the linear servomotor is not mounted securely, it may loosen during operation.
• Do not carry the magnetic way by its magnet protection cover.
Failure to observe this caution may result in injury by the cover’s edge or the shape
of the cover may become distorted.
Cover
Magnetic way
• When removing the dummy plate for reducing magnetic force used for the
SGLFM magnetic way, pay attention to the magnetic attraction of the mag-
netic way. Do not place the removed plate close to the magnetic way.
Failure to observe this caution may result in injury or damage to the magnetic
way’s magnets or the magnet protection cover.
• Install SERVOPACKs, linear servomotors, and regenerative resistors on
nonflammable objects.
Installation directly onto or near flammable objects may result in fire.
• Never use the product in an environment subject to water, corrosive gases,
inflammable gases, or combustibles.
Failure to observe this caution may result in electric shock or fire.
• Do not step on or place a heavy object on the product.
• Do not cover the inlet or outlet ports and prevent any foreign objects from
entering the product.
Failure to observe this caution may cause internal elements to deteriorate resulting
in malfunction or fire.
9
CAUTION
• 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.
Wiring
CAUTION
• Securely tighten the cable connector screws and securing mechanism.
If the connector screws and securing mechanism are not secure, they may loosen
during operation.
• Use cables with a radius, heat resistance, and flexibility suitable for the
system.
• If the SERVOPACK malfunctions, turn OFF the main circuit’s power supply
of the SERVOPACK.
The continuous flow of a large current may cause fire.
• Use a noise filter to minimize the effects of electromagnetic damage.
Failure to observe this caution may result in electromagnetic damage to electronic
devices used near the SERVOPACK.
• Do not connect a commercial power supply to the U, V, or W terminals for
the servomotor connection.
Failure to observe this caution may result in injury or fire.
• Securely connect the main circuit power supply terminal screws and servo-
motor connection terminal screws.
Failure to observe this caution may result in fire.
• Do not bundle or run the main circuit cables together with the I/O signal
cables or the serial converter unit connection cable in the same duct. Keep
them separated by at least 30 cm.
Failure to do so may result in malfunction.
• Use shielded twisted-pair wires or multi-core shielded twisted-pair wires for
I/O signal cables and the serial converter unit connection cable.
• I/O signal cables must be no longer than 3 m, serial converter unit connec-
tion cable must be no longer than 20 m.
• Do not touch the power terminals for 5 minutes after turning power OFF
because high voltage may still remain in the SERVOPACK. Make sure the
charge indicator is out first before starting an inspection.
• Observe the following precautions when wiring main circuit terminals.
• Remove main circuit terminals from the SERVOPACK prior to wiring.
• Insert only one main 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.
• Do not turn ON the power to the SERVOPACK until all wiring has been
completed, including the main circuit terminals.
10
CAUTION
• Do not connect the SERVOPACK for 200 V directly to a voltage of 400 V.
The SERVOPACK will be destroyed.
• Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
• Always use the specified power supply voltage.
An incorrect voltage may result in burning.
• Make sure that the polarity is correct.
Incorrect polarity may cause ruptures or damage.
• Take appropriate measures to ensure that the input power supply is 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 in
external wiring.
Failure to observe this caution may result in fire.
• Take appropriate and sufficient countermeasures for each form of potential
interference when installing systems in the following locations.
Failure to observe this caution may result in damage to the product.
• Locations subject to static electricity or other forms of noise
• Locations subject to strong electromagnetic fields and magnetic fields
• Locations subject to possible exposure to radioactivity
• Locations close to power supplies
• Wiring or inspection must be performed by a technical expert.
11
Operation
CAUTION
• Always use the linear servomotor and SERVOPACK in one of the specified
combinations.
Failure to observe this caution may result in fire or malfunction.
• Do not stand within the machine's range of motion during operation.
• Before operation, install a limit switch or stopper on the end of the slider to
prevent unexpected movement.
• Before starting operation with a machine connected, change the settings to
match the parameters of the machine.
Starting operation without matching the proper settings may cause the machine to
run out of control or malfunction.
• Do not frequently turn power ON and OFF.
Since the SERVOPACK has a capacitor in the power supply, a high charging cur-
rent (charging time 0.2 ms) flows when power is turned ON. Frequently turning
power ON and OFF causes main power devices like capacitors and fuses to deteri-
orate, resulting in unexpected problems.
• The dynamic brake function using reverse overtravel and forward over-
travel does not work during origin search operations using utility function
Fn003.
• If using the linear servomotor on a vertical axis, install a safety device such
as a counterbalance so that the workpiece does not fall if an alarm or over-
travel occurs.
The workpiece may fall during overtraveling.
• Be sure to set the correct mass ratio in the following cases.
• When not using tuning-less function
• When not setting a mass ratio (Pn103)
• When using one-parameter tuning
Setting an incorrect mass 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 to
unstable operation.
• If an alarm occurs, shut down the main circuit power supply.
Failure to observe this caution may result in fire due to regenerative resistor over-
heating caused by regenerative transistor failure.
• When an alarm occurs, remove the cause, reset the alarm after confirming
safety, and then resume operation.
Failure to observe this caution may result in damage to the product, fire, or injury.
• An alarm or warning may be generated if communications are executed
with the host controller during operation using SigmaWin+ or the digital
operator.
If an alarm or warning is generated, the process currently being executed may be
aborted and the system may stop.
12
Maintenance and Inspection
CAUTION
• When replacing the SERVOPACK, resume operation only after transferring
the previous SERVOPACK parameters to the new SERVOPACK.
Failure to observe this caution may result in damage to the product.
• Do not attempt to change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
• Do not disassemble or repair the linear servomotor.
Failure to observe this caution may result in electric shock or injury.
Disposal
CAUTION
• When disposing of the products, treat them as ordinary industrial waste.
General Precautions
Observe the following general precautions

to ensure safe application.
• The products shown in illustrations in this manual are sometimes shown without cov-
ers or protective guards. Always replace the cover or protective guard as specified
first, and then operate the products in accordance with the manual.
• The drawings presented in this manual are typical examples and may not match the
product you received.
• This manual is subject to change due to product improvement, specification modifica-
tion, and manual improvement. When this manual is revised, the manual code is
updated and the new manual is published as a next edition. The edition number
appears on the front and back covers.
• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa
representative or one of the offices listed on the back of this manual.
• Yaskawa will not take responsibility for the results of unauthorized modifications of
this product.
Yaskawa shall not be liable for any damages or troubles resulting from unauthorized
modification.
13
Applicable Standards
North American Safety Standards (UL, CSA)
C UL
R US
R
C US
LISTED
Model UL * Standards
(UL File No.)
SERVO- SGDV UL508C (E147823)
PACK
∗ Underwriters Laboratories Inc.
European Standards
Low Voltage EMC Directive

Model
Directive EMI EMS
SERVO- EN50178 EN55011
PACK SGDV EN61800-5-1 class A group 1 EN61800-3
Note: Because SERVOPACKs and servomotors are built into machines, certification is
required after installation in the final product.
14
CONTENTS
About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1 Overview of Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.1 Setup Procedure for SGDV-05A SERVOPACKs (Analog Pulse Models) . . . . . 16
1.2 Setup Procedure for SGDV-15A SERVOPACKs (M-II Models) . . . . . . . . . . . . 17
1.3 Setup Using SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.1 Installation Environment and Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.2 Mounting Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.3 Mounting Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
2.4 Linear Servomotor Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.1 System Configuration Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.2 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
3.3 Connecting Regenerative Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3.4 Model and Capacity of Peripheral Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
3.5 Wiring and Connecting Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
3.6 MECHATROLINK-II Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
4 Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4.1 Precautions When Not Using the Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4.2 Hard Wire Base Block (HWBB) Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
4.3 Signals for Safety Function (CN8 connector) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
5 Trial Operation (Checking Servomotor Operation) . . . . . . . . . . . . . . . . 68

5.1 Types of Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .68
5.2 Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
5.3 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
5.4 SERVOPACK Setup Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
6 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
6.1 Alarm Causes and Corrective Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
6.2 Causes and Corrective Actions for Problems Determined from
Linear Servomotor Operation and Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Revision History
15
1 Overview of Setup
This chapter describes the flow of the setup procedure from installation through trial
operation. The setup procedure depends on whether the SERVOPACK is an analog
pulse (SGDV-05A) or M-II (SGDV-15A) model. It also depends on
whether operations are executed using the panel operator (included with SERVO-
PACK), the digital operator (option), or SigmaWin+ (an engineering tool using a PC,
option).
CAUTION
• An alarm or warning may be generated if communications are executed with the
host controller during operation using SigmaWin+ or the digital operator.
If an alarm or warning is generated, the process currently being executed may be aborted
and the system may stop.
Be sure to read 5.2 Inspection and Checking before Trial Operation

when using the analog pulse or M-II SERVOPACK.
1.1 Setup Procedure for SGDV-05A SERVOPACKs

(Analog Pulse Models)
The setup procedure for analog pulse SERVOPACKs is given below.
Operation Reference (in this manual)

Install the SERVOPACK. Chapter 2 Installation
↓
Perform the required wiring and Chapter 3 Wiring
connections for trial operation.
↓
Perform trial operation for the
servomotor, using the panel operator, Chapter 5 Trial Operation (Checking
digital operator or SigmaWin+. Servomotor Operation)
16
1 Overview of Setup
1.2 Setup Procedure for SGDV-15A SERVOPACKs

(M-II Models)
The setup procedure for M-II SERVOPACKs is given below.
Operation Reference
Install the SERVOPACK. Chapter 2 Installation
↓
Perform the required wiring and Chapter 3 Wiring
connections for trial operation.
↓
Chapter 5 Trial Operation (Checking
Servomotor Operation)
zTrial Operation Using M-II
Perform trial operation for the communications
servomotor using MECHATROLINK-II
communications, the digital operator, or →Σ-V Series SGMV/SGDV User’s
SigmaWin+. Manual Design and Maintenance
Rotational Motor/MECHATROLINK-II
Communications Reference
(SIEPS80000048)
17
1.3 Setup Using SigmaWin+
SigmaWin+ is a Yaskawa Engineering Tool used to set up AC servodrives on a PC,
and to provide tuning.
Trial motor operation can be performed easily using SigmaWin+. Its main functions
are introduced below.
Note: The SigmaWin+ is available for purchase. Please contact your Yaskawa representative
for details.
(1) Setup Wizard

The setup wizard is a function which carries out
the setting of parameters using a dialog method.
By following instructions on the screen to select
operation mode, machine specifications, and
I/O signal, those settings which are necessary
for an operation are automatically completed.
(2) Wiring Check

Wiring check is a function which monitors I/O
signal status between the SERVOPACK and the
host controller, or the SERVOPACK and
peripheral devices. Also, you can monitor the
operating status for the host controller or
peripheral devices by changing the output signal
in the maintenance output mode.
(3) Alarm Diagnosis

The alarm diagnosis function identifies a
possible cause of the alarm by referencing alarm
latch data saved immediately before the alarm
occurred, and then displays the corrective action.
18
2 Installation
2 Installation
This chapter describes how to install the SERVOPACK.
Heed the following warnings and be sure to perform the installation correctly.
WARNING
• Do not touch terminals for five minutes after a voltage resistance test.
Residual voltage in the SERVOPACK may cause electric shock. When voltage has been
completely discharged, the CHARGE lamp will turn OFF. Be sure to check the CHARGE
lamp before performing the next operation.
CAUTION
• Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
2.1 Installation Environment and Applicable Standards

The SERVOPACK installation environment and the standards to which it must con-
form are given below.
2.1.1 Installation Environment
Operating temperature: 0 to 55°C
Operating humidity: 90% max. (with no condensation)
Vibration/shock resistance: 4.9 m/s2 / 19.6 m/s2
Elevation: 1,000 m max.
Installation Precautions
• Mounting in a Control Panel

To prevent the temperature around the SERVOPACK from exceeding 55°C, take into
account the size of the control panel, the layout of the SERVOPACK, and the cooling
method. For details, refer to 2.3 Mounting Standards.
• Mounting Near a Heating Unit

To prevent the temperature around the SERVOPACK from exceeding 55°C, suppress
radiant heat from the heating unit and temperature rise due to convection.
19
• Mounting Near a Vibration Source
To prevent vibration from being transmitted to the SERVOPACK, install a vibration
isolator underneath the SERVOPACK.
• Mounting to a Location Exposed to Corrosive Gas

Take measures to prevent exposure to corrosive gas. Corrosive gases will not imme-
diately affect the SERVOPACK, but will eventually cause electronic components and
contactor-related devices to malfunction.
• Other Locations
Do not mount the SERVOPACK in locations subject to high temperatures, high
humidity, dripping water, cutting oil, dust, iron filings, or radiation.
<Supplemental Information>
When storing the SERVOPACK with the power OFF, store it in an environment with
the following temperature and humidity:
• -20 to 85°C, 90%RH max. (with no condensation)
2.1.2 Standards
Overvoltage category: III
Pollution degree: 2
Protection class: 1X
The SERVOPACK conforms to the following standards.
• EN50178
• UL508C
• EN55011 group 1 class A
• EN61800-3
• EN61800-5-1∗
∗ For details, refer to 3.4.1 Molded-case Circuit Breaker and Fuse Capacity.
20
2 Installation
2.2 Mounting Orientation

The SERVOPACK is available in models that are base-mounted, models that are
rack-mounted, and models that are duct-mounted. In any case, mount the SERVO-
PACK with a vertical orientation.
Firmly secure the SERVOPACK to the mounting surface, using either two or four
mounting holes depending on the SERVOPACK capacity.
Wall
Ventilation
21
2.3 Mounting Standards
Observe the standards for mounting SERVOPACKs in control panels, including those
for the mounting of multiple SERVOPACKs side by side in one control panel as
shown in the following illustration.
Fan Fan
40 mm or more
30 mm 5 mm 40 mm or more
or more or more
• SERVOPACK Mounting Orientation

Mount the SERVOPACK vertically to the wall, with the front panel (the side with the
panel operator display) facing out.
• Cooling
Refer to the above diagram and leave sufficient space for cooling by fans and natural
convection.
• Mounting Multiple SERVOPACKs Side by Side in a Control Panel

Leave at least 5 mm of space on each side and 40 mm of space at the top and bottom
of each SERVOPACK. Also install cooling fans above the SERVOPACKS to dis-
perse local pockets of warmer air around the SERVOPACKs.
• Environment Inside the Control Panel

Temperature around the SERVOPACKs: 0 to 55°C
Humidity: 90%RH max. (with no condensation)
Vibration: 4.9 m/s2 max.
There must be no freezing or condensation. To ensure long-term reliability, a maxi-

mum ambient operating temperature of 45°C is recommended.
22
2 Installation
2.4 Linear Servomotor Installation
2.4.1 SGLGW and SGLGM Linear Servomotors (Coreless Type)
Magnetic Way Installation

The SGLGM magnetic way comprises a U-channel steel track with opposing mag-
nets attached to the inner faces. Make sure that no foreign particles (magnetic
objects) are caught between the magnets when installing the magnetic way.
Magnets
Use the following procedure to install SGLGM magnetic ways.
1. After checking the magnetic way’s two mounting reference surfaces,

place the magnetic way on the reference surface of the machine base,
making sure that hands are kept clear.
Nameplate
Mounting
reference
surface
Mounting reference surface
2. Place the magnetic way on the reference surface of the machine and
secure it with bolts.
Magnetic Way Model Tightening torque
SGLGM- Bolt size (N•cm)
30 M4 360 to 500
40
M5 720 to 1010
60
Note: Use hexagonal socket head bolts (tensile strength Class 10.9)
23
3. When joining magnetic ways together, place the second magnetic way
temporarily in line with and at least 30 mm apart from the first magnetic
way.
Next, after aligning the angles of bolt sockets on the magnetic way’s
connecting surfaces, move the second magnetic way to join the first
magnetic way. Connect the second and first magnetic ways together.
And, after confirming the mounting position, secure the second magnetic
way using bolts. Make sure that fingers do not get jammed due to the
magnetic attraction between magnetic ways.
First magnetic way

Align the angles
Second magnetic way
Rotate the magnetic way position.
Coil Assembly Installation

The SGLGW coil assembly is constructed of an aluminum base and a resin-coated
coil winding section. Handle the coil assembly with care and do not subject the coil
winding section to shock. Doing so may cause injury or damage to the coil assembly.
Use the following procedure to install the SGLGW coil assembly.
1. Insert the coil winding section of the coil assembly between the magnets
of the magnetic way that has already been installed. Next, install the coil
assembly on the movable table supported by the linear guide. Install the
coil assembly on the movable table supported by the linear guide. Make
sure that the air gap between the coil assembly’s coil winding section
and magnetic way’s magnets is the specified distance.
Magnetic way
Coil winding section
Coil assembly
24
2 Installation
The relationship between the dimensions and positioning between the coil assembly’s
coil winding section and magnetic ways’s magnets is shown here.
Maintain the following air gaps when installing. Make sure that the coil assembly and
magnetic way do not interfere with each other during the stroke.
Dimensions in mm
Coil Assembly Model
SGLGW- Air gap Air gap
G1 G2
30A050 0.85 ± 0.3 1 ± 0.3
30A080 0.95 ± 0.3 1 ± 0.3
40A 0.8 ± 0.3 1 ± 0.3
60A 0.8 ± 0.3 1 ± 0.3
Air gap
G2
Coil assembly
Air gap
G1
Air gap
G1
Magnetic way
2. Move the coil assembly back and forth several times over the magnetic
way from end to end, making sure that the coil assembly and magnetic
way are not touching each other and that no foreign objects such as
magnetic particles are present.
25
2.4.2 SGLFW and SGLFM Linear Servomotors (F-type Iron Core)

The SGLFM magnetic way is packed with a cardboard sheet covering the magnetic
surface, above which is a thin, rectangular steel plate.
The steel plate is a dummy plate used to reduce the influence of magnetic force on the
surrounding environment. When removing the plate, make sure that fingers are kept
clear and that the magnet and magnet protection cover are not damaged.
Dummy plate for reducing magnetic force
Cardboard sheet
Magnet Magnetic way yoke
Use the following procedure to install the SGLFM magnetic way.

1. Remove the dummy plate used to reduce magnetic force and the
cardboard sheet from the magnetic way’s magnetic surface.
2. Align the reference marks (approx. 4-mm dia. indentations) on the side
of the magnetic way with the reference surface of the machine base,
keeping fingers clear to prevent injury.
Magnetic way connection
Reference surface
Reference mark Reference marks
3. While placing the magnetic way on the machine base reference surface,
secure it with bolts.
SGLFM- Bolt size (N•cm)
20
M4 360 to 500
35
50 M5 720 to 1010
Note: Use hexagonal socket head bolts (tensile strength Class 10.9).
26
2 Installation
<Information>
The magnetic way’s magnets exert strong magnetic attraction. Make sure that steel bolts or
wrenches are kept away from the magnets. Always use bolts with a head height according to
the dimensions shown in the following table.
Magnet Way Model Head height K

SGLFM- Bolt size in mm
K
20 Magnet
M4 4.2 max.
35 Magnetic
way yoke
50 M5 5.2 max.
way. Next, match the direction of the magnetic ways (reference mark:
Approx. 4-mm dia. indentation). (Refer to the diagrams in step 2.) Next,
while holding the magnetic ways down so that they are not raised, push
the second magnetic way against the first magnetic way and secure it
with bolts. The magnetic ways may snap together due to the strong
magnetism. Keep fingers clear to avoid injury.
First magnetic way
Magnetic attraction
Second magnetic way
<Information>
Before installing additional magnetic ways, install the coil assembly. For details, refer to the
following Coil Assembly Installation.
27
The SGLFW coil assembly is constructed of an aluminum or steel base and iron core,
with a resin-coated coil winding section. Make sure that the coil winding section is
not subjected to shock during installation. Shock may cause injury or damage to the
coil assembly.
Use the following procedure to install the SGLFW coil assembly.
1. Install the coil assembly on the movable table supported by the linear
guide in line with the already installed magnetic way.
Make sure that the air gaps between the coil assembly and magnetic
way’s magnets is the specified distance.
Coil assembly
Magnetic Movable table

way
Maintain the following air gaps when installing. Make sure that the coil
assembly and magnetic way do not interfere with each other during the
stroke.
Dimensions in mm
Coil Assembly Model
SGLFW- Air gap
H P
G
20AA 22 ± 0.2
45 ± 0.1 1 ± 0.3
35AA 21 ± 0.2
（0.8 ）*
50AB 58 ± 0.1 25.8 ± 0.2
∗ The value in parentheses is the dimension when the magnet protection cover is used.
28
2 Installation
Installation tap P Cable
Air gap G
Coil
H
assembly
Reference mark
Magnetic way
Linear servomotor side view

(Viewed from the side where the cable
extends from the coil assembly)
When two or more magnetic ways are used, first install one of the
magnetic ways, and then install the coil assembly in the available
space. If using only one magnetic way, and the linear guide is not long
enough extend up to the position needed to temporarily place the coil
assembly in line with the magnetic way, mount a dummy linear guide
to the standard linear guide as shown in the figure below.
• Mounting a dummy linear guide
Standard linear guide Dummy linear guide
Magnetic way Coil assembly
Movable
table
Block
29
2. Insert a thin nonmagnetic (preferably resin) sheet (approximately 0.5-
mm thick) in the air gap between the coil assembly and magnetic way,
and move the coil assembly toward the magnetic way.
Slowly move the coil

assembly.
Nonmagnetic
sheet
• Always be aware of the strong magnetism of the magnetic way and

keep fingers and tools at a safe distance, especially when the coil
assembly is near the magnetic way. The coil assembly will be
strongly attracted to the magnetic way.
• When the specified dimensions (see the table of dimensions in
step 1.) of the air gaps between the coil assembly and the mag-
netic way are secured, it is not necessary to insert nonmagnetic
sheets into the air gaps.
way from end to end, making sure that the coil assembly is not touching
the magnetic way and that no foreign objects (such as magnetic
particles) are present. Use a nonmagnetic (brass or stainless steel) gap
gauge to check that the air gap between the coil assembly and the
magnetic way is even.
Magnetic Attraction
The linear servomotor is constructed of an opposing coil assembly and magnetic way.
Therefore, the coil assembly is subjected to magnetic attraction as shown in the fol-
lowing table (calculated value). Consider the magnetic attraction when designing the
system.
30
2 Installation
Coil Assembly Magnetic attraction

Model Air gap G∗1
SGLFW- in mm F∗2
Air gap
G
20A090A 410 Magnetic
attraction
20A120A 600 F
35A120A 0.7 1100

35A230A 2100
50A200B 2700
∗1. Indicates an air gap value of -0.3 mm relative to the design value.
∗2. Indicates the magnetic attraction for the maximum force.
2.4.3 SGLTW and SGLTM Linear Servomotors (T-type Iron Core)

The SGLTM magnetic way is packed with two yokes securely positioned with an
aluminum spacer.
Do not remove the spacers until the magnetic way is temporarily fixed
to the system.
Use the following procedure to install the SGLTM magnetic way.
1. With the spacers attached, place the magnetic way on both positioning
steps. Make sure that the machine and magnetic way are not scratched
or dented when positioning the magnetic way. Set the dimensions of
these positioning steps to match the W2 dimensions in the following
table.
Spacer
Caution!
Magnetic force!
31
Dimensions in mm
Magnetic Way W2
Model SGLTM- W1 [Recommended machine
[Dimensions at shipment)
base value]
20
71.5 ± 1 70 ± 0.15
35
40
113 ± 1 111.8 ± 0.15
80
35H
91.5 ± 1 90 ± 0.15
50H
spacer
Magnet
Positioning steps
W2
W1
2. Insert the mounting bolts into one of the two magnetic way yokes and
tighten lightly by hand. Next, while firmly holding down the magnetic way
yoke onto the positioning step, tighten the bolts firmly.
Hold down the Positioning step

magnetic way
yoke
32
2 Installation

Bolt size
SGLTM- (N•cm)
20
M6 1220 to 1710
35
35H
M6 1220 to 1710
50H
Note: The following conditions apply to these values.

• Machine material: Steel
• Hexagonal socket head bolts (tensile strength Class 10.9)
3. After removing the spacer fixing bolts from the side of the already
installed magnetic way yoke, firmly hold the other magnetic way yoke
onto the positioning step, while firmly tightening the bolts. Make sure
that the magnetic way yokes do not slip into the path of the coil
assembly.
4. Unscrew the rest of the spacer fixing bolts to remove the spacer. Check
where the spacer was fixed to see if there are any mounting holes. If
there are, insert bolts into them and tighten the bolts.
way. Next, while pushing the second magnetic way against the first
magnetic way, secure it with bolts. Keep fingers clear to prevent them
from being jammed between the magnetic ways due to the magnetic
attraction pulling the magnetic ways together.
Follow the same procedure as in steps 1 to 4 to install subsequent

magnetic ways.
Magnetic attraction
<Information>
For safety, install the coil assembly before installing the second and subsequent magnetic
ways. Refer to the following Coil Assembly Installation.
33
The SGLTW coil assembly is constructed of an aluminum or steel base and iron core,
with a resin-coated coil winding section. Make sure that the coil winding section is
not subjected to shock during installation. Shock may damage the coil assembly.
Use the following procedure to install the SGLTW coil assembly.
1. Install the coil assembly on the movable table supported by the linear
guide in line with the already installed magnetic way.
Make sure that the air gaps between the coil assembly and magnetic
way’s magnets is the specified distance.
Magnetic way
Coil assembly
Maintain the following air gaps when installing. Make sure that the coil
assembly and magnetic way do not interfere with each other during the
stroke.
Coil Assembly Dimensions in mm

Model Air gap
SGLTW- H A
G1,G2
20AA 55 ± 0.3 1 ± 0.3
15 ± 0.1 (0.8)*
35AA 70 ± 0.3
35AH 70 ± 0.3 15 ± 0.1 1 ± 0.3
50AH 85 ± 0.3 19.1 ± 0.1 (0.8)∗
∗ The value in parentheses is the dimensions when the magnet protection cover is used.
34
2 Installation
Coil assembly
Magnetic
way Magnetic
way
H
Air gap Air gap
G1 G2
Linear servomotor side view

(Viewed from the side where the cable
extends from the coil assembly)
When two or more magnetic ways are used, first install one of the
magnetic ways, and then install the coil assembly in the available
space.If using only one magnetic way, and the linear guide is not long
enough extend up to the position needed to temporarily place the coil
assembly in line with the magnetic way, mount a dummy linear guide
to the standard linear guide as shown in the figure below.
• Mounting a dummy linear guide
Standard linear guide Dummy linear guide
Magnetic way Coil

assembly
Magnetic way Movable table
Block
35
2. Insert a thin nonmagnetic (preferably resin) sheet (approximately 0.5-
mm thick) in the air gap between the coil assembly and magnetic way,
and move the coil assembly slowly toward the magnetic way.
Nonmagnetic sheet
Slowly move the coil

assembly.
Movable table
• Always be aware of the strong magnetism of the magnetic way and

keep fingers and tools at a safe distance, especially when the coil
assembly is near the magnetic way. The coil assembly will be
strongly attracted to the magnetic way.
• When the specified dimensions (see the table of dimensions in
step 1.) of the air gaps between the coil assembly and the mag-
netic way are secured, it is not necessary to insert nonmagnetic
sheets into the air gaps.
way from end to end, making sure that the coil assembly is not touching
the magnetic way and that no foreign objects (such as magnetic
particles) are present. Use a nonmagnetic (brass or stainless steel) gap
gauge to check that the air gap between the coil assembly and magnetic
way is even (tolerance: ± 0.3 mm).
Magnetic Attraction
The linear servomotor is constructed of an opposing coil assembly and magnetic way.
Therefore, magnetic attraction is offset when the air gap between the coil assembly
and magnetic way is even.
However, achieving an even air gap is difficult due to the accuracy of the linear ser-
vomotor itself and the customer’s machine, and because of errors in the assembly of
the linear servomotor at installation. Consider the magnetic attraction values (calcu-
lated values) shown in the following table when designing the system.
36
2 Installation
Coil Magnetic Magnetic Attraction

Air gap Air gap
Assembly attraction attraction difference
Model G1∗1 G2∗1 F1∗2 F2∗2 ∆F
SGLTW- in mm in mm (N)
(N) (N)
20A170A 760 1030 270
1.3 0.7
20A320A 1510 2040 530
35A170A 1330 1800 470
35A170H 1.3 0.7 1330 1800 470
35A320A 2650 3570 920
50A170H 1.3 0.7 1900 2600 700
∗1. Indicates an air gap when one side is +0.3 mm and the other side −0.3 mm relative to the
design values.
∗2. Indicates the magnetic attraction at maximum force.
Coil assembly
Magnetic Magnetic
attraction attraction
Magnetic way
Magnetic way
F1 F2
Air gap Air gap

G1 G2
2.4.4 SGLCW Linear Servomotors (Cylinder Type)
Components
The magnetic way consists of the following parts.
• Pipe (made of stainless steel)

• Magnet in the pipe
Take care not to get your fingers or other objects caught in the magnetic way because
a strong magnetic attraction is generated in the area surrounding the magnetic way.
The coil assembly consists of the following parts.
• Outer frame (made of aluminum)

• Resin section for protecting winding
37
• Cables for motor main circuit or hall sensor
If an impact is applied on the resin section, there is a risk of injury or damage to the
product.
State of Delivery
This product is delivered with a resin piece inserted between the coil assembly and
the magnetic way to protect the winding.
For safety reasons, mount the linear servomotors onto a machine with
the coil assembly attached to the magnetic way of the linear servomo-
tor. If the coil assembly is separated from the magnetic way for any
reason, take care not to get your fingers or other objects caught in the
magnetic way. A strong magnetic attraction is generated.
Coil assembly, aluminum frame

(In this figure, cables are omitted.)
Resin section for the coil assembly Magnetic way, stainless

steel pipe
Outlet for the cable
Nameplate
Installation Procedure
1. Install the linear guide and the parts for supporting the magnetic way on
the machine side.
• Set the positions of the parts for supporting the magnetic way after checking
the outer dimension of the magnetic way referring to Table 2.1.
• In most case, the length of the magnetic way is regarded as the side where the
nameplate 0.1 mm thick indicating the ratings and a caution about the mag-
netic attraction.
• Construct the machine so that the difference between the centers of the cross-
sectional surfaces of the magnetic way and the coil assembly should be within
0.2 mm. (Refer to the following figure.)
38
2 Installation
0.2 mm or less
Coil assembly
0.2 mm or less
Magnetic way
2. Take the product out of the package with the coil assembly and the
magnetic way being combined (same as the state when the product is
delivered).
3. Insert both ends of the magnetic way in the supporting parts, and fix
them with bolts.
• Pay attention to the reference of the magnetic way and the position of support
section (Refer to Table 2.1).
Install the product so that the nameplate can be read.
In particular, be careful so that the caution about the
magnetic attraction is easily visible.
Parts for supporting the magnetic way

(To be provided by the customer)
Note: The shape shown in the
figure is an example.
Fix these positions with bolts.
39
Table 2.1 Dimensions of the Magnetic Way (described for only typical types)
Range
Range Range
Total Position Driving outside
Magnetic Length of outside within the
Length of of Range of the
Way Support the Guar- Guaran-
Magnetic Support Coil Guaran-
Model Section anteed teed
Way L1 Section Assembly teed
SGLCM- L4 (mm) Force * Force
(mm) L2 (mm) L3 (mm) Force *
L5 (mm) L6 (mm)
L7 (mm)
D16300A 300 ± 1.6 30 240 25 37.5 ± 0.3 225 ± 1.2 37.5
D16510A 510 ± 2.5 45 420 40 52.5 ± 0.3 405 ± 2.1 52.5
D16750A 750 ± 3.0 45 660 40 52.5 ± 0.3 645 ± 2.5 52.5
D20350A 350 ± 1.6 35 280 30 45 ± 0.3 260 ± 1.2 45
D20590A 590 ± 2.5 50 490 45 60 ± 0.3 470 ± 2.1 60
D20870A 870 ± 3.0 50 770 45 60 ± 0.3 750 ± 2.5 60
D25450A 450 ± 1.6 45 360 37 57.5 ± 0.3 335 ± 1.2 57.5
D25750A 750 ± 2.5 60 630 52 72.5 ± 0.3 605 ± 2.1 72.5
D251110A 1110 ± 3.0 60 990 52 72.5 ± 0.3 965 ± 2.5 72.5
D32600A 600 ± 1.6 60 480 52 75 ± 0.3 450 ± 1.2 75
D321020A 1020 ± 2.5 90 840 82 105 ± 0.3 810 ± 2.1 105
D321500A 1500 ± 3.0 90 1320 82 105 ± 0.3 1290 ± 2.5 105
∗ If a part of the coil assembly is located within this range, predetermined characteristics can-
not be satisfied.
Reference side
(mounting side)
L5 L6 (L7)
Nameplate
L4 L4
L2 L3 (L2)
L1
4. After mounting the movable table provided by the customer on the linear
guide, transfer the movable table onto the coil assembly and fix them
with bolts.
• Carefully lay wiring so that no cables are caught, and fix them to the movable
table.
• For the recommended tightening torque of the bolts for fixing the coil assem-
bly, refer to Table 2.2.
40
2 Installation
Table 2.2 Coil Assembly and Recommended Tightening Torque

Coil Assembly
Model Nominal Diameter Tightening torque
of Bolts (Nycm)
SGLCW-
D16 M3 100
D20 M4 220
D25 M5 450
D32 M6 760
Note: Use hexagon socket head cap screws made of austenite stainless steel
(equivalent to the strength class A2-70.)
5. Remove the part made of resin between the coil assembly and the
magnetic way. At this time, take care not to get your fingers or other
objects caught between the coil assembly and the magnetic way
because a strong magnetic attraction is generated between them.
6. Perform several full strokes with the movable table, and make sure that
the table may not come into contact with the magnetic way. (There are
no recommended gaps particularly.)
Others
• Magnetic Attraction between Coil Assembly and Magnetic Way

Because the steel yoke is embedded in the coil assembly to generate force, magnetic
attraction generates between the coil assembly and the magnetic way. When the gap
between the coil assembly and the magnetic way is uniform, the magnetic attraction
on the coil assembly is offset.
A uniform gap is difficult to obtain, however, because it depends upon the precision
of the coil assembly and the magnetic way products, deflection of the magnetic way,
precision of the equipment of the customer, and assembly error at the time of mount-
ing the motors. In case of non-uniform gap, the attraction shown in Table 2.3 is gen-
erated. When designing the equipment, take into account the attraction.
Table 2.3 Magnetic Attraction (calculated value)

Difference of
Coil Assembly Model Design Value of Gap G1 *1 Gap G2*1 Attraction
Gap
SGLCW- (mm) (mm) (mm) F1-F2*2
(N)
D16A085A 20
D16A115A 1.0 0.3 1.7 30
D16A145A 40
D20A100A 25
D20A135A 1.25 0.4 2.1 38
D20A170A 50
41
Table 2.3 Magnetic Attraction (calculated value) (cont’d)
Difference of
Design Value of Attraction
Coil Assembly Model
Gap Gap G1 *1 Gap G2*1
SGLCW-
(mm) (mm) (mm) F1-F2*2
(N)
D25A125A 50
D25A170A 1.5 0.5 2.5 75
D25A215A 100
D32A165A 80
D32A225A 1.75 0.5 3.0 120
D32A285A 160
∗1. Indicates the gap of the machine when a dislocation of approximately 70% in comparison
to the designed value occurs.
∗2. Indicates the magnetic attraction at the time of maximum force.
Note: For the conditions other than those mentioned above, contact Yaskawa representative
separately.
Coil assembly
F2 G2
The figure shown on the right is an example in which a
non-uniform gap occurs. Actually, magnetic attraction may
be generated and extend in all directions because of an
assembling error or some other reason.
F1 G1
Magnetic way
• Leakage Flux of the Magnetic Way

The following table shows the leakage flux of the magnetic way.
Table 2.4 Leakage Flux

Coil Assembly Diameter of Places where the Leakage Flux is 10 Gausses
Model SGLCW- Magnetic Way or More
D (mm) Distance from the Diameter
Surface of the B (mm)
Magnetic Way
A (mm)
D16 16 80 or less 176 or less
D20 20 100 220
D25 25 120 265
D32 32 140 312
42
2 Installation
B
A
D
Magnetic way
43
3 Wiring
This chapter describes how to set up the wiring and connections required for trial
operation.
To connect to the host controller or peripheral devices, refer to the following manu-
als.
• Σ-V Series SGMV/SGDV User's Manual Design and Maintenance Linear

Motor/Analog Voltage and Pulse Train Reference (SIEPS80000047)
Motor/ MECHATROLINK-II Communications Reference (SIEPS80000048)
CAUTION
• Do not bundle or run the main circuit cables together with the I/O signal cables or
the serial converter unit connection cables in the same duct. Keep them sepa-
rated by at least 30 cm.
Failure to do so may result in malfunction.
• Use shielded twisted-pair wires or multi-core shielded twisted-pair wires for I/O
signal cables and the serial converter unit connection cables.
• I/O signal cables must be no longer than 3 m, serial converter unit connection
cables must be no longer than 20 m.
• Do not touch the power terminals for 5 minutes after turning power OFF because
high voltage may still remain in the SERVOPACK. Make sure the charge indicator
is out first before starting an inspection.
44
3 Wiring
3.1 System Configuration Diagram

This section describes examples of basic servo system configuration.
Three-phase, 200 V Main Circuit

Power supply
Three-phase 200 VAC
R S T
Molded-case
circuit breaker
(MCCB)
Protects the power supply
line by shutting the
circuit OFF when
overcurrent is
detected.
Noise filter
Used to eliminate
external noise from SGDV-A05A Digital
the power line. operator
Magnetic SERVOPACK
contactor
Turns the servo
ON and OFF.
Install a surge
protector.
Connection cable
for digital operator Personal
computer
Connection cable
for personal computer
Host controller
I/O signal cable
Regenerative
resistor *
Connect an external
regenerative resistor
to terminals B1 and B2 When not using the safety function,
if the regenerative use the SERVOPACK with the safety
capacity is insufficient.
function jumper connector
(JZSP-CVH05-E, provided as an
accessory) inserted.
Connection cable for
serial converter unit
When using the safety function,
insert a connection cable specifically
Serial converter unit for the safety function.
Safety function
devices
Encoder Connection cable

Main circuit cable for cable for hall sensor
linear servomotor
Linear scale
(To be provided by
users)
Linear servomotor with core
∗ Remove the lead wire between the terminals B2 and B3 on the SERVOPACK before connect-
ing an external regenerative resistor to the SERVOPACK.
45
3.1.1 SERVOPACK Main Circuit Wire Size
1. Wire sizes are selected for three cables per bundle at 40°C ambi-
ent temperature with the rated current.
2. Use a cable 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 cable under high ambient or panel tempera-
tures, where normal vinyl cables will rapidly deteriorate.
5. Use the cable within the allowable mass.
6. Do not use the cable in a continuous regenerative state.
Cable Types
Cable Type Allowable Conductor
Temperature
Symbol Name °C
PVC Normal vinyl cable −
IV 600 V vinyl cable 60
HIV Heat-resistant vinyl cable 75
The following table shows the wire sizes and allowable currents for three cables. Use
cables with specifications equal to or less than those shown in the table.
• 600 V Heat-resistant Vinyl Cable (HIV)
Nominal Cross Allowable Current at Ambient

Section Diameter AWG Size Temperature (A)
(mm2) 30°C 40°C 50°C
0.5 20 6.6 5.6 4.5
0.75 - 8.8 7.0 5.5
0.9 18 9.0 7.7 6.0
1.25 16 12.0 11.0 8.5
2.0 14 23 20 16
3.5 12 33 29 24
5.5 10 43 38 31
8.0 8 55 49 40
14.0 6 79 70 57
22.0 4 91 81 66
Note: The values in the table are for reference only.
46
3 Wiring
Three-phase 200 V
Connection SERVOPACK Model SGDV-

Cable
Terminal Symbol R70A R90A 1R6A 2R8A 3R8A 5R5A
Main circuit cable L1, L2, L3 HIV1.25 HIV2.0
Motor main circuit
U, V, W HIV1.25 HIV2.0
cable
Control power cable L1C, L2C HIV1.25
External
regenerative resistor B1, B2 HIV1.25
cable
Ground cable HIV2.0 or more
Three-phase 400 V
Connection SERVOPACK Model SGDV-

Cable
Terminal Symbol 1R9D 3R5D 5R4D 8R4D 120D 170D
Main circuit cable L1, L2, L3 HIV1.25 HIV2.0 HIV3.5
Motor main circuit U, V, W HIV1.25 HIV2.0 HIV3.5
cable
Control power cable 24 V, 0 V HIV1.25
External
regenerative resistor B1, B2 HIV1.25 HIV2.0
cable
Ground cable HIV2.0 or more
47
Typical Main Circuit Wiring Examples
The following wiring examples show the Σ-V Series SGDV SERVOPACK.
• Three-phase 200 V
1QF R S T
SERVOPACK
SGDV-‫غغغ‬#
1PRT
U
FIL V M
W
L1C
L2C
1KM PG
L1
L2
L3
(For servo +24V
1Ry alarm display) B2 CN1 1Ry
B3 ALM+ 31
Main power Main power 1PL 1
supply OFF supply ON 2 1D 024V
1Ry 1KM ALM- 32
1KM 1SUP
1Ry: Relay
1QF: Molded-case circuit breaker 1PL: Indicator lamp
FIL: Noise filter 1SUP: Surge suppressor
1KM: Magnetic contactor 1D: Flywheel diode
1PRT: Surge protector
• Three-phase 400 V
R S T
1QF SERVOPACK
SGDV-D
DC power supply
1PRT (24VDC)
− + U
FIL V M
W
24V
0V
1KM PG
L1
L2
L3
(For servo
CN1 +24V
1Ry alarm display) B2 1Ry
B3 ALM+ 31
Main circuit Main circuit 1PL 1
power supply power supply
OFF ON 2
1Ry 1KM ALM− 32 1D 024V
1KM 1SUP
1QF: Molded-case circuit breaker 1Ry: Relay
FIL: Noise filter 1PL: Indicator lamp
1KM: Magnetic contactor 1SUP: Surge suppressor
1D: Flywheel diode
1PRT: Surge protector
48
3 Wiring
Using More Than One SERVOPACK

The following diagram is an example of the wiring when more than one SERVO-
PACK is used.
Connect the alarm output (ALM) terminals for the three SERVOPACKs in series to
enable alarm detection relay 1RY to operate.
When the alarm occurs, the ALM output signal transistor is turned OFF.
Multiple servos can share a single molded-case circuit breaker (QF) or noise filter.
Always select a QF or noise filter that has enough capacity for the total power capac-
ity (load conditions) of those servos. For details, refer to 3.4.1 Molded-case Circuit
Breaker and Fuse Capacity.
Power supply
R S T
Power
QF Power ON
OFF 1RY 1KM
1PRT
1KM
Noise
filter SUP
1KM
L1 SERVOPACK Servomotor
L2
L3
Relay
Relay terminal M
terminal L1C
L2C
+24V
CN1
1RY
31 ALM+
32 ALM-
L1 SERVOPACK Servomotor
L2
L3
Relay
Relay M
terminal
terminal L1C
L2C
CN1
31 ALM+
32 ALM -
L1 SERVOPACK
L2 Servomotor
L3
M
L1C
L2C
CN1
31 ALM+
32 ALM -
0V
49
• When either of the following special power supply environments or
SERVOPACK configurations are to be used, refer to the manuals (listed
below) for the appropriate wiring, connections, and required settings.
• Using a SERVOPACK with DC power supply inputs
• Using a SERVOPACK with a 400 V class power supply voltage (double voltage)
• Σ-V Series SGMV/SGDV User's Manual

Design and Maintenance Linear Motor/Analog Voltage and Pulse Train Refer-
ence (SIEPS80000047)
Motor/ MECHATROLINK-II Communications
Reference (SIEPS80000048)
50
3 Wiring
3.2 Main Circuit Wiring

The names, specifications, and functions of the main circuit terminals required for
trial operation are given below.
3.2.1 Names and Functions of Main Circuit Terminals
Analog Pulse Models M-II Models
Main Circuit
Terminal Power SERVOPACK
Name Model Functions
Symbol Supply SGDV-
Voltage (V)
200 A Three-phase 200 to 230 VAC+10%, -15%

Main circuit (50/60 H)
L1, L2, L3 power supply
input terminal
400 D Three-phase 380 to 480VAC+10%, -15%
(50/60 Hz)
Servomotor
U, V, W connection − − Connects to the servomotor.
terminals
L1C, L2C Control circuit 200 A Single-phase 200 to 230 VAC+10%, -15%
power supply (50/60 Hz)
input terminal
24V, 0V 400 D 24 VDC (±15%)
Connects to the power supply ground
Ground
terminals − − terminals and servomotor ground termi-
nal.
51
(cont’d)
Main Circuit
SERVOPACK
Terminal Name Power Model Functions
Symbol Supply
Voltage (V) SGDV-
Normally not connected.

Connect an external regenerative resis-
B1, B2 200 R70A, R90A tor (provided by customer) between B1
1R6A, 3R8A
and B2 if the regenerative capacity is
External insufficient.
regenerative 200 A Normally short B2 and B3 (for an inter-
resistor nal regenerative resistor).
connection Remove the wire between B2 and B3
terminal and connect an external regenerative
B1, B2, B3
400 D resistor (provided by customer)
between B1 and B2 if the capacity of
the internal regenerative resistor is
insufficient.
DC reactor for 200 A Normally short 1 and 2.
harmonic If a countermeasure against power sup-
1, 2 suppression ply harmonic waves is needed, connect
400 D
terminal a DC reactor between 1 and 2.
Main circuit
minus terminal − − Normally not connected.
3.2.2 Wiring the Main Circuit Terminal Block (Spring Type)

The main circuit terminal block consists of the main circuit terminals and the control
power terminals.
• SERVOPACKs with a detachable main circuit terminal block:

SGDV- R70A, -R90A, -1R6A, -2R8A, -3R8A, -5R5A, 1R9D, -3R5D, -5R4D
• SERVOPACKs with a fixed main circuit terminal block:
SGDV-8R4D, -120D, -170D
How to wire the main circuit terminal block is described below.
CAUTION
• Observe the following precautions when wiring main circuit power supply terminal
blocks.
• Do not turn ON the power to the SERVOPACK until all wiring has been completed,
including the main circuit terminal blocks.
• Remove detachable main circuit terminal blocks from the SERVOPACK prior to wir-
ing.
• Insert only one main circuit cable per opening in the main circuit terminal block.
• Make sure that no part of the core wire comes into contact with (i.e., short-circuit)
adjacent wires.
52
3 Wiring
Wiring Procedure
1. If the main circuit terminal block is detachable, remove it from the
SERVOPACK.
2. Strip the end of the wires.
Applicable wire sizes:
Refer to 3.1.1 SERVOPACK
Main Circuit Wire Size.
8 to 9 mm
3. Open the wire terminal on the terminal block housing with a tool, using
the method shown in Figure A or Figure B. (Either method can be used
to open the wire terminal.)
Figure A Method
Use the spring opener provided with the SERVOPACK to open the wire terminal as
shown in the diagram.
Note: The spring opener (1981045-1) made by Tyco Electronics AMP K.K. can also be used.
Figure A
53
Figure B Method
Use a commercially available flat-blade screwdriver with a blade width of 3.0 to 3.5
mm. Insert the screwdriver into the slot and press down firmly to open the wire termi-
nal.
Figure B
4. Insert the wire core into the opening, and then close the opening by
releasing the lever or removing the screwdriver.
5. Make all the required connections in the same way.
6. Attach the connector to the SERVOPACK.
54
3 Wiring
3.3 Connecting Regenerative Resistors

This section describes how to connect regenerative resistors and set the regenerative
resistor capacity. To learn how to select a regenerative resistor, and for detailed spec-
ifications, refer to Σ-V Series SGMV/SGDV Catalog (KAEPS80000042).
3.3.1 Connecting Regenerative Resistor

The procedures for connecting Regenerative Resistors are given below.
Disconnect the cable between the SERVOPACK's B2 and B3 terminals and connect
an external regenerative resistor between the SERVOPACK's B1/ and B2 (or B1
and B2) terminals.
Enlarged View
L1C
L2C
B1/ +
B2
B3
−1
−2
CAUTION
• Use the correct connection terminals or cables for wiring a regenerative resistor.
Failure to observe this caution may result in fire, burn injury, or damage to the product.
55
3.4 Model and Capacity of Peripheral Device
3.4.1 Molded-case Circuit Breaker and Fuse Capacity

Power Current Capacity Inrush Current
Maximum SERVO Supply
Main Circuit Applicable
Power Servomotor PACK Capacity Main Control Main Control
Model per SERVO Circuit Circuit Circuit Circuit
Supply Capacity SGDV- PACK
(kW) (Arms) (Arms) (A0-p) (A0-p)
(kVA)
0.05 R70A 0.2 1.0
0.1 R90A 0.3 1.0
70
Three- 0.2 1R6A 0.6 2.0
phase 0.2 33
200 V 0.4 2R8A 1 3.0
0.5 3R8A 0.9 3.0
33
0.75 5R5A 1.6 6.0
0.5 1R9D 1.1 1.4
1.0 3R5D 2.3 2.9 1.2 17
Three- 1.5 5R4D 3.5 4.3
phase −
400 V 2.0 8R4D 4.5 5.8
34
3.0 120D 7.1 8.6 1.4
5.0 170D 11.7 14.5 57
Note: To conform to a low voltage directive, be sure to install a fuse or molded-case circuit
breaker on the input side to prevent the SERVOPACK from being damaged if a short-cir-
cuit occurs.
56
3 Wiring
3.4.2 Noise Filters, Magnetic Contactors, Surge Protectors, and DC

Reactors
Main SERVO Recommended Noise
Circuit PACK Magnetic Surge DC
Model Filter
Power Contactor Protector Reactor
Supply SGDV- Type Specifications
R70A −
R90A X5071
FN258L-7/ Three-phase SC-03
Three- 1R6A 07 480 VAC, 7 A (20 A) X5070
phase R·C·M-
2R8A 601BUZ-4 X5069
200 V
3R8A
FN258L- Three-phase X5061
5R5A
16/07 480 VAC, 16 A
1R9D SC-4-1 X5074
FN258L-7/ Three-phase (35 A)
3R5D 07 480 VAC, 7 A X5075
Three- 5R4D
phase 8R4D Built-in
400 V FN258L- Three-phase SC-5-1
X5076
120D 16/07 480 VAC, 16 A (35 A)
FMAC- Three-phase SC-1N

170D 0934-5010 480 VAC, 35 A (50 A) X5077
Note: 1. If several SERVOPACKs are wired at the same time, select the proper magnetic con-
tactors according to the total capacity.
2. When an RoHS-compliant device is required, contact the manufacture of each device
to confirm that the device conforms to the RoHs directive.
3. The following table shows the manufacturers of each device.
Peripheral Device Manufacturer

FN, FS type: Schaffner Electronic
Noise Filter FMAC type: Schurter AG (Formerly known as
Timonta AG)
Magnetic Contactor Fuji Electric FA Components & Systems Co., Ltd.
Surge Protector Okaya Electric Industries Co., Ltd.
DC Reactor Yaskawa Controls Co., Ltd.
57
3.5 Wiring and Connecting Encoders
Wiring and connections between SERVOPACKs and encoders are described below.
3.5.1 Connecting an Encoder (CN2) and Output Signals from the

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

Linear scale
made by
Renishaw Serial converter unit SERVOPACK Host controller (User's)
∗
∗ CN2 CN1 ∗ CN2 CN1 Line receiver
9 COS 9 2 PS 5 Phase A 33 PAO 2 3 Phase
34 /PAO R 1
1 /COS 1 6 /PS 6 A
Phase B 35 PBO 6 5
R Phase
10 SIN 10 36 /PBO 7
B
2 /SIN 2 Phase C 19 PCO 10 11
R Phase
20 /PCO 9
Output line-driver C
3 REF 3
SN75ALS194 manu- 8 16
11 /REF 11 factured by Texas
0V C +5V
Instruments or the
equivalent.
4 5V 4 1 PG5V 1 Choke
PG5V coil
12 0V 12 5 PG0V 2 +5V
PG0V
CN1 +
Connector Connector -
shell shell 0V 1 SG
Shielded wire Connector 0V
Connector shell Smoothing
shell capacitor
Shielded wire Connector
shell
Applicable line receiver: SN75175 manufactured
∗ represented shielded twisted-pair wires. by Texas Instruments or
the equivalent corres-
ponding to MC3486
R (Terminator)220 to 470Ω
C (Decoupling Capacitor)0.1µF
58
3 Wiring
3.5.2 Encoder Connector (CN2) Terminal Layout
1 PG5V PG power supply 2 PG 0 V PG power supply

+5 V 0V
3 - - 4 - -
5 PS PG serial signal input 6 /PS PG serial signal input
SHELL Shield - - - -
59
3.6 MECHATROLINK-II Wiring
This section describes the wiring required for using MECHATROLINK-II com-
mands to perform trial operation for M-II SERVOPACKs (SGDV-15A).
Refer to the following manuals as required for details on MECHATROLINK-II.
Σ-V Series SGMV/SGDV User's Manual Design and Maintenance Linear Motor/
MECHATROLINK-II Communications Reference (SIEPS80000048)
MECHATROLINK System User’s Manual (SIE-S800-26.1)
MECHATROLINK Servo Command User’s Manual (SIE-S800-26.2)
MECHATROLINK-II System User’s Manual (SIEPS800000020)
MECHATROLINK-II Servo Command User’s Manual (SIEPS80000022)
60
3 Wiring
3.6.1 Connecting MECHATROLINK-II Communications Cable

The SERVOPACK is connected to MECHATROLINK devices using a MECHA-
TROLINK communications cable. For communications cable and other cable speci-
fications, refer to Σ-V Series SGMV/SGDV Catalog (KAEPS80000042).
Connection Procedure
1. Connect the MECHATROLINK-II communications cable to the
SERVOPACK's MECHATROLINK-II communications connectors
(CN6A, CN6B).
Terminal Processing
When multiple SERVOPACKs are connected by MECHATROLINK-II communications
cable, a terminator must be installed at the final SERVOPACK.
L1 L2 Ln
Terminator
61
3.6.2 Setting MECHATROLINK-II Communications
This section describes the switch settings required for MECHATROLINK-II commu-
nications. The rotary switch (SW1) and DIP switch (SW2), which are located near
the top under the front cover on the SERVOPACK, are used as shown below to set the
MECHATROLINK-II communications specifications.
1. Set the DIP switch (SW2) based on the following table.
SW2 Function Setting Description Factory

setting
3 4 5
2 6
4 Mbps
OFF 1 7
(MECHATROLINK-I)
Pin 1 Sets the baud rate. ON 0 8
10 Mbps F 9
ON (MECHATROLINK-II) E A
D C B
Sets the number of OFF 17 bytes
Pin 2 ON SW1 (factory setting)
transmission bytes. ON 32 bytes
Station address = ON
OFF
Sets the station 40H + SW1
Pin 3 OFF OFF
address. Station address =
ON 50H + SW1 1 2 3 4
Pin 4 Reserved. OFF − OFF

SW2 (factory settings)
(Do not change.)
• When connecting to a MECHATROLINK-I network, turn OFF pins

1 and 2.
• The following combination cannot be used:
Baud rate: 4 Mbps; Transmission bytes: 32 (pin 1: OFF, pin 2: ON)
62
3 Wiring
The transmission cycles and the number of stations that can be set are given below.
Transmission cycle
Transmission
bytes 0.25 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0
ms * ms ms ms ms ms ms ms ms
17 1 6 14 22 30 30 30 30 30
32 0 3 8 14 20 25 30 30 30
∗ When the transmission cycle is 0.25 ms, set the communications cycle as a
multiple of 0.5 ms.
Note: 1. When the number of stations actually connected is less than the max-
imum number of stations that can be connected, the remaining sta-
tions can be used as communications retry stations. [Number of
communications retry stations that can be set = Maximum number of
stations that can be connected - Number of actual stations connected
+ 1 (up to 7 retry stations)]
2. When no communications retries are used, the maximum number of
stations that can be connected is increased by one.
3. When the C2 master is connected, the maximum number of stations
that can be connected is decreased by one.
4. A repeater (JAPMC-REP2000-E) is required to connect more than 16
stations.
63
2. Set the station address based on the following table, using the rotary
switch (SW1) and pin 3 of the DIP switch (SW2) in combination.
Station Station
Address SW1 SW2 Pin 3 Address SW1 SW2 Pin 3
Disabled 0 OFF 50H 0 ON
41H * 1 OFF 51H 1 ON

42H 2 OFF 52H 2 ON
43H 3 OFF 53H 3 ON
44H 4 OFF 54H 4 ON
45H 5 OFF 55H 5 ON
46H 6 OFF 56H 6 ON
47H 7 OFF 57H 7 ON
48H 8 OFF 58H 8 ON
49H 9 OFF 59H 9 ON
4AH A OFF 5AH A ON
4BH B OFF 5BH B ON
4CH C OFF 5CH C ON
4DH D OFF 5DH D ON
4EH E OFF 5EH E ON
4FH F OFF 5FH F ON
∗ The factory setting is 41H (SW2 pin 3 = OFF, SW1 = 1).
3. After the settings have been completed, turn ON the SERVOPACK

power supply again.
64
4 Safety Function
4 Safety Function
The safety function is incorporated in the SERVOPACK to reduce the risk associated
with the machine by protecting workers from injury and by securing safe machine
operation. Especially when working in hazardous areas inside the safeguard, as for
machine maintenance, it can be used to avoid adverse machine movement.
WARNING
• The person who designs a system using the safety function (Hard Wire Base-
block function) must have full knowledge of the related safety standards and full
understanding of the following manuals.
• Σ-V Series SGMV/SGDV User's Manual
Design and Maintenance Linear Motor/Analog Voltage and Pulse Train Reference
(SIEPS80000047)
• Σ-V Series SGMV/SGDV User's Manual Design and Maintenance Linear Motor/
MECHATROLINK-II Communications Reference (SIEPS80000048)
4.1 Precautions When Not Using the Safety Function

When not using the safety function, use the SERVOPACK with the safety function
jumper connector (JZSP-CVH05-E, provided as an accessory) inserted. If the SER-
VOPACK is used without the jumper connector inserted into CN8, no current will
flow to the motor and no force will be output.
When Hbb is displayed on the panel operator and digital operator, the motor is base-
blocked by the safety function. Check to see if the JZSP-CVH05-E jumper connector
is correctly inserted into CN8.
65
4.2 Hard Wire Base Block (HWBB) Function
The Hard Wire Base Block function (hereinafter referred to as HWBB function) is a
safety function designed to baseblock the motor (shut off the motor current) by using
the hardwired circuits: Each circuit for two 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.)
24-V power supply

Switch
Control circuit
/HWBB1+ SERVOPACK Run signal
Fuse
Block
/HWBB1-
/HWBB2+
Block
/HWBB2- Power Module

0V
Motor
WARNING
• Perform risk assessment for the system and confirm that the safety requirements
with the following standards are fulfilled before using the HWBB function.
EN954 Category3
IEC61508 SIL2
The following risks can be estimated even if the HWBB function is used. These risks
must be included in the risk assessment.
• The motor will rotate in an application where external force is applied to the motor
(for example, gravity on the vertical axis). Take measures to secure the motor, such
as installing a mechanical brake.
• The motor may move within the electric angle of 180 degrees in case of the power
module failure, etc. The number of rotations or movement distance depends on the
motor type as shown below.
Rotary motor: 1/6 movement max. (movement angle at the motor shaft)
Direct-drive motor: 1/20 movement max. (movement angle at the motor shaft)
Linear motor: 30 mm max.
66
4 Safety Function
• The HWBB function does not shut off the power to the servodrive or electrically
isolates it.
Take measures to shut off the power to the servodrive when performing mainte-
nance on it, etc.
4.3 Signals for Safety Function (CN8 connector)

Signal Name Pin No. Function
/HWBB1+ 4
/HWBB1- 3 Hard wire baseblock input
/HWBB2+ 6 Baseblock (motor current off) when OFF
/HWBB2- 5
EDM1+ 8 Monitored circuit status output
ON when the HWBB function is normally
EDM1- 7 activated.
67
5 Trial Operation (Checking Servomotor
Operation)
This chapter describes how to perform trial operation.
The trial operation described here is for the servomotor without load. The purpose of
this trial operation is to check whether the SERVOPACK and servomotor are prop-
erly connected and whether the servomotor 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.

Motor/Analog Voltage and Pulse Train Reference (SIEPS80000047).
Motor/MECHATROLINK-II Communications Reference (SIEPS80000048).
CAUTION
• When conducting a trial operation, always make sure that an emergency stop can
be immediately executed.
5.1 Types of Trial Operation

There are four type of trial operation, as listed below, depending on the type of SER-
VOPACK and the device configuration.
Using a Panel Operator

Trial operation is performed using the panel operator of an analog pulse SERVO-
PACK.
Using a Digital Operator

Trial operation is performed using an optional digital operator.
68
5 Trial Operation (Checking Servomotor Operation)
Using MECHATROLINK-II Communications

Trial operation is performed using MECHATROLINK-II communications.
Trial operation is executed from a host controller using MECHATROLINK-II com-

munications.
To conduct trial operation using MECHATROLINK-II Communications, refer to Σ-V

Series SGMV/SGDV User's Manual Design and Maintenance Linear Motor/
MECHATROLINK-II Communications Reference (SIEPS80000048).
Using SigmaWin+
Trial operation is performed using SigmaWin+. For information on this method, refer
to the online SigmaWin+ help on the personal computer.
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?
Note: When performing trial operation on a servomotor that has been stored for a long period
of time, perform the inspection according to the procedures described in 6.2 Causes and
Corrective Actions for Problems Determined from Linear Servomotor Operation and
Status.
SERVOPACKs
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?

• Is the correct power supply voltage being supplied to the SERVOPACK?
69
5.3 Trial Operation
Perform a trial operation after wiring is completed.
Use the following procedure to perform a trial operation. The procedures for speed
control (standard setting) and position control are described in this chapter. When a
specific explanation is not provided, use the default parameters.
(1) Trial Operation Using SERVOPACK Internal References

(Refer to 5.4 SERVOPACK Setup Procedure.)
Purpose
Run the linear servomotor without host
reference input.
Check that the following wiring and set-
tings are correct.
To power supply CN1 • Main circuit cable
• Linear servomotor main circuit cable
• Serial converter unit connection cable
• Encoder cable
• Hall sensor connection cable
• Scale pitch setting (when using incre-
mental linear scale.)
• Absolute linear scale setting
• Scale signal count direction and count
quantity
• Motor movement direction and move-
ment speed
• Force limit parameter setting
• Polarity detection operation (only if
polarity detection is used.)
(2) Trial Operation Using Host References

Purpose
Run the linear servomotor with host refer-
ence input.
Check that the following wiring and set-
To power tings are correct.
CN1
supply • I/O signal cable with the host controller
To host • Linear servomotor movement direction,
controller movement speed, and movement dis-
tance
• Operation of brake, overtravel, and
other protective functions
• Required parameter settings
70
Step Item Description Reference
Installation and Install the linear servomotor and SERVOPACK according to the installation
1 −
mounting conditions.
Wire and connect the power supply circuit (L1, L2, or L1, L2, L3), linear servomotor
Wiring and (U, V, W), input signal (CN1), and serial converter unit (CN2). Disconnect the CN1
2 −
connections connector during SERVOPACK setup and M-II communication specifications
settings.
Turn ON the power. Check the panel operator to make sure that the SERVOPACK
is running normally. The following alarms do not indicate an error.
Turn ON the
3 • When using an incremental linear scale: A.080 −
power.
• When using an absolute linear scale: any of A.550/A.041/A.040/A.050/A.710/
A.720/A.C91
• When using an incremental linear scale

Set the linear scale pitch (Pn282). After the setting validation, check the linear
Linear scale scale status by using the panel operator.
4 −
check • When using an absolute linear scale
Write the motor parameters to the absolute linear scale. After restart, check the
linear scale status by using the panel operator.
Polarity
detection
5 operation check Check whether the polarity is being correctly detected. −
(only for
detection)
6 Jog operation Perform jog operation. Jog operation
Connect input
7 Connect I/O signals (CN1) necessary for the trial operation to the SERVOPACK. −
signals.
Check the input signals using the internal monitor function.

Check input
8 Turn ON the power, and check that the emergency stop, brake, overtravel, and −
signals. other protective functions are operating correctly.
Input servo ON Host

9 Input the servo ON signal, and turn ON the linear servomotor.
signal. reference
Input the reference for the control mode being used, and check that the linear Host
10 Input reference servomotor is operating normally. reference
Run the linear servomotor from the host controller in the same way as in step 10,
Set necessary Host
11 and set the required parameters so that the machine movement direction,
parameters. reference
movement distance, and movement speed are the same as the references.
The linear servomotor can now be run. Adjust the servo gain if necessary. If an Host
12 Operation error occurs, refer to Chapter 6 Troubleshooting. reference
71
5.4 SERVOPACK Setup Procedure
The setup procedures for combinations of a linear servomotor with hall sensor and
those for combinations of a linear servomotor without a hall sensor are different. Use
the setup procedure appropriate for the system being used.
Category Setup procedure for linear servomotors Setup procedure for linear servomotors
with hall sensors without hall sensors
1. Install and wire the linear servomotor 1. Install and wire the linear servomotor
and linear scale. and linear scale.
2. Adjust the linear scale. 2. Adjust the linear scale.
3. Connect the cables. 3. Connect the cables.
4. Set the linear scale pitch. 4. Set the linear scale pitch.
5. Check the feedback signal. 5. Select No Hall Sensor in the parame-
6. Perform jog operation from the panel ters.
Proce-
dure operator. 6. Check the feedback signal.
7. Set the force limit. 7. Polarity detection.
8. Set the overtravel signal.
9. Set the force limit.
10. Check and adjust the polarity detection
operation.
11. Perform a jog operation from the panel
operator.
5.4.1 Setup Procedure Using Linear Servomotors with Hall Sensors

Perform the following steps (1) to (7) in order.
(1) Installation and Wiring of the Linear Servomotor and Linear Scale
Install the coil assembly and linear scale so that the motor forward direction and lin-
ear scale count up direction are the same.
If the motor forward direction and linear scale count up direction do

not match and the linear servomotor is run in this state, the linear ser-
vomotor may not operate or overrun may occur.
When using linear Σ-series servomotors, the servomotor forward direction (coil
assembly’s movement direction when current flows through phases U, V, and W, in
that order) is toward the side from which the motor main circuit cable is extended.
72
The analog 1-V p-p voltage input from the linear scale to the serial converter unit is
counted during phase A (cos signal) progression.
)
to W
Ut oV Coil assembly cable
tion (
ddirec
r war
or fo
Mot
+
Phase A progression
− (pulse increase)
Phase B progression
(pulse decrease)
<Information>
• Linear scale count direction
The Heidenhain or Renishaw linear scale counts pulses when the sensor head is
operated to the side attached the signal cable. However, the direction in which the
signal cable is extended is different, so the count direction is different. (Viewed
from above).
• Heidenhain linear scale
When installed as shown in the diagram
Reverse direction Forward direction on the left, operation is performed in the
forward direction when the sensor head
LIDA 48 is moved to the right.
HEIDENHAIN
Sensor head Signal cable
• Renishaw linear scale

When installed as shown in the diagram
Forward direction Reverse direction
on the left, operation is performed in the
forward direction when the sensor head
RENISHAW is moved to the left.
RGH22
Signal cable Sensor head
• Motor forward direction (forward the coil assembly cable pulling side) and linear
scale count direction do not match
The motor forward direction and linear scale count direction may be opposite each
other due to wiring or other factors. In this case, turn on the control power for the
SERVOPACK with the linear scale connected, and check the value of the feedback
pulse counter (Un00D) while moving the coil assembly by hand. Then, set the
parameter Pn080.1=1 (Sets phase B lead as phase sequence of U, V, W).
73
(2) Adjusting the Linear Scale
When the linear scale is an open type, adjust the head installation. For details on the
adjustment method, contact the manufacturer of the scales.
When the linear scale is a sealed type, adjustment is not required. But the dimen-
sional tolerances for installation must be maintained.
(3) Connecting the Cables

Check the power supply circuit, linear servomotor and encoder wirings. Do not con-
nect the I/O signal connector (CN1).
For main circuit wiring examples, refer to 3.2 Main Circuit Wiring.
To power supply
Encoder cable
(4) Setting the Linear Scale Pitch

Turn ON the control power supply.
When the power is supplied properly, the panel operator on the front of the SERVO-
PACK will show the following display. A linear scale pitch setting error (A.080) will
be displayed, but does not indicate an error. Set the linear scale pitch (Pn282) accord-
ing to the scale being used. After setting validation of the control power, the A.080
alarm will be cleared, and the settings will be enabled.
Normal status
If an alarm other than A.080 is displayed, as shown in the following diagram, the
power supply circuit, linear servomotor main circuit cable or serial converter unit
connection cable wiring, or the linear scale states is the probable cause. Shut down
the power supply, specify the location causing the alarm, and take corrective mea-
sures so that the display returns to the above normal status. For details on alarms,
refer to Chapter 6 Troubleshooting.
Example of alarm display
74
Pn282 Linear Scale Pitch Speed Position Force

Setting Range Setting Unit Factory Setting When enabled
0 to 6553600 0.01 µm 0 After restart
If the linear scale pitch (Pn280) is not set correctly, the linear servomotor cannot be controlled. Make sure
that the correct value is set before operating the linear servomotor.
When using a SERVOPACK right after factory shipment, the alarm A.080 (Linear Scale Pitch Setting
Error) will be displayed but does not indicate an error. This alarm is generated to remind the user to set
Pn282. After setting the correct value and setting validation, the alarm A.080 is cleared.
For a serial converter unit (JZDP-D00-), control is performed the SERVOPACK using 1/256 the
distance of the linear scale pitch as a minimum feedback pulse. The count is performed in the serial con-
verter unit using 1/256 of the linear scale pitch.
Linear scale pitch (Pn282) =

Distance from the linear scale of one cycle of the
analog voltage feedback signal.
Linear scale pitch
(5) Checking the Feedback Signal

Check the following feedback signals to the SERVOPACK.
• Check whether the signals from the linear scale are correctly received.
• Check whether the motor forward direction and linear scale count direction are the
same.
1. Before checking the feedback signals, be sure to set Pn000.0 to 0

(linear scale counting-up (phase-A advance) direction as forward
direction). If Pn000.0 is set to a value other than zero, the linear
servomotor may not run.
2. Be sure to check the feedback signals before operating the linear
servomotor. If the linear servomotor is operated without checking
the feedback signals, the linear servomotor may not run, or over-
run may occur.
Checking the Signals from the Linear Scale

1. Turn ON the control power to the SERVOPACK and set to servo OFF
status.
2. Displays the monitor mode parameter Un00D (Feedback Pulse Counter)
on the panel operator or digital operator.
3. Move the linear servomotor from end to end of the stroke by hand, and
check whether the correct number of feedback pulses is returned.
75
<Example>
Using a linear scale with a scale pitch of 20 µm, if the linear servomotor is moved
only 1 cm by hand in the linear scale’s count direction, the number of feedback pulses
will be as follows:
1 cm/ (20 µm/256) = 128,000 pulses
Linear servomotor cable

attached to coil assembly
When the linear servomotor is moved by hand to the side along the cable and
the value of Un00D is 128000 confirmation is completed.
Note: The actual monitor display will deviate by the error in movement distance only, so a
value that is close to the above value is acceptable.
<Information>
• When the Value of the Un00D is incorrect
If the Un00D value is not displayed correctly, the following conditions may be present.
Check the conditions and take appropriate countermeasures.
• The scale pitch of the linear scale does not match.
If the scale pitch set in Pn282 is different from the actual scale pitch, the
assumed number of feedback pulses will not be returned. Check the specifica-
tions of the linear scale.
• The linear scale has not been adjusted.
If the linear scale is not adjusted, the linear scale’s output signal level will drop
and the count will not be correct. Check that the linear scale is correctly
adjusted. For details, contact the scale’s manufacturer.
• The wiring between the linear scale and serial converter unit is not correct.
If the wiring is not correct, a normal count will not be performed. Rewire the
devices correctly.
Checking the Concurrence between the Linear Scale Count Direction

and the Linear Servomotor Forward Direction
Next, move the coil assembly by hand in the direction of the side along the cable, and
check that the Un00D monitor is counting up.

When the linear servomotor is moved by hand to the side along the cable,
if the value of Un00D is a countup value, confirmation is completed.
76
<Information>
• When the Value of the Un00D is counted down
When the value of the Un00D is a counted down, set the parameter Pn080.1 = 1 (Sets phase B
lead as phase sequence of U, V, W). Enable the setting by setting validation.
Related Parameters
Parameter Description
Pn080 n.0 Sets phase A lead as phase sequence of U, V, W. (factory
setting)
n.1 Sets phase B lead as phase sequence of U, V, W
(6) Jog Operation from the Panel Operator

When turning ON the servo for the first time after installation and wir-
ing, stand away from the motor moving part as overrun may occur.
<Information>
Perform trial operations without a load attached, where possible.
1. Turn ON the control power supply and main circuit power supply.
2. Operate the panel operator or digital operator and move the linear
servomotor using jog operation.
3. Check that the linear servomotor moves normally from end to end of the
stroke.
<Information>
• Abnormal Motor Operation
An abnormal motor operation could be attributed to the following conditions. Check the con-
ditions and take appropriate measures.
• The load is too heavy, or the jog speed is too fast, resulting in force reference sat-
uration.
Set the force limit referring to (7) Setting Force Limit. If the force reference remains satu-
rated, lighten the load or lower the jog speed.
• The linear servomotor is moving slightly and then stops.
The linear servomotor, hall sensor, and linear scale are not in agreement. Check the wiring,
scale pitch setting, linear scale count, and whether the motor forward direction matches the
scale countup direction.
• The alarm A.C20 (Phase Detection Error) occurs when the linear servomotor
moves.
The count direction of the linear scale signal is not correct, or the count may not be normal.
Perform (5) Checking the Feedback Signal again.
If the count is normal, the malfunction may be caused by noise. Check the wiring and
ground conditions of the SERVOPACK, serial converter unit, and linear servomotor.
77
(7) Setting Force Limit
To prevent danger during setup of the linear servomotor, the factory settings for the
forward force limit (Pn483) and reverse force limit (Pn484) parameters are set to
small value (factory setting: 30%).
When the linear servomotor moves normally in jog operation mode, increase the
value set for parameters Pn483 and Pn484 to the force required. Set the value to the
maximum value if no particular restricting conditions apply.
Pn483 Forward Force Limit Speed Position Force

0 to 800 1% 30 Immediately
Pn484 Reverse Force Limit Speed Position Force

5.4.2 Setup Procedure Using Linear Servomotors without Hall

Sensors
Checking Operating Conditions

Make sure that the following conditions are satisfied when performing polarity detec-
tion.
• No problems when linear servomotor is moved approximately 10 mm.

(If polarity detection failed, a linear servomotor may be moved approximately 5
cm, depending on many factors.)
• Scale pitch must be within 100 µm (within 40 µm is recommended when using an
incremental linear scale).
• Minimum unequal external force on the linear servomotor (5% max. of rated force
is recommended).
• Mass ratio less than 50 times.
• On a horizontal axis.
• Friction on the guide is a percentage of the rated force (air slide not used).
Perform the following steps (1) to (12).
78
(1) Installation and Wiring the Linear Servomotor and Linear Scale
Install the coil assembly and linear scale so that the motor forward direction and lin-
ear scale count direction are the same.
If the motor forward direction and linear scale count directions do not
match and the linear servomotor is run in this state, the linear servo-
motor may not operate or overrun may occur.
When using Σ-V series linear servomotors, the motor forward direction (coil assem-
bly’s direction of progression when current flows in phase order U, V, and W) is
toward the side from which the cable is extended. The analog 1V p-p voltage input
from the linear scale to the serial converter unit is counted up during phase A (cos
signal) progression.
W) Coil assembly cable

to V to
tion (U
irec
or d
Mot
+
Phase A progression
− (pulse increase)
Phase B progression
(pulse decrease)
<Information>
• When Motor Forward Direction and Linear Scale Count Direction Do Not Match
When the motor forward direction and linear scale count direction are reversed due to wiring
or other factors, set so that parameter Pn080.1 = 1 (Sets phase B lead as phase sequence of U,
V, W).
• Linear Scale Count Direction
The Heidenhain or Renishaw linear scale counts pulses when the sensor head is operated to
the side attached the signal cable. However, the direction in which the signal cable is
extended is different, so the count direction is different. (Viewed from above).
• Heidenhain linear scale
When installed as shown in the dia-
Reverse direction Forward direction gram on the left, operation is per-
formed in the forward direction when
LIDA 48 the sensor head is moved to the right.
HEIDENHAIN
79
• Renishaw linear scale
Forward direction Reverse direction gram on the left, operation is per-
RENISHAW the sensor head is moved to the left.
RGH22
Signal cable Sensor head
• Mitutoyo Corporation linear scale (ST781A, ST783A)

Reverse direction Forward direction gram on the left, operation is per-
the sensor head is moved to the right.
Mitsutoyo
• Mitutoyo Corporation linear scale (ST782A, ST784A)

Signal cable gram on the left, operation is per-
Reverse direction Forward direction formed in the forward direction when
the sensor head is moved to the right.
Mitsutoyo
Sensor head
(2) Adjusting the Linear Scale

When the linear scale is an open type, adjust the head installation. For details on the
adjustment method, contact the manufacturer of the scales.
When the linear scale is a sealed type, adjustment is not required. But the dimen-
sional tolerances for installation must be maintained.
80
(3) Connecting the Cables

Check the power supply circuit, linear servomotor and encoder wirings. Do not con-
nect the I/O signal connector (CN1).
For main circuit wiring examples, refer to 3.2 Main Circuit Wiring.
To power supply
Encoder cable
(4) Setting the Linear Scale Pitch
When Using an Incremental Linear Scale

Turn ON the control power supply.
When the power is supplied normally, the panel operator on the front panel of the
SERVOPACK will show the following display. A linear scale pitch setting error
(A.080) will be displayed, but does not indicate an error. Set the linear scale pitch
(Pn282) according to the scale being used. After setting validation of the control
power, the A.080 alarm will be cleared, and the settings will be enabled.
Normal status
If an alarm other than A.080 is displayed, as shown in the following diagram, the
power supply circuit, linear servomotor main circuit cable or encoder cable wiring is
the probable cause. Shut down the power supply, specify the location causing the
alarm, and take corrective measures so that the display returns to the above normal
status. For details on alarms, refer to Chapter 6 Troubleshooting.
Example of alarm display
81
Pn282 Linear Scale Pitch Speed Position Force
0 to 6553600 0.01 µm 0 µm After restart
If the linear scale pitch (Pn282) is not set correctly, the linear servomotor cannot be controlled. Make sure
that the correct value is set before operating the linear servomotor.
When using a SERVOPACK right after factory shipment, the alarm A.080 (Linear Scale Pitch Setting
Error) will be displayed but does not indicate an error. This alarm is generated to remind the user to set
Pn282. After setting the correct value and setting validation, the alarm A.080 is cleared.
Control is performed the SERVOPACK using 1/256 the distance of the scale pitch as a minimum feedback
pulse. The count is performed in the serial converter unit using 1/256 of the linear scale pitch.
Linear scale pitch (Pn282) =

Distance of one cycle of the analog
voltage feedback signal.
Linear scale pitch
When Using an Absolute Linear Scale

When using an absolute linear scale, the motor parameters must be written into the
linear scale via a SERVOPACK using the SigmaWin+ software engineering tool.
WARNING
• Before writing the parameters, check the motor and linear scale data.
Writing incorrect parameters may cause motor overrun or burnout, resulting in damage
to the product or fire.
82
SGDV SERVOPACK
Personal computer
USB cable SigmaWin+
Motor parameter file
Write the motor parameters into the

linear scale via SGDV SERVOPACK.
Linear scale manufactured by Mitutoyo Corporation
• Setup Procedure
1. Prepare the motor parameters to be written into the linear scale and the
SigmaWin+ software version 3.01 or later.
2. Install SigmaWin+ in a personal computer.
3. Use a standard USB cable to connect the personal computer to the
SERVOPACK CN3 port.
Start SigmaWin+ to write the motor parameters into the linear scale via
the SERVOPACK.
(Refer to SigmaWin+ Operation Manual for information on how to write
parameters using SigmaWin+.)
• Note that no motor parameters contain the serial number data.

Serial numbers cannot be checked by using the SERVOPACK
monitoring function.
If SigmaWin+ or the utility function Fn01E (SERVOPACK and ser-
vomotor ID Display) is used to monitor the serial number,
“**********” will be displayed.
• Precautions
• If the scale parameters have not been written in the linear scale, A.CA0 (Encoder
Parameter Error) will occur when the power is turned ON. Contact the linear scale
manufacturer.
• If the motor parameters have not been written in the linear scale A.CA0 (Encoder
Parameter Error) will not occur when the power is turned ON. Monitor the motor
data using the monitoring function to see if the motor parameters are saved in the
linear scale. If they are not saved, write the motor parameters and then turn the
83
power OFF and then ON again to monitor the servomotor data.
If the motor parameters have not been written, the following alarms will occur
when the power is turned ON.
A.550 (Maximum Speed Setting Error), A.041 (Encoder Output Pulse Setting
Error)
A.040 (Parameter Setting Error 1), A.050 (Combination Error)
A.710 (Overload: High Load), A.720 (Overload: Low Load)
A.C90 (Encoder Communications Error)
• How to Monitor the Motor Data

• By using the digital operator (when the motor parameters are saved in the linear
scale)
Proce- Display Example Operation Keys Description

dure
㧭㧡㧡㧜‫ޓޓ‬㧙㧲㨁㧺㧯㨀㧵㧻㧺㧙 Press Key.

㧲㨚㧜㧝㧮㧦㨂㨕㨎㨘㨋㨢㨘N㨙㨕㨠 The utility function main menu
1 㧲㨚㧜㧝㧱㧦㧿㨢㧹㨛㨠㧻㨜㧵㧰 will open.
㧲㨚㧜㧞㧜㧦㧿㧙㧻㨞㨕㨓㧿㨑㨠 Press or Key to
㧲㨚㧜㧤㧜㧦㧼㨛㨘㨑㧰㨑㨠㨑㨏㨠 select Fn01E.
㧭㧡㧡㧜‫ޓ‬㧙㧿㨢㧒㧹㨛㨠‫ޓ‬㧵㧰㧙
㧰㨞㨕㨢㨑㨞
‫ޓ‬㧿㧳㧰㨂㧙㧞㧾㧤㧭㧝㧡㧭 Press Key.
2 ‫ޓ‬㧰㧜㧜㧟㧥㧯㧡㧠㧢㧢㧝㧜㧜㧞㧜 The SERVOPACK model being
‫ޓ‬㧜㧣㧚㧜㧠‫ޓ‬㧞㧜㧜㨂㧘‫ޓ‬㧠㧜㧜㨃 used will be displayed.
SERVOPACK model
㧭㧡㧡㧜‫ޓ‬㧙㧿㨢㧒㧹㨛㨠‫ޓ‬㧵㧰㧙 Press Key again.

㧹㨛㨠㨛㨞 The connected servomotor model
‫ޓ‬㧿㧳㨀㧹㧲㧡㧮㧙㧜㧣㧞㧭 will be displayed.
3 㧖㧖㧖㧖㧖㧖㧖㧖㧖㧖
Note: If the linear scale data is not
‫ޓ‬㧜㧡㧚㧜㧞‫ޓ‬㧞㧜㧜㨂㧘‫ޓ‬㧟㧢㧜㨃
saved in the SERVOPACK,
nothing will be displayed
Connected servomotor model under Motor.

㧱㨚㨏㨛㨐㨑㨞 The linear scale model will be dis-
‫ޓ‬㧶㨆㧰㧼㧙㧹㧜㧜㧝㧙㧞㧠㧢 played.
4 Note: If the linear scale data is not
㧖㧖㧖㧖㧖㧖㧖㧖㧖㧖
saved in the SERVOPACK,
‫ޓ‬㧜㧣㧚㧜㧠‫ޓ‬㧜㧥㨎㨕㨠㧙㧭㧮㧿
nothing will be displayed
Connected linear scale model under Encoder.
84
• By using the digital operator (when the motor parameter is not saved in the linear
scale)
dure
㧭㧡㧡㧜‫ޓޓ‬㧙㧲㨁㧺㧯㨀㧵㧻㧺㧙 Press Key.

㧲㨚㧜㧝㧯㧦㨂㨕㨎㨘㨋㨢㨘N㨙㨕㨠 The utility function main menu
1 㧲㨚㧜㧝㧱㧦㧿㨢㧹㨛㨠㧻㨜㧵㧰 will open.
㧲㨚㧜㧞㧜㧦㧿㧙㧻㨞㨕㨓㧿㨑㨠 Press or Key to
㧲㨚㧜㧤㧜㧦㧼㨛㨘㨑㧰㨑㨠㨑㨏㨠 select Fn01E.
㧭㧡㧡㧜‫ޓ‬㧙㧿㨢㧒㧹㨛㨠‫ޓ‬㧵㧰㧙
㧰㨞㨕㨢㨑㨞
‫ޓ‬㧿㧳㧰㨂㧙㧞㧾㧤㧭㧜㧝㧭 Press Key.
2 ‫ޓ‬㧰㧜㧜㧟㧥㧯㧡㧠㧢㧢㧝㧜㧜㧞㧜 The SERVOPACK model being
‫ޓ‬㧜㧣㧚㧜㧠‫ޓ‬㧞㧜㧜㨂㧘‫ޓ‬㧠㧜㧜㨃 used will be displayed.
SERVOPACK model

㧹㨛㨠㨛㨞 The connected servomotor model
will be displayed.
3 Note: If the linear scale data is not
‫ޓ‬㧜㧜㧚㧜㧜‫ޓ‬㧝㧜㧜㨂㧘‫ޓޓޓޓ‬㨃 saved in the SERVO-
PACK, nothing will be dis-
Connected servomotor model played under Motor.

㧱㨚㨏㨛㨐㨑㨞 The linear scale model will be dis-
‫ޓ‬㧶㨆㧰㧼㧙㧹㧜㧜㧝 played.
4 㧖㧖㧖㧖㧖㧖㧖㧖㧖㧖 Note: If the linear scale data is not
‫ޓ‬㧜㧣㧚㧜㧠‫ޓ‬㧜㧥㨎㨕㨠㧙㧭㧮㧿 saved in the SERVO-
PACK, nothing will be dis-
Connected linear scale model played under Encoder.
• Using SigmaWin+
Start SigmaWin+. Click Monitor in the main menu and then click Product
Information.
85
(5) Selecting No Hall Sensor
Select No Hall Sensor for the parameter Pn080.0. The factory setting is Pn080.0 = 0
(Enables selection), so the setting will change to Pn080.0 = 1 (Disables selection).
The setting validation is required to enable the settings.
Pn080 n.0 Enables selection (factory setting)
n.1 Disables selection
When Pn080.0 = 0 is set without connecting a hall sensor, the alarm A.C21 (Hall Sensor
Error) alarm will occur when the power is turned ON.
(6) Checking the Feedback Signal

Check the following feedback signals to the SERVOPACK.
• Check whether the signals from the linear scale are correctly received.
• Check whether the motor forward direction and linear scale count direction are the
same.
1. Before checking the feedback signals, be sure to set Pn000.0 to 0

(linear scale counting-up (phase-A advance) direction as forward
direction). If Pn000.0 is set to a value other than zero, the linear
servomotor may not run.
2. Be sure to check the feedback signals before operating the linear
servomotor. If the linear servomotor is operated without checking
the feedback signals, the linear servomotor may not run, or over-
run may occur.
Checking the Signals from the Linear Scale

1. Turn ON the control power to the SERVOPACK and set to servo OFF
status.
2. Displays the monitor mode parameter Un00D (Feedback Pulse Counter)
on the panel operator or digital operator.
3. Move the linear servomotor from end to end of the stroke by hand, and
check whether the correct number of feedback pulses is returned.
<Example>
Using a linear scale with a scale pitch of 20 µm, if the linear servomotor is moved
only 1 cm by hand in the linear scale’s count direction, the number of feedback pulses
will be as follows:
1 cm/ (20 µm/256) = 128,000 pulses
86

When the linear servomotor is moved by hand to the side along the cable and
the value of Un00D is 128000 confirmation is completed.
Note: The actual monitor display will deviate by the error in movement distance only, so a
value that is close to the above value is acceptable.
<Information>
• When the Value of the Un00D is incorrect
If the Un00D value is not displayed correctly, the following conditions may be present.
Check the conditions and take appropriate countermeasures.
• The scale pitch of the linear scale does not match.
If the scale pitch set in Pn282 is different from the actual scale pitch, the assumed number
of feedback pulses will not be returned. Check the specifications of the linear scale.
• The linear scale has not been adjusted.
If the linear scale is not adjusted, the linear scale’s output signal level will drop and the
count will not be correct. Check that the linear scale is correctly adjusted. For details, con-
tact the scale’s manufacturer.
• The wiring between the linear scale and serial converter unit is not correct.
If the wiring is not correct, a normal count will not be performed. Rewire the devices cor-
rectly.
Checking the Concurrence between the Linear Scale Count Direction

and the Linear Servomotor Forward Direction
Next, move the coil assembly by hand in the direction of the side along the cable, and
check that the Un00D monitor is counting up.

When the linear servomotor is moved by hand to the side along the cable,
if the value of Un00D is a countup value, confirmation is completed.
<Information>
• When the Value of the Un00D is counted down
When the value of the Un00D is a counted down, set the parameter Pn080.1 = 1 (Sets phase B
lead as phase sequence of U, V, W). Enable the setting by setting validation.
87
Related Parameters
Pn080 n.0 Sets phase A lead as phase sequence of U, V, W (factory
setting)
n.1 Sets phase B lead as phase sequence of U, V, W
(7) Polarity Detection
When Using an Incremental Linear Scale

When using a linear servomotor without a hall sensor, polarity detection must be per-
formed after turning ON the power.
• /P-DET Assignment (Only Analog Pulse Models)

When the input signal allocation mode is set to the factory setting (Pn50A.0=0),
polarity detection starts at the same time as the Servo ON (/S-ON) signal, and when
the polarity detection is completed, the Servo Ready (/S-RDY) signal turns ON.
To incorporate a sequence at the host controller that monitors the Servo Ready signal
and outputs servo ON signals or to perform polarity detection using different timing
from the servo ON signal, the polarity detection start signal (/P-DET) must be
assigned to a user-set input.
After setting the parameter Pn50A.0 to 1 (Changes the sequence input signal alloca-
tion for each signal), set Pn50D.3 (/P-DET Signal Mapping) and assign the /P-DET
signal to any input terminal. The setting validation is required to enable the settings.
Connector Pin
Type Name Setting Meaning
Number
Turning the servo ON and the polarity detec-
ON (low level) tion function ON (enabled).
/S-ON CN1-40
OFF (high level) Turning the servo ON and the polarity detec-
tion function OFF (disabled).
Input
Turning the polarity detection function ON
ON (low level)
/P- (enabled).
Must be allocated
DET Turning the polarity detection function OFF
OFF (high level) (disabled).
This input signal is used to start polarity detection.
When the input signal allocation mode remains as the default (Pn50A.0 = 0), either the /S-ON or /P-DET
signal can be used to start polarity detection.
When the /P-DET signal is used, input signal must be allocated.
88
• Utility Function: Polarity Detection (Fn080) Execution (Analog Pulse/M-II

Models)
Execute the utility function: Polarity Detection (Fn080) to detect polarity.
The polarity detection can be executed by using either the digital operator or the
panel operator.
• Using the digital operator
Proce-
Display Example Operation Keys Description
dure
㧮㧮‫ޓޓޓޓ‬㧙㧲㨁㧺㧯㨀㧵㧻㧺㧙 Press Key.

㧲㨚㧜㧞㧜 The utility function main menu
1 㧲㨚㧜㧤㧜 will open.
㧲㨚㧜㧜㧜 Press or Key to
㧲㨚㧜㧜㧝 select Fn080.
㧮㧮
‫ޓ‬㧹㨍㨓㨚㨑㨠㨕㨏‫ޓ‬㧼㨛㨘㨑 Press Key.
2 ‫ޓޓޓޓޓ‬㧰㨑㨠㨑㨏㨠 The Fn080 (Polarity Detection)
‫ޓ‬㧸㨑㨢㨑㨘㧩㧠㧜 execution window will open.
㧮㧮 Press or Key to
‫ޓ‬㧹㨍㨓㨚㨑㨠㨕㨏‫ޓ‬㧼㨛㨘㨑 adjust the level.
‫ޓޓޓޓޓ‬㧰㨑㨠㨑㨏㨠 Press or Key to
‫ޓ‬㧿㨠㨍㨞㨠‫ޓ‬㧦㨇㧶㧻㧳㧿㨂㧻㧺㨉 move the cursor to/from the 1st
3 ‫ޓ‬㧾㨑㨠㨡㨞㨚㧦㨇㧿㧱㨀㨉 digit from/to the 2nd digit of the
value.
After setting the level, press
Key. The display shown on
the left will appear.
㧼‫ޓ‬㧰㧱㨀 Press Key to start polarity

‫ޓ‬㧹㨍㨓㨚㨑㨠㨕㨏‫ޓ‬㧼㨛㨘㨑 detection. “Magnetic Pole Adjust-
ment” will appear as a blinking
4 ‫ޓ‬
message during polarity detection.
‫ޓ‬㧭㨐㨖㨡㨟㨠㨙㨑㨚㨠 When polarity detection is com-
‫ޓ‬㧾㨑㨠㨡㨞㨚㧦㨇㧿㧱㨀㨉 plete, the servo will automati-
cally turn OFF.
㧼‫ޓ‬㧰㧱㨀 When polarity detection is com-

‫ޓ‬㧹㨍㨓㨚㨑㨠㨕㨏‫ޓ‬㧼㨛㨘㨑 plete, the display shown on the
5 left will appear.
‫ޓޓޓޓޓ‬㧰㨑㨠㨑㨏㨠
Press Key to return to the
‫ޓ‬㧾㨑㨠㨡㨞㨚㧦㨇㧿㧱㨀㨉 utility function main menu.
89
• Using the panel operator
Proce-
dure Display after Operation Operation Keys Description
1 Press MODE/SET Key to select the utility

MODE/SET function mode.
㧔MODE/SET Key㧕
2 Press UP or DOWN Key to select Fn080.

The enabled digit will blink.
Press DATA/SHIFT Key for at least one

3 DATA/ second.
㧔DATA/SHIFT㧕
㧔For at least
The display shown on the left will appear.
one second.㧕
Press MODE/SET Key to start polarity

4
MODE/SET detection.
㧔MODE/SETKey㧕
When polarity detection is complete, the

display shown on the left will appear.
5 No operation The servo for the linear servomotor will
turn OFF.

6 DATA/ second.
㧔DATA/SHIFT㧕 The display will return to the utility func-
㧔For at least tion mode Fn080.
one second.㧕
90
When Using an Absolute Linear Scale

• Execution of Origin Setting (Fn020) for Analog Pulse Model and M-II Model
SERVOPACKs
CAUTION
• After execution of origin setting, the servo ready (/S-RDY) signal will become
inactive and the servo will be unable to draw power since the system position
data has been changed. Always turn the power supply OFF and then ON again
after execution of origin setting.
Origin setting using the utility function is required only for the initial setup.
If the position data is carelessly changed, the origin of the linear scale will be changed
and the machine may move in unexpected ways, resulting in damage to the product or
injury.
The origin setting function sets the current position as the origin and saves the
servomotor phase data from the set origin into the SERVOPACK. The phase data in
the SERVOPACK can be read out simply by turning ON the power supply to the
SERVOPACK. Therefore, once polarity detection (Fn080) is executed for the initial
setup, it need not be executed later on unless the position data requires changing.
Before executing the origin setting (Fn020) always execute polarity detection
(Fn080) to turn the servo OFF. Polarity detection (Fn080) must be executed in
advance whenever the origin setting (Fn020) is executed.
The origin setting can be executed by using either the digital operator or panel opera-
tor.
• Using the digital operator
Proce-
dure Display Example Operation Keys Description
㧮㧮‫ޓޓޓޓ‬㧙㧲㨁㧺㧯㨀㧵㧻㧺㧙 Press Key.

㧲㨚㧜㧝㧱㧦㧿㨢㧹㨛㨠㧻㨜㧵㧰 The utility function main menu
1 㧲㨚㧜㧞㧜㧦㧿㧙㧻㨞㨕㨓㧿㨑㨠 will open.
㧲㨚㧜㧤㧜㧦㧼㨛㨘㨑㧰㨑㨠㨑㨏㨠 Press or Key to
㧲㨚㧜㧜㧜㧦㧭㨘㨙㧴㨕㨟㨠㨛㨞㨥 select Fn020.
㧮㧮
‫ޓ‬ Press Key.
2 ‫ޓ‬㧿㨏㨍㨘㨑‫ޓ‬㧻㨞㨕㨓㨕㨚‫ޓ‬㧿㨑㨠 The origin setting (Fn020) execu-
‫ޓ‬ tion window will open.
‫ޓޓޓޓޓ‬㧻㧾㧳㧿㧱㨀㧝
㧮㧮
‫ޓ‬ Press the Key 4 times until
3 ‫ޓ‬㧿㨏㨍㨘㨑‫ޓ‬㧻㨞㨕㨓㨕㨚‫ޓ‬㧿㨑㨠 the display changes from
‫ޓ‬ “ORGSET1” to “ORGSET5.”
‫ޓޓޓޓޓ‬㧻㧾㧳㧿㧱㨀㧝
91
(cont’d)
dure
㧮㧮
Press Key to start origin
‫ޓ‬
position setting.
4 ‫ޓ‬㧿㨏㨍㨘㨑‫ޓ‬㧻㨞㨕㨓㨕㨚‫ޓ‬㧿㨑㨠 “Scale Origin Set” will appear as a
blinking message during execution
‫ޓ‬ of origin setting.
When origin setting is complete,

㧭㧚㧥㧠㧝 “BB”, displayed on the left-top
‫ޓ‬ corner, will change to “DONE”
5 ‫ޓ‬㧿㨏㨍㨘㨑‫ޓ‬㧻㨞㨕㨓㨕㨚‫ޓ‬㧿㨑㨠
‫ޓ‬
and then to “A.941.”
When “A.941” appears, press
‫ޓޓޓޓޓ‬㧻㧾㧳㧿㧱㨀㧝 Key. The display will return
to the utility function main menu.
• When using the panel operator
Proce-
Display after Operation Operation keys Description
dure
Press MODE/SET Key to select the utility

1 function mode.
MODE/SET
㧔MODE/SET Key㧕
Press UP/ or DOWN Key to select Fn020.

2 The enabled digit will blink.

3 DATA/ second.
(DATA/SHIFT) The display shown on the left will appear.
(For at least
one second)
Press the UP Key 4 times until “0SET5”

appears.
If the wrong key is pressed during opera-
4 tion, “nO_OP” will appear as a blinking
message for approximately one second and
the display will return to the utility function
mode.
Press MODE/SET Key to set the origin of
the absolute linear scale manufactured by
5 Mitutoyo Corporation. When the origin is
MODE/SET
㧔MODE/SET Key㧕
set, “donE” will appear as a blinking dis-
play for a few seconds.
92
(cont’d)
Proce- Display after Operation Operation keys Description
dure
One second after “donE”, the display will

6 One second later change to “0SET5”.

DATA/ second.
7
(DATA/SHIFT) The display will return to the utility func-
(For at least tion mode Fn020.
one second)
• /P-DET Assignment (Only Analog Pulse Models)

Refer to • /P-DET Assignment (Only Analog Pulse Models) of When Using an
Incremental Linear Scale for more information.
• Utility Function: Polarity Detection (Fn080) Execution (Analog Pulse/M-II

Models)
Refer to • Utility Function: Polarity Detection (Fn080) Execution (Analog Pulse/M-
II Models) of When Using an Incremental Linear Scale for more information.
• Executing the Polarity Detection for Absolute Scale Selection (Pn587) (For
M-II Model SERVOPACKs Only)
For absolute linear scales, polarity detection can be executed by setting the polarity
detection for absolute scale selection (Pn587) to 1.
Pn587 n.0 Does not detect polarity (Factory setting)
n.1 Detects polarity.
The setting will be reset to 0 when the power supply is turned OFF and then ON again. This
parameter is effective only when using an absolute linear scale.
93
(8) Setting the Overtravel Signal
Polarity detection cannot start in overtravel state.
When using the overtravel function, connect the signal wires and use in base block
status.
When not using the overtravel function, set the parameters Pn50A.3 to 8 and Pn50B.0
to 8 (Forward run allowed). The setting validation is required to enable the settings.
(9) Setting Force Limit

To prevent danger during setup of the linear servomotor, the factory settings for the
forward force limit (Pn483) and reverse force limit (Pn484) parameters are set to
small value (factory setting: 30%).
If the force limit is set after (4) Setting the Linear Scale Pitch and (6) Checking the
Feedback Signal, overrun will not occur. Increase the value in the parameters up to
the required force. Set the value to the maximum value if no particular restricting
conditions apply.
Pn483 Forward Force Limit Speed Position Force

0 to 800% 1% 30% Immediately
Pn484 Reverse Force Limit Speed Position Force

0 to 800% 1% 30% Immediately
<Information>
If the force limit is set too high, polarity detection may not operate normally.
(10) Checking or Adjusting Polarity Detection

Check whether the polarity detection is operating normally.
1. The linear servomotor is turned ON during polarity detection, so

take measures to avoid electric shock. The linear servomotor will
make large movements during detection, so do not stand near the
coil assembly.
2. Polarity detection depends on many factors, such as mass ratio,
friction, and cable tension. If any error occurs because of one of
these factors, polarity detection may failed.
94
Polarity Detection Completion Timing

Polarity detection is performed when the /S-ON signal (/P-DET signal for /P-DET
signal assignment) is input (when Fn080 is executed for an absolute linear scale) after
turning ON the control power and main circuit power. During detection, the status
display is P-dt, and the /S-RDY signal turns ON when detection is complete.
/S-ON input
(/P-DET)
/S-RDY output
Polarity detection Polarity detection completed

→Status display: P-dt →Normal operation possible
95
Troubleshooting for Polarity Detection Errors
Refer to the following table for troubleshooting if polarity detection is not completed
normally.
No. Problem Cause Countermeasure

The settings for linear scale pitch (Pn282) and motor
Parameter phase selection (Pn080.1) may not be appropriate for
settings are
incorrect. the device. Check the linear scale specifications and
feedback signal conditions.
When the detection reference is repeatedly output sev-
eral times in the same direction, noise may occur in the
Noise is present scale signal, resulting in malfunction. Check that the
in the scale FG of the serial converter unit and linear servomotor is
signal. connected to FG of the SERVOPACK, and that FG of
the SERVOPACK is connected to the power supply FG.
Also check that the encoder cable is securely sealed.
If the coil assembly is subjected to an external force
such as cable tension, and the speed feedback is not 0
Polarity detection regardless of a 0 detection reference, polarity detection
1 The coil assembly
error (A.C50)
is being subjected will be poor.
Reduce the external force and make the speed feedback
to an external 0.
force.
If the external force can not be reduced, increase the
value of the changes in the sequence input signal allo-
cation for each signal (Pn481).
When the linear scale pitch is 100 µm min., the SER-
VOPACK cannot detect correct speed feedback.
Use a linear scale with good scale pitch precision
The linear scale
resolution is (within 40 µm is recommended).
Alternatively, increase the value of the polarity detec-
rough. tion reference speed (Pn485).
The range of linear servomotor movement at polarity
detection, however, will increase.
Overtravel The OT signal The alarm A.C51 occurs when the OT signal is detected
2 detection at was detected during polarity detection.Before executing the polarity
polarity detection during polarity detection, place the motor to the position where the OT
(A.C51) detection signal is not detected.
96
No. Problem Cause Countermeasure

<Analog Pulse Input the /PDET signal.
Model>
• Polarity detec-
tion was not yet
complete.
• The /PDET sig-
nal was not input.
<M-II Model> When using an absolute linear scale, set Pn587.0 to 1 to
The servo has execute polarity detection.
been turned ON
under the
Polarity detection following
3 uncompleted circumstances.
(A.C52)
• An absolute lin-
ear scale is being
used.
• The polarity
detection selec-
tion for the abso-
lute linear scale
was set to not
execute.
(Pn587.0=0)
• Polarity was not
yet detected.
An alarm occurs when the motor movement distance
The movement during detection becomes out of the range set for
Out of range for distance during
4 polarity detection detection exceeds Pn48E. If the command distance has not been changed
from the factory set value, the motor might have been
(A.C53) the range set for moved for some reason. Check for the cause and take a
Pn48E.
proper measure.
Increase the value of the polarity detection confirmation
An external force force reference (Pn495).
Polarity detection
5 error 2 (A.C54) was applied to the Increase the value of the polarity detection allowable
linear servomotor. error range (Pn498). (Note that increasing the allowable
error will also increase the servomotor temperature.)
97
Related Parameters
Parameters Description
Pn481 Changes the sequence input signal allocation for
each signal Speed Position Force

10 to 20000 0.1 Hz 400 Immediately
Pn482 Polarity Detection Speed Loop lntegral Time
Constant Speed Position Force

15 to 51200 0.01 ms 3000 Immediately
Pn485 Polarity Detection Reference Speed Speed Position Force
0 to 100 1 mm/s 20 Immediately
Pn486 Polarity Detection Reference Accel/Decel Time Speed Position Force
0 to 100 1 ms 25 Immediately
Pn487 Polarity Detection Reference Constant Speed
Time Speed Position Force

Pn488 Polarity Detection Reference Waiting Time Speed Position Force
Pn48E Polarity Detection Range Speed Position Force
1 to 65535 1 mm 10 Immediately
Pn490 Polarity Detection Load Level Speed Position Force
Pn495 Polarity Detection Confirmation Force Reference Speed Position Force
Pn498 Polarity Detection Allowable Error Range Speed Position Force
0 to 30 1° 10 Immediately
98
(11) Jog Operation from the Panel Operator

After checking steps (1) to (10), perform a trial operation as follows:
Note: Perform trial operations without a load attached, if possible.
1. Turn ON the control power and main circuit power.

2. Operate the panel operator or digital operator and move the linear
servomotor using jog operation.
When turning ON the servo for the first time after installation and wir-
ing, stand away from the linear servomotor as overrun may occur.
3. Check that the linear servomotor is moving normally from end to end of
the stroke.
<Information>
• Unsuccessful Trial Operations
An unsuccessful trial operation could be attributed to the following conditions. Check the
conditions and take appropriate measures.
• The force reference is saturated because the load is too heavy, or the jog speed is
too fast.
Lower the jog speed or lighten the load.
• The linear servomotor is moving slightly and then stops.
The linear servomotor and linear scale are not in agreement. Check the wiring, scale pitch
setting, linear scale count, and whether the motor forward direction matches the scale
count direction.
• Polarity detection is not being performed normally.
Perform step (10) Checking or Adjusting Polarity Detection.
Setup is finished when all these checks have been completed.
99
6 Troubleshooting
This chapter describes the problems that can occur during setup and suggests mea-
sures for correcting them.
6.1 Alarm Causes and Corrective Actions

This section describes the alarms that may be displayed during setup, along with their
probably causes and suggested measures for correcting them.
For alarms not described here, refer to the following manuals.

Alarm:
Alarm Name Cause Investigative Actions Corrective Actions
The power supply Set the power supply volt-

Measure the power supply age within the specified
voltage suddenly voltage. range, and set Fn005 to ini-
dropped.
tialize the parameter.
The power supply
went OFF while Note the circumstances Set Fn005 to initialize the
when the power supply went parameter and then set the
changing a parameter OFF. parameter again.
setting.
The SERVOPACK may be
The number of times
that parameters were Were the parameters fre- faulty. Repair or replace the
quently changed through the SERVOPACK.
A.020∗1: written exceeded the host controller? Reconsider the method of
limit.
Parameter writing parameters.
Checksum Error 1
Malfunction caused by
(The parameter data noise from the AC Turn the power supply ON
in the SERVOPACK and OFF several times. If the Take counter measures
power supply or alarm still occurs, there may against noise.
is incorrect.) grounding line, static
electricity noise, etc. be noise interference.
Gas, water drops, or

cutting oil entered the The SERVOPACK may be
SERVOPACK and Check the installation condi- faulty. Repair or replace the
tions.
caused failure of the SERVOPACK.
internal components.
Turn the power supply ON
A SERVOPACK fault and OFF several times. If the faulty. Repair or replace the
occurred. alarm still occurs, the SER-
VOPACK is faulty. SERVOPACK.
∗1. These errors occur in SERVOPACKs using analog pulse reference input/MECHA-
TROLINK-II.
100
6 Troubleshooting
(cont’d)
Alarm:
Cause Investigative Actions Corrective Actions
Alarm Name
Write the parameter of
The software version Check Fn012 to see if the set another SERVOPACK of
A.021∗1: of SERVOPACK that
software version agrees with the same model with the
caused the alarm is
Parameter Format older than that of the
that of the SERVOPACK. If same software version.
Error 1 written parameter.
not, an alarm may occur. Then turn the power OFF
(The parameter data and then ON again.
in the SERVOPACK The SERVOPACK may be
is incorrect.) A SERVOPACK fault − faulty. Repair or replace the
occurred.
SERVOPACK.
The power supply The SERVOPACK may be
voltage suddenly Measure the power supply faulty. Repair or replace the
voltage.
dropped. SERVOPACK.
A.022∗1:
System Checksum The power supply Note the circumstances The SERVOPACK may be
Error 1 went OFF while set- when the power supply went faulty. Repair or replace the
(The parameter data ting an utility function. OFF. SERVOPACK.
in the SERVOPACK Turn the power supply ON
is incorrect.) The SERVOPACK may be
A SERVOPACK fault and OFF several times. If the faulty. Repair or replace the
occurred. alarm still occurs, the SER-
VOPACK is faulty. SERVOPACK.
A.023∗1:
Parameter The SERVOPACK may be
Password Error 1 A SERVOPACK fault − faulty. Repair or replace the
(The parameter data occurred. SERVOPACK.
in the SERVOPACK
is incorrect.)
A.030∗1: A SERVOPACK fault

Main Circuit occurred. − faulty. Repair or replace the
Detector Error SERVOPACK.
The SERVOPACK Check the combination of Select the proper combina-

and servomotor capac-
ities do not match each SERVOPACK and servomo- tion of SERVOPACK and
tor capacities. servomotor capacities.
other.
A.040∗1: The SERVOPACK may be
A SERVOPACK fault −
Parameter Setting occurred.
faulty. Repair or replace the
Error 1 SERVOPACK.
(The parameter set- The parameter setting Check the setting ranges of Set the parameter Un203 to
ting was out of the is out of the specified the parameters that have a value within the specified
allowable setting range. been changed. range.
range.)
Check the electronic gear
The electronics gear ratio. The ratio must satisfy: Set the electronic gear ratio
ratio is out of the set- in the range: 0.001<
ting range. 0.001< (Pn20E/Pn210) (Pn20E/Pn210) <1000.
<1000.
TROLINK-II.
101
(cont’d)
Alarm:
Alarm Name
The encoder output
A.041∗1: pulse (Pn281) is out of
Set Pn281 to a correct
Encoder Output the setting range and Check the parameter Pn281. value.
Pulse Setting Error does not satisfy the
setting conditions.
Occurred when the
power was turned ON
after having changed
the electronic gear Are the detection conditions Reduce the electronic gear
ratio (Pn20E/Pn210)
or the servomotor to satisfied?∗6 ratio (Pn20E/Pn210).
one with a different
number of encoder
pulses.
Occurred after having
A.042∗1: changed the setting of Are the detection conditions Increase the setting for the
the program JOG program JOG movement
Parameter movement speed satisfied?∗6 speed (Pn533)
Combination (Pn533)
Error
Occurred when the
power was turned ON
to carry out advanced
autotuning (Fn017)
after having changed Are the detection conditions
the electronic gear Reduce the electronic gear
ratio (Pn20E/Pn210) satisfied?∗6 ratio (Pn20E/Pn210).
or the servomotor to
one with a different
number of encoder
pulses.
The setting of option card
must be compatible with the
settings of Pn00B.3 and
A.044∗1: The setting of the Check the settings of the Pn002.3.
Fully-closed Loop option card does not
match with those of option card, Pn00B.3, and Mount an option card or
Control Parameter Pn002.3. replace the mounted option
Setting Error Pn00B.3 and Pn002.3. card with an appropriate
model. Or change the
parameter setting.
TROLINK-II.
Pn585 256 Pn210
*6. × ≤
Pn282 [µm] 107 Pn20E
102
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
For a 4-byte parameter
bank, no registration Change the number of bytes
in two consecutive − for bank members to an
A.04A∗2: bytes for two bank appropriate value.
Parameter Setting members.
Error 2 The total amount of
bank data exceeds 64. − Reduce the total amount of
bank data to 64 or less.
(Pn900 × Pn901 > 64)
Check the capacities to see if
they satisfy the following
The SERVOPACK
and servomotor capac- condition: Select the proper combina-
(Motor capacity)/(SERVO- tion of SERVOPACK and
A.050∗1: ities do not match each
PACK capacity) ≤ 1/4, or servomotor capacities.
Combination Error other.
(Motor capacity)/(SERVO-
(The SERVOPACK PACK capacity) ≤ 4.
and servomotor
capacities do not An encoder fault Replace the motor and see if Replace the servomotor
correspond.) occurred. the alarm occurs again. (encoder).
A SERVOPACK fault
occurred. − faulty. Repair or replace the
SERVOPACK.
An unsupported serial
A.051∗1: converter unit, serial Check the product specifica- Select the correct combina-
Unsupported encoder, or external tions, and select the correct
encoder is connected model. tion of units.
Product Alarm
to the SERVOPACK.
The setting of the lin-
A.080∗1 ear scale pitch (Pn282)
Linear Scale has not been changed Check the value of Pn282. Correct the value of Pn282.
Pitch Setting from the default set-
Error ting.
After executing the
utility function to turn
A.0b0∗1: ON the power to the
Cancelled Servo Restart the system including
motor, the Servo ON − the host controller.
ON Command command was sent
Alarm from the host control-
ler.
TROLINK-II.
∗2. These errors occur in SERVOPACKs using MECHATROLINK-II.
103
(cont’d)
Alarm:
Alarm Name
Incorrect wiring or
contact fault of power Check the wiring. Refer to
3.1 Main Circuit Wiring Correct the wiring.
supply cable or motor (SIEPS80000047/48).
main circuit cable.
Check for short-circuits
across the servomotor termi-
Short-circuit or ground nals, U, V, and W, or
fault of power supply between the grounding and Some cables may be dam-
aged. Repair or replace
cable or motor main servomotor terminal U, V, or damaged cables.
circuit cable. W. Refer to 3.1 Main Circuit
Wiring (SIEPS80000047/
48).
Check for short-circuits
across the motor terminals,
U, V, and W, on the SERVO-
PACK, or between the The servomotor may be
grounding and motor termi- servomotor.
nal U, V, or W. Refer to 3.1
Main Circuit Wiring
Short-circuit or ground (SIEPS80000047/48).
A.100∗1: fault inside the servo-
Overcurrent or motor. Check for short-circuits
Heat Sink across the motor terminals,
Overheated U, V, and W, on the SERVO- The SERVOPACK may be
(An overcurrent PACK, or between the
flowed through the grounding and terminal U, V, faulty. Repair or replace the
SERVOPACK.
IGBT or heat sink of or W. Refer to 3.1 Main Cir-
SERVOPACK over- cuit Wiring
heated.) (SIEPS80000047/48).
Incorrect wiring or Check the wiring. Refer to

3.6 Connecting Regenerative
contact fault of the Resistors (SIEPS80000047/ Correct the wiring.
regenerative resistor.
48).
Check the resistor power
The dynamic brake consumption monitor
(DB: Emergency stop Un00B to see how many Change the SERVOPACK
executed from the times the DB has been used. model, operation condi-
SERVOPACK) was Or, check the alarm trace tions, or the mechanism so
frequently activated, back monitor Fn000 to see if that the DB does not need to
or the DB overload the DB overload alarm be used so frequently.
alarm occurred. A.730 or A.731 was
reported.
The generated regen-
erative energy Check the regenerative load Check the operation condi-
exceeded the SERVO- ratio monitor Un00A to see tion including overload, and
PACK regenerative how many times the regener- reconsider the regenerative
energy processing ative resistor has been used. resistor value.
capacity.
TROLINK-II.
104
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
Change the regenerative
The SERVOPACK Check the regenerative load resistance value to a value
ratio monitor Un00A to see
regenerative resis- how many times the regener- larger than the SERVO-
tance is too small. PACK minimum allowable
ative resistor has been used. resistance value.
A heavy load was
A.100∗1: applied while the ser- Check to see if the operating Reduce the load applied to
Overcurrent or vomotor was stopped conditions are outside servo- the servomotor or increase
Heat Sink or running at a low- drive specifications. the operation speed.
Overheated speed.
(An overcurrent Take counter measures for
flowed through the Improve the wiring or instal- noise, such as correct wir-
IGBT or heat sink of Malfunction caused by lation environment, such as ing of the FG. Use an FG
SERVOPACK noise interference. by reducing noise, and check wire size equivalent to the
overheated.) to see if the alarm recurs. SERVOPACK main circuit
(cont’d) wire size.
Turn the power supply OFF
and then ON again. If the
A SERVOPACK fault alarm still occurs, the SER-
−
occurred. VOPACK may be faulty.
Repair or replace the SER-
VOPACK.
Regenerative resistor
capacity (Pn600) is set
to a value other than 0
Connect the external regen-
for a SGDV-R70, Check the external regenera- erative resistor, or set Pn600
-R90, -1R6, or -2R8 tive resistor connection and
SERVOPACK, and an Pn600. to 0 if no regenerative resis-
tor is required.
external regenerative
resistor is not con-
nected.
A.300∗1: The jumper between Confirm that a jumper is

the power supply ter-
Regeneration minals B2 and B3 is mounted between the power Correctly mount a jumper.
Error supply terminals B2 and B3.
removed.
The external regenera-
tive resistor is incor-
Check the external regenera- Correctly connect the exter-
rectly wired, or is tive resistor connection. nal regenerative resistor.
removed or discon-
nected.
The power supply Measure the power supply Set the power supply volt-
voltage exceeds the age within the specified
specified limit. voltage. range.
TROLINK-II.
105
(cont’d)
Alarm:
Alarm Name
The external regenera- Check the external regenera- resistance to a correct value
tive resistor capacity
or the regenerative tive resistor to see if the or use an external regenera-
capacity is appropriate. tive resistor of appropriate
resistance is incorrect. capacity.
Insufficient SERVO-
PACK capacity or
insufficient regenera-
Reconsider the capacity Reconsider the capacity
tive resistor capacity selection. selection.
caused regenerative
power to continuously
flow back.
A.300∗1: Regenerative power
Regeneration continuously flowed Check the load to the servo- Reconsider the system
Error back because negative including servo, machine,
(cont’d) load was continuously motor during operation. and operation conditions.
applied.
The load moment of
inertia exceeds the Check the load moment of Reconsider the capacity
inertia. selection.
allowable value.
While the main circuit
power supply is OFF, turn
the control power supply
A SERVOPACK fault OFF and then turn ON
occurred. − again. If the alarm still
occurs, the SERVOPACK
may by faulty. Repair or
replace the SERVOPACK.
The power supply Measure the power supply Set the power supply volt-
voltage exceeds the age within the specified
specified limit. voltage. range.
Incorrect external
regenerative resis- Change the regenerative
tance. resistance, regenerative
Insufficient servo resistor capacity, or SER-
amplifier capacity or Check the operation condi- VOPACK capacity. Recon-
A.320∗1: regenerative resistor tion or the capacity. sider the operation
Regenerative capacity. conditions using the capac-
Overload Or, regenarative power ity selection software Sig-
has been continuously maSize+, etc.
flowing back.
Regenerative power
continuously flowed Reconsider the system
Check the load to the servo-
back because negative motor during operation. including servo, machine,
load was continuously and operation conditions.
applied.
TROLINK-II.
106
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
The setting of parame-
ter Pn600 is smaller Check the external regenera-
Set the parameter Pn600 to
than the external tive resistor connection and a correct value.
Regenerative Resis- Pn600.
tor's capacity.
A.320∗1:
Regenerative The external regenera- resistance to a correct value
Overload tive resistance is too Check the regenerative resis- or use an external regenera-
(cont’d) tance.
high. tive resistor of appropriate
capacity.
A SERVOPACK fault
SERVOPACK.
When using a regenerative
resistor built in the SERVO-
The regenerative resis- PACK:
tor disconnected when Measure the resistance of the Repair or replace the SER-
the SERVOPACK VOPACK.
power voltage was regenerative resistor. When using an external
increased. regenerative resistor:
Replace the external regen-
erative resistor.
A.330∗1:
Main Circuit Power In the AC power input Check the power supply to Correct the settings to
Supply Wiring mode, DC power was see if it is a DC power sup- match the actual power sup-
Error supplied. ply. ply specifications.
(Detected when the In the DC power input Check the power supply to Correct the settings to
power to the main mode, AC power was see if it is a AC power sup- match the actual power sup-
circuit is turned supplied. ply. ply specifications.
ON.)
Regenerative resistor Is the regenerative resistor
capacity (Pn600) is not
set to 0 even though connected? Set Pn600 to 0.
If it is, check the regenera-
the regenerative resis- tive resistor capacity.
tor is disconnected.
A SERVOPACK fault
SERVOPACK.
TROLINK-II.
107
(cont’d)
Alarm:
Alarm Name
For 200 VAC SERVO-
PACKs:
The AC power supply
voltage exceeded 290
V.
For 400 VAC SERVO-
PACKs:
The AC power supply
V.
For 200 VAC SERVO- Measure the power supply Set AC power supply volt-
age within the specified
PACKs with DC voltage. range.
power supply input:
The power supply
V.
For 400 VAC SERVO-
A.400∗1: PACKs with DC
Overvoltage power supply input:
The power supply
(Detected when the voltage exceeded 820
SERVOPACK's V.
main circuit DC
voltage is one of the Improve the power supply
values below. conditions by installing a
200 VAC SERVO- The power supply is surge protector, etc. Then,
PACKs: 410 VDC or unstable, or was influ- Measure the power supply turn the power supply ON
more enced by a lightning voltage. again. If the alarm still
400 VAC SERVO- surge. occurs, the SERVOPACK
PACKs: 820 VDC or may be faulty. Repair or
more) replace the SERVOPACK.
(Detected when the
power to the main For 200 VAC SERVO-
circuit is turned ON) PACKs:
The servomotor accel-
erated/decelerated
with the AC power
voltage between 230
and 270 V. Check the power supply Set AC power supply volt-
voltage and the speed and age within the specified
For 400 VAC SERVO- force during operation. range.
PACKs:
The servomotor accel-
erated/decelerated
with the AC power
voltage between 480
and 560 V.
The external regenera- Select a regenerative resis-
tive resistance is too Check the operation condi- tance value appropriate for
tions and the regenerative
high for the actual resistance. the operation conditions and
operation conditions. load.
TROLINK-II.
108
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
A.400∗1: The load moment of Confirm that the load

Increase the deceleration
inertia exceeded the moment of inertia is within
Overvoltage allowable value. the allowable range.
time, or reduce the load.
(Detected when the
SERVOPACK's
main circuit DC
voltage is one of the
values below. Turn the control power OFF
200 VAC SERVO- and then ON again while
PACKs: 410 VDC or the main circuit power sup-
more A SERVOPACK fault
− ply is OFF. If the alarm still
400 VAC SERVO- occurred. occurs, the SERVOPACK
PACKs: 820 VDC or may be faulty. Repair or
more) replace the SERVOPACK.
(Detected when the
power to the main
circuit is turned ON)
(cont’d.)
For 200 VAC SERVO-
PACKs:
The power supply is Set the power supply volt-
120 V or less. Measure the power supply
For 400 VAC SERVO- voltage. age within the specified
A.410∗1: range.
PACKs:
Undervoltage The power supply is
(Detected when the 240 V or less.
SERVOPACK's The power supply
main circuit DC Measure the power supply Increase the power supply
voltage dropped dur-
voltage is one of the ing operation. voltage. capacity.
values below.
200 VAC SERVO- Set the power supply volt-
PACKs: 170 VDC or age within the specified
less Occurrence of instan- Measure the power supply range. When the instanta-
400 VAC SERVO- taneous power inter-
ruption. voltage. neous power cut hold time
PACKs: 340 VDC or Pn509 is set, decrease the
less.) setting.
(Detected when the
power to the main Repair or replace the SER-
circuit is turned The SERVOPACK VOPACK, connect an AC/
−
ON.) fuse is blown out. DC reactor, and run the
SERVOPACK.
A SERVOPACK fault
SERVOPACK.
TROLINK-II.
109
(cont’d)
Alarm:
Alarm Name
The order of phases U,
V, and W in the motor Check the servomotor wir- Confirm that the motor is
ing. correctly wired.
wiring is incorrect.
A reference value
∗1 exceeding the over- Reduce the reference value
A.510 : Check the input value.
speed detection level or adjust the gain.
Overspeed was input.
(The motor speed Reduce the reference input
exceeds the maxi- The motor speed over- Check the motor speed gain, adjust the servo gain,
mum.) shoot occurred. waveform. or reconsider the operation
conditions.
A SERVOPACK fault − faulty. Repair or replace the
occurred.
SERVOPACK.
The encoder output Decrease the setting of the
pulse output frequency Check the encoder output encoder output pulse
pulse output setting.
A.511∗1: exceeded the limit. (Pn281).
Overspeed of Rate The encoder output
Encoder Output pulse output frequency Check the encoder output
Pulse exceeded the limit pulse output setting and Decrease the motor speed.
because the motor motor speed.
speed was too high.
Abnormal vibration Check for abnormal noise Reduce the motor speed or
was detected at the from the motor, and check
motor movement the speed and torque/force reduce the speed loop gain
(Pn100).
speed. waveform during operation.
A.520∗1:
Vibration Alarm The mass ratio
(Pn103) value is
Check the value of the mass Set the mass ratio (Pn103)
greater than the actual ratio. to an appropriate value.
value or is greatly
changed.
Reduce the load so that the
The motor vibrated mass ratio falls within the
A.521∗1: considerably while
Check the motor speed
allowable value, or reduce
performing tuning-less waveform. the load level or the gain
Autotuning Alarm function (factory set- level using the tuning-less
(Vibration was ting). function utility function
detected while (Fn200).
performing tuning-
less function.) The motor vibrated
considerably during Check the motor speed Execute advanced autotun-
waveform. ing.
advanced autotuning.
TROLINK-II.
110
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
Check the value of Pn385
A.550∗1: The Pn385 setting is and Un101(Maximum motor Set Pn385 to a value equal
Maximum greater than the maxi- speed which is determined to or lower than the motor
Speed Setting mum speed. by encoder output pulses or maximum speed.
Error by motor itself).
Incorrect wiring or Confirm that the motor and
contact fault of motor Check the wiring.
and encoder. encoder are correctly wired.
Operation beyond the Check the motor overload Reconsider the load condi-
tions and operation condi-
overload protection characteristics and executed tions. Or, increase the motor
characteristics. run command.
capacity.
Excessive load was
A.710∗1: applied during opera- Check the executed run com- Remove the mechanical
A.720∗1: tion because the motor
was not driven due to mand and motor speed. problems.
Overload mechanical problems.
A.710: High Load
A.720: Low Load The setting of the lin-
ear scale pitch (Pn282) Check the setting of Pn282. Correct the setting of
Pn282.
is incorrect.
The setting of the
motor phase selection Check the setting of Correct the setting of
Pn080.1. Pn080.1.
(Pn080.1) is incorrect.
A SERVOPACK fault − faulty. Repair or replace the
occurred.
SERVOPACK.
The motor rotates Take measures to ensure the
because of external Check the operation status. motor will not rotate
A.730∗1:
force. because of external force.
A.731∗1:
Dynamic Brake • Reduce the servomotor
Overload reference speed.
The rotating energy at Check the DB resistor power
a DB stop exceeds the consumption monitor • Reduce the load moment
(Detected with of inertia.
SGDV-3R8A, DB resistance capac- (Un00B) to see how many • Reduce the number of
-5R5A, -1R9D, ity. times the DB has been used.
times of the DB stop
-3R5D, -5R4D, operation.
-8R4D, -120D, or
-170D SERVO- The SERVOPACK may be
PACKs.) A SERVOPACK fault
SERVOPACK.
TROLINK-II.
111
(cont’d)
Alarm:
Alarm Name
The inrush current
limit resistor opera-
A.740∗1: tion frequency at the Check how often the power
Reduce the frequency of
turning the main circuit
Overload of Surge main circuit power supply has been turned ON/
power supply ON/OFF to
Current Limit supply ON/OFF oper- OFF.
less than once per minute.
Resistor ation exceeds the
(The main circuit allowable range.
power is turned ON/ The SERVOPACK may be
OFF too frequently.) A SERVOPACK fault
SERVOPACK.
Decrease the ambient tem-
The ambient tempera- Check the ambient tempera- perature by improving the
ture is too high. ture using a thermostat. SERVOPACK installation
conditions.
The overload alarm
has been reset by turn- Check the alarm trace back Change the method for
monitor (Fn000) to see if the
ing OFF the power too overload alarm was reported. resetting the alarm.
many times.
Check the accumulated load
A.7A0∗1: ratio monitor Un009 to see
Excessive load or
Heat Sink the load during operation,
operation beyond the and the regenerative load Reconsider the load and
Overheated regenerative energy operation conditions.
(Detected when the processing capacity. ratio monitor Un00A to see
heat sink tempera- the regenerative energy pro-
ture exceeds 100°C.) cessing capacity.
Incorrect SERVO-
PACK installation ori-
entation or/and Check the SERVOPACK Install the SERVOPACK
insufficient space installation conditions. correctly as specified.
around the SERVO-
PACK.
A SERVOPACK fault The SERVOPACK may be

− faulty. Repair or replace the
occurred. SERVOPACK.
Remove foreign matter or
A.7AB∗1: The fan inside the Check for foreign matter or
debris from the SERVO-
Built-in Fan in PACK. If the alarm still
SERVOPACK debris inside the SERVO-
SERVOPACK stopped. PACK. occurs, the SERVOPACK
Stopped may be faulty. Repair or
replace the SERVOPACK.
The linear scale may be
A.820∗1: A linear scale fault
− faulty. Repair or replace the
occurred.
Encoder linear scale.
Checksum Error
A SERVOPACK fault The SERVOPACK may be
(Detected on the − faulty. Repair or replace the
encoder side.) occurred. SERVOPACK.
TROLINK-II.
112
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
A malfunction and then ON again. If the
occurred in the linear − alarm still occurs, the linear
A.840∗1: scale. scale may be faulty. Repair
or replace the linear scale.
Encoder Data
Error Correct the wiring around
(Detected on the the linear scale by separat-
Malfunction of linear ing the encoder cable from
encoder side.) scale because of noise −
interference, etc. the main circuit cable or by
checking the grounding and
other wiring.
The motor exceeded Check the speed monitor Reduce the motor speed to a
the specified over- value below the speed speci-
(Un000) to confirm the
speed when the control motor speed when the power fied by the linear scale man-
power supply was ufacture, and turn ON the
is turned ON.
A.850∗1: turned ON. control power supply.
Encoder Turn the power supply OFF
Overspeed and then ON again. If the
(Detected when the An encoder fault − alarm still occurs, the servo-
control power supply occurred. motor may be faulty. Repair
was turned OFF and or replace the servomotor.
then ON again.)
(Detected on the Turn the power supply OFF
encoder side.) and then ON again. If the
occurred. − VOPACK may be faulty.
VOPACK.
The ambient tempera-
Measure the ambient tem- The ambient temperature
ture around the servo- perature around the motor. must be 40°C or less.
motor is too high.
The servomotor load is Check the accumulated load The servomotor load must
greater than the rated ratio monitor (Un009) to see be within the specified
A.860∗1: load. the load. range.
Encoder
Overheated Turn the power supply OFF
(Only when an abso- An encoder fault − alarm still occurs, the servo-
lute encoder is con- occurred. motor may be faulty. Repair
nected.) or replace the servomotor.
(Detected on the
encoder side.) Turn the power supply OFF
A SERVOPACK fault − alarm still occurs, the SER-
VOPACK.
TROLINK-II.
113
(cont’d)
Alarm:
Alarm Name
A.890∗1: A linear scale fault The linear scale may be

Encoder Scale − faulty. Repair or replace the
occurred. linear scale.
Error
A.891∗1: An encoder fault
Encoder Module occurred. − alarm still occurs, the servo-
Error motor may be faulty. Repair
or replace the servomotor.
A malfunction
occurred in the speed Clear and reset the alarm
reference input sec- − and restart the operation.
∗1:
A.b10 tion.
Speed Reference
A/D Error Turn the power supply OFF
(Detected when the A SERVOPACK fault alarm still occurs, the SER-
servo is ON.) −
VOPACK.
A malfunction
occurred in the detec-
tion section of the − Clear and reset the alarm
speed reference A/D and restart the operation.
conversion data. (Not
an alarm.)
A malfunction
A.b11∗1: occurred in the speed Clear and reset the alarm
Speed Reference −
reference input sec- and restart the operation.
A/D Data Error tion.
VOPACK.
A malfunction
occurred in the reading Clear and reset the alarm
section of the force − and restart the operation.
A.b20∗1: reference input.
Reference Force
Input Read Error Turn the power supply OFF
(Detected when the A SERVOPACK fault alarm still occurs, the SER-
servo is ON.) −
VOPACK.
TROLINK-II.
114
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
A.b31∗1: and then ON again. If the
The current detection
Current Detection circuit for phase U is − alarm still occurs, the SER-
Error 1 VOPACK may be faulty.
faulty. Repair or replace the SER-
(Phase-U)
VOPACK.
A.b32∗1: and then ON again. If the
The current detection
Current Detection circuit for phase V is − alarm still occurs, the SER-
Error 2 VOPACK may be faulty.
faulty. Repair or replace the SER-
(Phase-V)
VOPACK.
The detection circuit and then ON again. If the
A.b33∗1: for the current is −
alarm still occurs, the SER-
VOPACK may be faulty.
Current Detection faulty.
Error 3 VOPACK.
(Current Detector)
The motor main circuit Check for disconnection of
Correct the motor wiring.
cable is disconnected. the motor main circuit cable.
A.b6A∗2: SERVOPACK
MECHATROLINK MECHATROLINK − Replace the SERVOPACK.
Communications communication sec-
ASIC Error 1 tion fault.
A.b6b∗2: SERVOPACK
MECHATROLINK MECHATROLINK
communication sec- − Replace the SERVOPACK.
Communications
ASIC Error 2 tion fault.

A.bF0∗1: and then ON again. If the
System Alarm 0 occurred. − VOPACK may be faulty.
(Scan C error) Repair or replace the SER-
VOPACK.
System Alarm 1 occurred. − VOPACK may be faulty.
(CPU stack memory) Repair or replace the SER-
VOPACK.
TROLINK-II.
115
(cont’d)
Alarm:
Alarm Name
A.bF2∗1: Turn the power supply OFF

System Alarm 2 A SERVOPACK fault alarm still occurs, the SER-
(Current control −
program processing Repair or replace the SER-
error) VOPACK.
System Alarm 3 occurred. VOPACK may be faulty.
(Scan A error) Repair or replace the SER-
VOPACK.
System Alarm 4 A SERVOPACK fault alarm still occurs, the SER-
(CPU watchdog
timer error) Repair or replace the SER-
VOPACK.
The order of phases U,
Confirm that the motor is
V, and W in the motor Check the motor wiring. correctly wired.
wiring is incorrect.
The setting of the
Check the setting of Correct the setting of
motor phase selection Pn080.1. Pn080.1.
(Pn080.1) is incorrect.
A.C10∗1: If the alarm still occurs after
Servo Overrun turning the power OFF and
Detected An encoder fault then ON again, even though
occurred. − the motor is correctly wired,
(Detected when the the servomotor may be
servo is ON.) faulty.
VOPACK.
TROLINK-II.
116
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
Fine-adjust the installation
The linear scale signal Check the voltage of the lin- status of the linear scale
is weak. ear scale signal. head, or replace the linear
scale.
Change the setting of
The count-up direction Check the setting of Pn080.1
A.C20∗1: of the linear scale does (Motor Phase Selection). Pn080.1 (Motor Phase
Phase Detection Selection).
not match the forward Check the installation direc- Correctly reinstall the linear
Error direction of the motor tions for the linear scale and
coil assembly. motor coil assembly. scale and motor coil assem-
bly.
Correct the FG wiring and
The hole sensor signal
is affected by noise. − take measures against noise
for the hole sensor wiring.
The hole sensor is pro- Correctly reinstall the motor
truding from the motor Check the hole sensor. coil assembly or motor
magnetic way. magnetic way.
The setting of the lin- Check the setting of the lin-
A.C21∗1: ear scale pitch (Pn282) Correct the value of Pn282.
is incorrect. ear scale pitch (Pn282).
Hole Sensor Error
The hole sensor wiring Check the hole sensor wir- Correct the hole sensor wir-
is incorrect. ing. ing.
A hole sensor fault
− Replace the hole sensor.
occurred.
The SERVOPACK
A.C22∗1: phase data does not Execute polarity detection
Phase Information −
match that of the linear (Fn080).
Disagreement scale.
The settings of the linear
scale pitch (Pn282) and
A.C50∗1: Parameter settings are
Check the linear scale speci- motor phase selection
Polarity Detection fications and feedback signal (Pn080.1) may not match
incorrect.
Error status. the actual product require-
ments. Set these parameters
to the correct values.
TROLINK-II.
117
(cont’d)
Alarm:
Alarm Name
Check the wiring to see if:
• Each FG of the serial con-
verter unit and linear ser-
vomotor is connected to
the FG of the SERVO-
Take measures to avoid
Noise interference PACK. noise interference by cor-
• The FG of the SERVO-
occurred on the scale PACK is connected to the rectly connecting FG lines,
signal. shielding the encoder cable,
FG of the power supply. etc.
• The encoder cable is
securely shielded.
Check to see if the detection
reference is repeatedly out-
put in one direction.
The polarity cannot be
properly detected if the
detection reference is 0
(zero), but the speed feed-
back is not 0 (zero) because
of an external force, such as
cable tension, applied to the
motor coil assembly.
A.C50∗1: An external force was
applied to the motor − Take measures to reduce the
Polarity Detection external force so that the
coil assembly. speed feedback becomes 0
Error
(cont’d) for a 0 detection reference.
If external force cannot be
reduced, increase the value
of the changes in the
sequence input signal allo-
cation for each signal
(Pn481).
If the linear scale pitch is
100 µm or longer, the SER-
VOPACK cannot detect the
correct speed feedback.
Use a scale pitch with
higher accuracy (a pitch
within 40 µm recom-
The linear scale reso- Check the linear scale pitch mended.) Or, increase the
lution is too low. to see if it is within 100 µm. value of the polarity detec-
tion reference speed
(Pn485). However, note that
increasing the value of
Pn485 will widen the servo-
motor movement range
required for polarity detec-
tion.
TROLINK-II.
118
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
A.C51∗1: Perform the wiring for an

An overtravel signal overtravel signal. Execute
Overtravel Check the position after
was detected during overtravel. polarity detection at a posi-
Detection at polarity detection. tion where an overtravel
Polarity Detection signal is not detected.
<Analog Pulse
Model>
The servo has been
turned ON under the
following circum-
stances. − Input the /PDET signal.
• Polarity detection
was not yet com-
plete.
• The /PDET signal
was not input.
A.C52∗1: <M-II Model>

Polarity Detection The servo has been
Uncompleted turned ON under the
following circum-
stances.
• An absolute linear
When using an absolute lin-
scale is being used. ear scale, set the parameter
• The polarity detec- −
tion selection for Pn587.0 to 1 to execute
polarity detection.
the absolute linear
scale was set to not
execute.
(Pn587.0=0)
• Polarity was not yet
detected.
Increase the value of the
polarity detection range
The moving distance
A.C53∗1: exceeded the set value
(Pn48E). Or, increase the
Out of Range for of Pn48E in the mid- − value of the changes in the
Polarity Detection sequence input signal allo-
dle of detection. cation for each signal
(Pn481).
Increase the value of the
polarity detection confirma-
tion force reference
(Pn495).
A.C54∗1: External force was Increase the value of the
Polarity Detection applied to the servo- − polarity detection allow-
Error 2 motor. able error range (Pn498).
Note that increasing the
allowable error will also
increase the motor tempera-
ture.
TROLINK-II.
119
(cont’d)
Alarm:
Alarm Name
An encoder fault
occurred. − alarm still occurs, the servo-
A.C80∗1: motor may be faulty. Repair
Absolute Encoder
Clear Error and Turn the power supply OFF
Multi-turn Limit and then ON again. If the
Setting Error A SERVOPACK fault alarm still occurs, the SER-
−
VOPACK.
Contact fault of Re-insert the encoder con-
encoder connector or Check the encoder connector
nector and confirm that the
incorrect encoder wir- contact status. encoder is correctly wired.
ing.
Encoder cable discon-
nection or short-cir- Use the encoder cable with
cuit. Check the encoder cable.
Or, incorrect cable the specified rating.
impedance.
Corrosion caused by
improper temperature,
Improve the operating envi-
humidity, or gas ronmental conditions, and
Short-circuit caused
by intrusion of water Check the operating environ- replace the cable. If this
A.C90∗1: drops or cutting oil
ment. does not solve the problem,
Encoder repair or replace the SER-
Connector contact
Communications fault caused by vibra- VOPACK.
Error tion.
Correct the wiring around
the encoder to avoid noise
Malfunction caused by − interference (Separate the
noise interference. encoder cable from the
main circuit cable, improve
grounding, etc.)
Connect the servomotor to
another SERVOPACK, and
A SERVOPACK fault turn ON the control power.
− If no alarm occurs, the
occurred. SERVOPACK may be
SERVOPACK.
TROLINK-II.
120
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
The noise interference
occurred on the I/O
Confirm that there is no
signal cable because Check the encoder cable and problem with the encoder
the encoder cable is connector.
bent and the sheath is cable layout.
damaged.
A.C91∗1: The encoder cable is
Encoder bundled with a high- Check the encoder cable lay- Confirm that there is no
surge voltage on the
Communications current line or near a out. encoder cable.
Position Data Error high-current line.
The FG potential var-
ies because of influ- Properly ground the device
ence from machines Check the encoder cable lay-
to separate from the encoder
on the servomotor out. FG.
side, such as the
welder.
Noise interference
occurred on the I/O Take counter measures
signal cable from the − against noise.
encoder.
Excessive vibration Reduce the machine vibra-
and shocks were Check the operating environ- tion or correctly install the
ment.
applied to the encoder. servomotor.
A.C92∗1: Turn the power supply OFF
Encoder and then ON again. If the
Communications An encoder fault
occurred. − alarm still occurs, the servo-
Timer Error motor may be faulty. Repair
−
VOPACK.
An encoder fault − alarm still occurs, the servo-
occurred.
motor may be faulty. Repair
A.CA0∗1: or replace the servomotor.
Encoder Turn the power supply OFF
Parameter Error and then ON again. If the
VOPACK.
TROLINK-II.
121
(cont’d)
Alarm:
Alarm Name
The encoder wiring
and contact are incor- Check the encoder wiring. Correct the encoder wiring.
rect.
Noise interference Use tinned annealed copper
occurred due to incor- twisted-pair or shielded
− twisted-pair cable with a
rect encoder cable
specifications. core of at least 0.12 mm2.
Noise interference
occurred because the
The wiring distance must be
wiring distance for the − 20 m (65.6 ft) max.
encoder cable is too
long.
The FG potential var-
ies because of influ- Make the grounding for the
∗1
A.Cb0 : ence from machines Check the encoder cable and machine separately from
connector.
Encoder Echoback on the motor side, encoder side FG.
Error such as the welder.
Excessive vibration Reduce the machine vibra-
Check the operating environ-
and shocks were ment. tion or correctly install the
applied to the encoder. servomotor.
An encoder fault and then ON again. If the
− alarm still occurs, the servo-
occurred. motor may be faulty. Repair
VOPACK.
TROLINK-II.
122
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
Wiring of cable
between serial con-
Check the external encoder
verter unit and SER- wiring. Correct the cable wiring.
VOPACK is incorrect
or contact is faulty.
The specified cable is
A.CF1∗3: not used between
Confirm the external
encoder wiring specifica- Use the specified cable.
Feedback Option serial converter unit
tions.
Card and SERVOPACK.
Communications
Error Cable between serial
converter unit and Measure the external
(Reception Error) Use 20-m cable max.
SERVOPACK is too encoder cable length.
long.
Sheath of cable
between serial con- Check the external encoder
verter unit and SER- cable. Replace the cable.
VOPACK is broken.
Correct the wiring around
Noise interferes with serial converter unit, e.g.,
the cable between
A.CF2∗3: serial converter unit − separating I/O signal cable
Feedback Option from main circuit cable or
and SERVOPACK. grounding.
Card
Communications A serial converter unit − Replace the serial converter
Error fault occurred. unit.
(Timer Stop)
A SERVOPACK fault
− Replace the SERVOPACK.
occurred.
The contact in the ser- Confirm that there is no
vomotor U, V, and W Check the motor main circuit contact fault in the motor
cable connection.
A.d00∗1: wirings is faulty. wiring of encoder wiring.
Position Error Increase the servo gain
Pulse Overflow The SERVOPACK Check the SERVOPACK (using the parameters such
[Position error gain is low. gain to see if it is too low.
as Pn100 and Pn102.)
exceeded the value
set in the excessive Reduce the position refer-
position error alarm The reference speed of Reduce the reference pulse ence pulse frequency or ref-
level (Pn520)] the position reference frequency, and operate the erence acceleration. Or,
mode is too fast. SERVOPACK. reconsider the electronic
gear ratio.
TROLINK-II.
∗3. These errors occur when using a feedback option card.
123
(cont’d)
Alarm:
Alarm Name
Apply the smoothing func-
Reduce the reference accel- tion, such as using position
The position reference
acceleration is too fast. eration, and operate the reference acceleration/
SERVOPACK. deceleration time constant
(Pn216).
A.d00∗1:
Position Error Setting of the parame-
Pulse Overflow ter Pn520 (Excessive
Check the alarm level
[Position error Position Error Alarm Set the parameter Pn520 to
(Pn520) to see if it is set to
exceeded the value Level) is low against an appropriate value. proper value.
set in the excessive the operating condi-
position error alarm tion.
level (Pn520)] Turn the power supply OFF
(cont’d) and then ON again. If the
VOPACK.
When setting not to
clear position error Set position error pulses to
A.d01∗1: pulses, the motor Check the error counter
be cleared while in servo
Position Error OFF status.
rotated while the servo (position error amount)
Pulse Overflow was OFF, resulting in (Un008) while servo is OFF. Or, correct the excessive
Alarm at Servo ON position error alarm level
position error pulse (Pn520).
overflow.
The servo was turned
ON while the position
error pulses accumu- Set position error pulses to
lated, and the refer- be cleared while in servo
∗1
A.d02 : ence pulse was input OFF status.
Position Error while the servomotor Check the error counter Or, correct the excessive
Pulse Overflow was running at the (position error amount) position error alarm level
Alarm by Speed speed limit (Pn529). (Un008) while servo is OFF. (Pn520).
Limit at Servo ON As a result, the posi- Or, adjust the speed limit
tion error count level (Pn529) when servo
exceeded the exces- turns ON.
sive position error
alarm level (Pn520).
A.d30∗1: The position data

Check the input reference Reconsider the operating
Position Data exceeded
pulse counter (Un00C). specifications.
Overflow ±1879048192.
TROLINK-II.
124
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
A parameter was
changed by the digital Stop changing parameters
using digital operator or
operator or the per- Confirm the way the param- personal computer during
sonal computer during eters are edited.
MECHATROLINK-II MECHATROLINK-II com-
munications.
communications.
A.E02∗2:
COM Alarm 2 MECHATROLINK-II Remove the cause of trans-
(WDC + SyncFlag transmission cycle − mission cycle fluctuation at
Synchronization fluctuated. host controller.
Error) Turn the power supply OFF
VOPACK.
A.E40∗2: Setting of MECHA- Check the MECHA-

MECHATROLINK- TROLINK-II trans- Set the transmission cycle
II Transmission mission cycle is out of TROLINK-II transmission to the proper value.
cycle setting.
Cycle Setting Error specifications range.
WDT data of host con-

Check the WDT data updat- Update the WDT data at the
troller was not updated ing for the host controller. host controller correctly.
correctly.
A.E50∗2:
MECHATROLINK- Turn the power supply OFF
II Synchronization and then ON again. If the
Error A SERVOPACK fault alarm still occurs, the SER-
VOPACK.
WDT data of host con-
troller was not updated
correctly at the syn-
chronization commu- Check the WDT data updat- Update the WDT data at the
nications start, and ing for the host controller. host controller correctly.
A.E51∗2: synchronization com-
munications could not
MECHATROLINK- start.
II Synchronization
Failed Turn the power supply OFF
VOPACK.
125
(cont’d)
Alarm:
Alarm Name
Correct the MECHA-
MECHATROLINK-II Check the MECHA- TROLINK-II wiring.
wiring is incorrect. TROLINK-II wirings. Connect the terminator cor-
rectly.
Take measures against
noise. Check the MECHA-
A.E60∗2: MECHATROLINK-II TROLINK-II communica-
data reception error tions cable and FG wiring
MECHATROLINK- −
occurred due to noise and take measures such as
II Communications interference. adding ferrite core on the
Error MECHATROLINK-II com-
(Reception Error) munications cable.
VOPACK.
MECHATROLINK-II Check the MECHA- Remove the cause of trans-
∗2 transmission cycle TROLINK-II transmission mission cycle fluctuation at
A.E61 : fluctuated. cycle setting. host controller.
MECHATROLINK-
II Transmission Turn the power supply OFF
Cycle Error and then ON again. If the
(Synchronization occurred. − VOPACK may be faulty.
Interval Error) Repair or replace the SER-
VOPACK.
A.EA0∗2:
DRV Alarm 0 Turn the power supply OFF
(SERVOPACK and then ON again. If the
failure) A SERVOPACK fault alarm still occurs, the SER-
A.EA1∗2: Repair or replace the SER-
DRV Alarm 1 VOPACK.
(SERVOPACK
initial access error)
126
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
A parameter was
changed by the digital Stop changing parameters
using digital operator or
operator or the per- Confirm the way the param- personal computer during
sonal computer during eters are edited.
MECHATROLINK-II MECHATROLINK-II com-
munications.
communications.
A.EA2∗2: MECHATROLINK-II Check the MECHA- Remove the cause of trans-
DRV Alarm 2 transmission cycle TROLINK-II transmission mission cycle fluctuation at
(SERVOPACK fluctuated. cycle setting. host controller.
WDC error)
VOPACK.
The output signal circuits or
The lag between acti- devices for /HWBB1 and
/HWBB2 or the SERVO-
A.Eb1∗1: vations of the input Measure the time lag PACK input signal circuits
Safety Function signals /HWBB1 and
/HWBB2 for the between the /HWBB1 and may be faulty. Alterna-
Signal Input Timing /HWBB2 signals. tively, the input signal
Error HWBB function is one cables may be discon-
second or more.
nected. Repair or replace
them.
A parameter was
Stop changing parameters
changed by the digital using digital operator or
operator or the per- Confirm the way the param-
sonal computer during eters are edited. personal computer during
MECHATROLINK-II com-
MECHATROLINK-II munications.
A.ED0∗2: communications.
Internal Command
Error Turn the power supply OFF
VOPACK.
Execute the SV_ON or
Check the motor status when SENS_ON command only
A timeout error the command is executed. when the motor is not run-
A.ED1∗2: occurred when using an ning.
Command MECHATROLINK
Execution Timeout command. Check the external encoder Execute the SENS_ON
status when the command is command only when an
executed. external scale is connected.
TROLINK-II.
127
(cont’d)
Alarm:
Alarm Name
The three-phase power
A.F10∗1: supply wiring is incor- Check the power supply wir- Confirm that the power sup-
Main Circuit Cable ing. ply is correctly wired.
rect.
Open Phase
(With the main Measure the voltage at each
The three-phase power phase of the three-phase Balance the power supply
power supply ON, supply is unbalanced. by changing phases.
voltage was low for power supply.
more than 1 second Turn the power supply OFF
in an R, S, or T and then ON again. If the
phase.) A SERVOPACK fault alarm still occurs, the SER-
(Detected when the −
main power supply Repair or replace the SER-
was turned ON.) VOPACK.
The contact between
∗1 the digital operator Check the connector contact. Insert securely the connec-
CPF00 : and the SERVOPACK tor or replace the cable.
Digital Operator is faulty.
Transmission Error
Keep the digital operator or
1∗4 Malfunction caused by
− the cable away from noise
noise interference sources.
Disconnect the digital oper-
ator and then re-connect it.
A digital operator fault If the alarm still occurs, the
−
occurred. digital operator may be
CPF01∗1: faulty.Repair or replace the
Digital Operator digital operator.
Transmission Error Turn the power supply OFF
2∗5 and then ON again. If the
−
VOPACK.
TROLINK-II.
∗4. This alarm occurs when communications are still disabled five seconds after the digital
operator power supply is turned ON.
∗5. This alarm occurs when there are five consecutive errors in data received at the digital
operator, or when there are three consecutive transmissions in which no data is received
from the SERVOPACK for one second or longer.
128
6 Troubleshooting
6.2 Causes and Corrective Actions for Problems Determined

from Linear Servomotor Operation and Status
This section shows the probable causes of problems that can be determined from ser-
vomotor operation and status, and suggests measures for countering them.
Contact your Yaskawa representative if the problem cannot be solved by the

described corrective actions.
For problems not described here, refer to the following manuals.

Be sure to first turn OFF the servo system power supply before performing any of the
inspections or taking any of the actions shown in the boxes outlined in bold lines in
the table below.
Problem Probable Cause Investigative Actions Corrective Actions

The control power supply is Check voltage between con- Correct the control power
not ON. trol power supply terminals. circuit.
The main circuit power sup- Check the voltage between
Correct the power circuit.
ply is not ON. power supply terminals.
Wrong wiring or disconnec- Check if the connector CN1
tion of I/O signal connector is properly inserted and Correct the connector CN1
connection.
CN1 connected.
Linear Linear servomotor or serial
Servomotor converter unit wiring dis- Check the wiring. Correct the wiring.
Does Not Start connected.
When Using
JOG Correct the setting of
Check the parameter Pn080. Pn080.
Operation and
Host
Reference. • When using an incremen-
tal linear scale, turn ON
The polarity detection is not /S-ON or /P-DET input
executed. Check /S-ON or /P-DET signal.
input signal. • When using an absolute
linear scale, turn OFF
external /S-ON input sig-
nal and execute Fn080.
A SERVOPACK fault Check if the SERVOPACK
Replace the SERVOPACK.
occurred. board is damaged.
129
(cont’d)
Overloaded Run under no load. Reduce load or replace with

larger capacity servomotor.
Speed/position references Input speed/position refer-
Check reference input pins.
not input ences correctly.
Setting for Pn50A to Pn50D Correct the settings for
“Input Signal Selection” is Check settings of parame- Pn50A to Pn50D “Input
ters Pn50A to Pn50D.
incorrect. Signal Selection.”
Correct the parameter set-
/S-ON input signal stays Check settings of parame- ting and turn ON /S-ON
OFF. ters Pn50A.0 and Pn50A.1.
input signal.
Control method selection is Set parameters to match the
incorrect. Check parameter Pn000.1. application.
Check the parameter set-
Linear Reference pulse mode ting for the reference pulse Correct setting of parameter
Servomotor selection is incorrect. Pn200.0.
Starts in JOG form (Pn200.0).
Operation but Check V-REF and SG to
Does Not Start Speed control: Speed refer- confirm if the control Correct the control mode
by Host selection parameter, or the
ence input is incorrect. method and the input are input.
Reference. agreed.
Check T-REF and SG to
Correct the control mode
Force control: Force refer- confirm if the control selection parameter, or the
ence input is incorrect. method and the input are
agreed. input.
Position control: Reference Check Pn200.0 reference Correct the setting of

pulse form or sign + pulse
pulse input is incorrect. signal. Pn200.0 or the input.
The error clear counter Check CLR or /CLR input Turn CLR or /CLR input
(CLR) input is turned ON. pins (CN1-14 and -15). signal OFF.
The forward run prohibited
(P-OT) or reverse run pro- Check P-OT or N-OT input Turn P-OT or N-OT input
hibited (N-OT) input signal signal. signal ON.
is turned OFF.
Servomotor wiring is incor- Check the servomotor wir- Correct the servomotor wir-
rect. ing. ing.
Linear
Servomotor Serial converter unit wiring Check the serial converter Correct the serial converter
Moves is incorrect. unit wiring. unit wiring.
Instantane- Linear scale wiring is incor- Check the linear scale wir- Correct the linear scale wir-
ously, and then rect. ing. ing.
Stops
Linear scale pitch (Pn282) Check the setting of Pn282. Correct the setting of
is incorrect. Pn282.
130
6 Troubleshooting
(cont’d)
Linear scale counting up Change the setting of

Pn080.1 (Motor Phase
direction and linear servo- Selection).
Linear motor coil assembly for- Check the directions.
ward direction are not Match the linear scale direc-
Servomotor tion and coil assembly
Moves agreed. direction.
Instantane-
ously, and then Check if the value of Un004
Stops (Electrical Angle 2, angle
Polarity detection is not per- from 0 (zero) degree of Correct the settings for the
(cont’d) polarity detection related
formed correctly. phase-U) at an arbitrary parameter.
position is between ±10
degrees.
Linear Check connection of power
Servomotor Wiring connection to servo- Tighten any loose terminals
lead (phases U, V, and W)
Speed motor is defective. and encoder connectors. or connectors.
Unstable
Check V-REF and SG to
Correct the control mode
Speed control: Speed refer- confirm if the control selection parameter, or the
ence input is incorrect. method and the input are
agreed. input correctly.
Check T-REF and SG to Correct the control mode

Force control: Force refer- confirm if the control
ence input is incorrect. method and the input are selection parameter, or the
input correctly.
agreed.
Check if the SERVOPACK
Speed reference offset is offset is adjusted incor- Adjust the SERVOPACK
error. offset correctly.
rectly.
Linear Check Pn200.0 reference Correct the control mode
Servomotor Position control: Reference pulse form or sign + pulse selection parameter, or the
pulse input is incorrect.
Moves signal. input correctly.
Without
Reference A SERVOPACK fault Check if the SERVOPACK
occurred. board is damaged. Replace the SERVOPACK.
Input
Change the setting of
Linear scale counting up Pn080.1 (Motor Phase
direction and linear servo- Selection).
Check the directions.
motor coil assembly for- Match the linear scale direc-
ward direction do not agree. tion and servomotor direc-
tion.
Check if the value of Un004
(Electrical Angle 2, angle
Polarity detection is not per- from 0 (zero) degree of Correct the polarity detec-
tion related parameter set-
formed correctly. phase-U) at an arbitrary tings.
degrees.
131
(cont’d)
Check the setting of param- Correct the setting of
Improper parameter setting eter Pn001.0 (Servo OFF or
Alarm G1 Stop Mode). parameter Pn001.0.
DB (dynamic Check if excessive mass,

brake) Does motor overspeed, or DB fre- Replace the SERVOPACK,
Not Operate DB resistor disconnected quent activation has and reconsider the load.
occurred.
Check if DB circuit parts
DB drive circuit fault are faulty. Replace the SERVOPACK.
Mounting not secured Check if there are any Tighten the mounting
loosen mounting screws. screws.
Check the machine movable
Vibration source on the Contact the machine manu-
section for foreign matter,
driven machine damage or deformity. facturer.
The specifications of input

signal wires must be:
Noise interference due to Twisted-pair or twisted-pair
incorrect I/O signal cable shielded wire with core Use the specified I/O signal
cables.
specifications 0.12 mm2 (0.0002 in2) min.
and tinned annealed copper
twisted wire.
Noise interference due to Shorten the wiring distance
long distance of I/O signal 3 m (9.84 ft) max. and the for I/O signal cable to the
impedance a few hundreds
cable ohm max. specified value.
The specifications of
encoder cable must be:
Abnormal Noise interference due to Twisted-pair or twisted-pair Use the specified serial con-
Noise from incorrect serial converter shielded wire with core
unit connection cable speci- verter unit connection
Servomotor 0.12 mm2 (0.0002 in2) min. cable.
fications
twisted wire.
Noise interference due to Shorten the serial converter
long serial converter unit The wiring distance must be unit connection cable wir-
connection cable wiring dis- 20 m (65.6 ft) max. ing distance to the specified
tance value.
Noise due to damaged serial Check if the serial converter Modify the serial converter
converter unit connection unit connection cable is not unit connection cable lay-
cable damaged or bent. out.
Check if the serial converter
Excessive noise to the serial unit connection cable is Install a surge suppressor to
converter unit connection bundled with high-current the serial converter unit
cable line or near the high-current connection cable.
line.
FG electrical potential var-
ies by influence of such Check if the machine is cor- Ground the machine sepa-
machines on the servomotor rectly grounded. rately from PG side FG.
side as welders.
132
6 Troubleshooting
(cont’d)
SERVOPACK pulse count- Check if there is noise inter- Take measure against noise
ference on the I/O signal for the serial converter unit
ing error due to noise cable from the encoder. wiring.
Check if vibration from the
Abnormal machine occurred or serial Reduce vibration from the
Excessive vibration and converter unit installation is machine, or correct the
Noise from shock to the serial converter
Servomotor unit incorrect. serial converter unit instal-
(Mounting surface accu- lation.
(cont’d) racy, or fixing.)
Serial converter unit fault − Replace the serial converter

unit.
Linear scale fault − Replace the linear scale.
Speed loop gain value Check the setting of Pn100 Reduce speed loop gain
(Pn100) is too high. (Speed Loop Gain). (Pn100) preset value.
Position loop gain value Check the setting of Pn102 Reduce position loop gain
(Pn102) is too high (Position Loop Gain). (Pn102) preset value.
Servomotor Incorrect speed loop inte- Check the setting of Pn101 Correct the speed loop inte-
Vibrates at gral time constant (Pn101) (Speed Loop Integral Time gral time constant (Pn101)
about 200 to setting Constant). setting.
400 Hz
Check the setting of Pn103 Correct the setting of Pn103
Mass ratio data is incorrect.
(Mass Ratio). (Mass Ratio).
When the autotuning is
used: Incorrect mass ratio Check the setting of Pn103 Correct the setting of Pn103
data setting
Speed loop gain value Check the setting of Pn100 Reduce the speed loop gain
(Pn100) is too low (Speed Loop Gain). (Pn100) preset value.
Position loop gain value Check the setting of Pn102 Reduce the position loop
(Pn102) is too high (Position Loop Gain). gain (Pn102) preset value.
Incorrect speed loop inte- Check the setting of Pn101 Correct the speed loop inte-
gral time constant (Pn101) (Speed Loop Integral Time gral time constant (Pn101)
setting Constant). setting.
High
Speed Check the setting of Pn103 Correct the setting of Pn103
Overshoot on (Mass Ratio). (Mass Ratio).
Starting and
Stopping. When the autotuning is
used: Check the setting of Pn103 Correct the setting of Pn103
The force reference is satu- Check the force reference Use the mode switch func-
rated. wave form. tion.
The force limit (Pn483, Initial value of force limit: Set a appropriate value for
Pn484) is set to the initial Pn483 = 30% Pn483 and Pn484 (Force
value. Pn484 = 30% Limit).
133
(cont’d)
Check if the voltage of Connect to the external +24
input signal external power
supply (+24 V) is correct. V power supply.
An overtravel signal is out- Check if the overtravel limit Correct the overtravel limit
put (P-OT (CN1-42) or N- switch (SW) operates prop-
OT (CN1-43)) is at H. erly. SW.
Check if the overtravel limit Correct the overtravel limit

switch (SW) is connected
correctly. SW wiring.
Check the fluctuation of the Stabilize the external +24 V

input signal external power
supply (+24 V) voltage. power supply voltage.
The overtravel signal does Check if the overtravel limit Adjust the overtravel limit
not operate normally (P-OT switch (SW) activate cor- SW so that it operates cor-
or N-OT signal sometimes rectly. rectly.
changes).
Check if the overtravel limit
switch wiring is correct. Correct the overtravel limit
(check for damaged cables SW wiring.
or loosen screws.)
Overtravel Check the P-OT signal Correct the setting of P-OT
(OT) Incorrect P-OT/N-OT sig- mapping (Pn50A.3). signal mapping (Pn50A.3).
(Movement nal selection Check the N-OT signal Correct the setting of N-OT
over the zone mapping (Pn50B.0). signal mapping (Pn50B.0).
specified by
the host Check if “coast to stop” in
controller) Check Pn001.0 and
servo OFF status is
selected. Pn001.1.
Incorrect servomotor stop
method selection Check if “coast to stop” in Check Pn001.0 and
force control mode is
selected. Pn001.1.
Check if the distance to the

Improper overtravel posi- position of OT (overtravel)
tion setting is too short considering the Correct the OT position.
coasting distance.
The serial converter unit
connection cable specifica-
Noise interference due to tions must be:
improper serial converter Twisted-pair or twisted-pair Use serial converter unit
connection cable with the
unit connection cable speci- shielded wire with core
specified specifications.
fications 0.12 mm2 (0.0002 in2) min.
twisted wire.
Noise interference because The serial converter unit
the serial converter unit The wiring distance must be connection cable distance
connection cable distance is 20 m (65.6 ft) max. must be within the specified
too long. range.
134
6 Troubleshooting
(cont’d)
Noise influence due to dam- Check if the serial converter Correct the serial converter
unit connection cable is
aged serial converter unit bent or its sheath is dam- unit connection cable lay-
connection cable out.
aged.
Check if the serial converter
Excessive noise interfer- unit connection cable is Change the serial converter
unit connection cable layout
ence to serial converter unit bundled with a high-current so that no surge voltage is
connection cable line or near high-current
line. applied.
Overtravel FG electrical potential var- Ground the machine sepa-

(OT) ies by influence of such Check if the machine is cor-
machines on the servomotor rectly grounded. rately from encoder side
(Movement FG.
over the zone side as welders.
specified by Check if the I/O signal
the host Take a measure against
controller) SERVOPACK pulse count cable from the serial con- noise for the serial con-
error due to noise verter unit is influenced by
(cont’d) noise. verter unit wiring.
Check if machine vibration

Excessive vibration and occurred or serial converter Reduce the machine vibra-
shock to the serial converter unit mounting such as tion or mount the serial con-
unit mounting surface preci- verter unit securely.
sion, fixing is incorrect.
Replace the serial converter
Serial converter unit fault −
unit.
SERVOPACK fault − Replace the SERVOPACK.
The input signal cable spec-
ifications must be:
Noise interference due to Twisted-pair or twisted-pair
shielded wire with core Use I/O signal cable with
improper I/O signal cable
the specified specifications.
specifications 0.12 mm2 (0.0002 in2) min.
twisted wire.
Position error Noise interference because The I/O signal cable dis-
3 m (9.84 ft) max. and the
(without alarm) the I/O signal cable distance impedance several hundreds tance must be within the
is too long. ohm max. specified range.
Reference pulse frequency Check Un00C (Input Refer- Reduce the reference pulse
frequency to a value within
is too high. ence Pulse Counter.) the specification.
Serial converter unit fault Replace the serial converter
(pulse count does not −
change) unit.
135
(cont’d)
Ambient temperature is too Measure servomotor ambi- Reduce ambient tempera-
high. ent temperature. ture to 40°C max.
Clean dust and oil from ser-
Servomotor surface is dirty. Check visually.
vomotor surface.
Reconsider load and opera-
tion conditions or replace
Servomotor Overloaded Run under no load.
with larger capacity servo-
Overheated motor.
Check if the value of Un004
(Electrical Angle 2, angle Correct the settings for the
Polarity detection is not per- from 0 (zero) degree of
formed correctly. phase-U) at an arbitrary polarity detection related
parameter.
degrees.
136
Revision History
The revision dates and numbers of the revised manuals are given at the bottom of the
back cover.ze
C Printed in Japan June 2007 07- 6
Date of
printing Date of original publication
Rev.
Date of Printing No. Section Revised Contents
June 2007 – First edition

AC Servodrive
Σ -V Series
USER'S MANUAL
Setup
Linear Motor
IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama 358-8555, Japan
Phone 81-4-2962-5696 Fax 81-4-2962-6138
YASKAWA ELECTRIC AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone 1-847-887-7000 Fax 1-847-887-7370
YASKAWA ELETRICO DO BRASIL COMERCIO LTD.A.
Avenida Fagundes Filho, 620 Bairro Saude-Sao Paulo-SP, Brazil CEP: 04304-000
Phone 55-11-5071-2552 Fax 55-11-5581-8795
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach, Germany
Phone 49-6196-569-300 Fax 49-6196-569-312
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom
Phone 44-1236-735000 Fax 44-1236-458182
YASKAWA ELECTRIC KOREA CORPORATION
7F, Doore Bldg. 24, Yeoido-dong, Youngdungpo-Ku, Seoul 150-877, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
No.18 Xizang Zhong Road. Room 1702-1707, Harbour Ring Plaza Shanghai 200001, China
Phone 86-21-5385-2200 Fax 86-21-5385-3299
YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE
Room 1011A, Tower W3 Oriental Plaza, No.1 East Chang An Ave.,
Dong Cheng District, Beijing 100738, China
Phone 86-10-8518-4086 Fax 86-10-8518-4082
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
YASKAWA ELECTRIC CORPORATION

In the event that the end user of this product is to be the military and said product is to be employed in any weapons
systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign
Exchange and Foreign Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant
documentation according to any and all rules, regulations and laws that may apply.
YASKAWA Specifications are subject to change without notice for ongoing product modifications and improvements.
© 2007 YASKAWA ELECTRIC CORPORATION. All rights reserved.

Printed in Japan June 2007 07-6
07-4

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AC Servodrive

MANUAL NO. SIEP S800000 44A

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

 Description of Technical Terms

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

 Notation Used in this Manual

Indicates precautions that, if not heeded, could

Indicates compulsory actions that must be performed.

 Storage and Transportation

Observe the following general precautions

∗ Underwriters Laboratories Inc.

Low Voltage EMC Directive

About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

5 Trial Operation (Checking Servomotor Operation) . . . . . . . . . . . . . . . . 68

Be sure to read 5.2 Inspection and Checking before Trial Operation

1.1 Setup Procedure for SGDV-05A SERVOPACKs

Operation Reference (in this manual)

1.2 Setup Procedure for SGDV-15A SERVOPACKs

(1) Setup Wizard

(2) Wiring Check

(3) Alarm Diagnosis

2.1 Installation Environment and Applicable Standards

2.1.1 Installation Environment

 Operating temperature: 0 to 55°C

 Operating humidity: 90% max. (with no condensation)

 Vibration/shock resistance: 4.9 m/s2 / 19.6 m/s2

 Elevation: 1,000 m max.

• Mounting in a Control Panel

• Mounting Near a Heating Unit

• Mounting to a Location Exposed to Corrosive Gas

• -20 to 85°C, 90%RH max. (with no condensation)

 Overvoltage category: III

• EN55011 group 1 class A

2.2 Mounting Orientation

• SERVOPACK Mounting Orientation

• Mounting Multiple SERVOPACKs Side by Side in a Control Panel

• Environment Inside the Control Panel

Humidity: 90%RH max. (with no condensation)

Vibration: 4.9 m/s2 max.

There must be no freezing or condensation. To ensure long-term reliability, a maxi-

2.4 Linear Servomotor Installation

2.4.1 SGLGW and SGLGM Linear Servomotors (Coreless Type)

 Magnetic Way Installation

Use the following procedure to install SGLGM magnetic ways.

1. After checking the magnetic way’s two mounting reference surfaces,

Mounting reference surface

First magnetic way

Second magnetic way

Rotate the magnetic way position.

 Coil Assembly Installation

Use the following procedure to install the SGLGW coil assembly.

Coil winding section

 Magnetic Way Installation

Dummy plate for reducing magnetic force

Use the following procedure to install the SGLFM magnetic way.

Magnet Way Model Head height K

First magnetic way

Second magnetic way

Use the following procedure to install the SGLFW coil assembly.

Magnetic Movable table

Installation tap P Cable

Linear servomotor side view

Magnetic way Coil assembly

Slowly move the coil

Description of Technical Terms

Notation Used in this Manual

Storage and Transportation

1.1 Setup Procedure for SGDV-05A SERVOPACKs

1.2 Setup Procedure for SGDV-15A SERVOPACKs

Operating temperature: 0 to 55°C

Operating humidity: 90% max. (with no condensation)

Vibration/shock resistance: 4.9 m/s2 / 19.6 m/s2

Elevation: 1,000 m max.

Overvoltage category: III

Magnetic Way Installation

Coil Assembly Installation

Magnetic Way Installation

35A120A 0.7 1100

Magnetic Way Installation

• Σ-V Series SGMV/SGDV User's Manual Design and Maintenance Linear

Three-phase, 200 V Main Circuit

Using More Than One SERVOPACK

• Σ-V Series SGMV/SGDV User's Manual

200 A Three-phase 200 to 230 VAC+10%, -15%

∗ represents shielded twisted-pair wires