Page 1 -7-Series AC Servo Drive  -7S SERVOPACK with FT/EX Specification for Tracking Application Product Manual Model: SGD7S-A00F19, -A20F19 Basic Information on SERVOPACKs SERVOPACK Ratings and Specifications Less-Deviation Control Maintenance Parameter Lists MANUAL NO. SIEP S800001 89A...
Page 2 Yaskawa. No patent liability is assumed with respect to the use of the informa- tion contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is sub- ject to change without notice.
Page 3: Outline Of Manual
About this Manual This manual describes the tracking application option for Σ-7-Series AC Servo Drive Σ-7S SERVO- PACKs. Read and understand this manual to ensure correct usage of the Σ-7-Series AC Servo Drives. Keep this manual in a safe place so that it can be referred to whenever necessary. Outline of Manual The contents of the chapters of this manual are described in the following table.
Page 4 Continued from previous page. Σ-7-Series AC Servo Drive Σ-7S SERVOPACK Product Manual SERVOPACKs with This SERVOPACKs with Analog Item MECHATROLINK-III Manual Voltage/Pulse Train References Communications References (Manual No.: SIEP S800001 26) (Manual No.: SIEP S800001 28) Monitoring Product – Information Monitoring SERVO- –...
Page 5: Related Documents
Related Documents The relationships between the documents that are related to the Servo Drives are shown in the following figure. The numbers in the figure correspond to the numbers in the table on the following pages. Refer to these documents as required. System Components Machine Controllers...
Page 6 Classification Document Name Document No. Description Describes the features and applica-  Machine Controller and tion examples for combinations of Machine Controller AC Servo Drive KAEP S800001 22 MP3000-Series Machine Control- and Servo Drive lers and Σ-7-Series AC Servo Solutions Catalog General Catalog Drives.
Page 7 Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-III SIEP S800001 28 Communications References Product Manual Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-II SIEP S800001 27 Communications References Product Manual Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with Analog Voltage/Pulse Train...
Page 8 Continued from previous page. Classification Document Name Document No. Description  Σ-7-Series AC Servo Drive Σ-7-Series Rotary Servomotor SIEP S800001 36 Rotary Servomotor Product Manual Product Manual Σ-7-Series AC Servo Drive Provide detailed information on Σ-7-Series Linear Servomotor SIEP S800001 37 selecting, installing, and connecting Linear Servomotor the Σ-7-Series Servomotors.
Page 9: Using This Manual
Using This Manual  Technical Terms Used in This Manual The following terms are used in this manual. Term Meaning A Σ-7-Series Rotary Servomotor, Direct Drive Servomotor, or Linear Servomotor. Servomotor A generic term used for a Σ-7-Series Rotary Servomotor (SGM7A, SGM7J, or SGM7G) or a Rotary Servomotor Direct Drive Servomotor (SGMCS or SGMCV).
Page 10  Notation Used in this Manual  Notation for Reverse Signals The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the signal abbreviation. Notation Example BK is written as /BK. ...
Page 11  Trademarks • MECHATROLINK is a trademark of the MECHATROLINK Members Association. • QR code is a trademark of Denso Wave Inc. • Other product names and company names are the trademarks or registered trademarks of the respective company. “TM” and the ® mark do not appear with product or company names in this manual.
Page 12: Safety Precautions
Safety Precautions  Safety Information To prevent personal injury and equipment damage in advance, the following signal words are used to indicate safety precautions in this document. The signal words are used to classify the hazards and the degree of damage or injury that may occur if a product is used incorrectly. Information marked as shown below is important for safety.
Page 13  Safety Precautions That Must Always Be Observed  General Precautions DANGER  Read and understand this manual to ensure the safe usage of the product.  Keep this manual in a safe, convenient place so that it can be referred to whenever necessary. Make sure that it is delivered to the final user of the product.
Page 14 NOTICE  Do not attempt to use a SERVOPACK or Servomotor that is damaged or that has missing parts.  Install external emergency stop circuits that shut OFF the power supply and stops operation immediately when an error occurs.  In locations with poor power supply conditions, install the necessary protective devices (such as AC reactors) to ensure that the input power is supplied within the specified voltage range.
Page 15 NOTICE  Do not hold onto the front cover or connectors when you move a SERVOPACK. There is a risk of the SERVOPACK falling.  A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock. There is a risk of failure or damage.
Page 16 NOTICE  Do not install or store the product in any of the following locations. • Locations that are subject to direct sunlight • Locations that are subject to ambient temperatures that exceed product specifications • Locations that are subject to relative humidities that exceed product specifications •...
Page 17  Whenever possible, use the Cables specified by Yaskawa. If you use any other cables, confirm the rated current and application environment of your model and use the wiring materials specified by Yaskawa or equivalent materials.  Securely tighten cable connector screws and lock mechanisms.
Page 18  Operation Precautions WARNING  Before starting operation with a machine connected, change the settings of the switches and parameters to match the machine. Unexpected machine operation, failure, or personal injury may occur if operation is started before appropriate settings are made. ...
Page 19 NOTICE  When you adjust the gain during system commissioning, use a measuring instrument to monitor the torque waveform and speed waveform and confirm that there is no vibration. If a high gain causes vibration, the Servomotor will be damaged quickly. ...
Page 20  Troubleshooting Precautions DANGER  If the safety device (molded-case circuit breaker or fuse) installed in the power supply line oper- ates, remove the cause before you supply power to the SERVOPACK again. If necessary, repair or replace the SERVOPACK, check the wiring, and remove the factor that caused the safety device to operate.
Page 21 We will update the document number of the document and issue revisions when changes are made.  Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies the product in any way. Yaskawa disavows any responsibility for damages or losses that are...
Page 22: Warranty
• Events for which Yaskawa is not responsible, such as natural or human-made disasters  Limitations of Liability • Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.
Page 23 • It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products. • The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.
Page 24: Compliance With Ul Standards, Eu Directives, And Other Safety Standards
Compliance with UL Standards, EU Directives, and Other Safety Standards Certification marks for the standards for which the product has been certified by certification bodies are shown on nameplate. Products that do not have the marks are not certified for the standards. ...
Page 25 Product Model European Directive Harmonized Standards • SGLG EN 55011 group 1, class A EMC Directive • SGLF EN 61000-6-2 2004/108/EC Linear EN 61000-6-4 • SGLFW2 Servomotors • SGLT Low Voltage Directive EN 60034-1 • SGLC 2006/95/EC Certification is scheduled for September 2015. Only the SGMCV is certified.
Page 26: Table Of Contents
Contents About this Manual ..........iii Outline of Manual .
Page 27 Adjusting Less-Deviation Control 2 ..... . 3-4 3.3.1 Adjustment Procedure ......... 3-4 3.3.2 Adjustment Example .
Page 28 Index Revision History xxviii...
Page 29: Basic Information On
Basic Information on SERVOPACKs This chapter provides information required to select SERVOPACKs, such as the SERVOPACK models. Product Introduction ....1-2 Model Designations ....1-3 1.2.1 Interpreting SERVOPACK Model Numbers .
Page 30: Product Introduction
1.1 Product Introduction Product Introduction The FT19 SERVOPACKs use less-deviation control to perform tracking. There are the following two modes for less-deviation control. Set the mode in Pn195 = n.X (Less-Deviation Mode Selection). Less-Deviation Control Mode Remarks Use this mode for compatibility with the Σ-V-EX-Series EX002 SERVO- Less-Deviation Control 1 ...
Page 31: Model Designations
1.2 Model Designations 1.2.1 Interpreting SERVOPACK Model Numbers Model Designations 1.2.1 Interpreting SERVOPACK Model Numbers SGD7S - R70 14th 1st+2nd+3rd 5th+6th 8th+9th+10th 11th+12th+13th Σ-7-Series digit digit digit digits digits digits digits Σ-7S SERVOPACKs Maximum Applicable Hardware Options 1st+2nd+3rd digits 4th digit 8th+9th+10th digits Voltage Motor Capacity...
Page 32: Combinations Of Servopacks And Servomotors
1.3 Combinations of SERVOPACKs and Servomotors Combinations of SERVOPACKs and Servomotors Refer to the following manuals for information on combinations with Σ-7-Series Servomotors. Σ-7-Series Rotary Servomotor Product Manual (Manual No.: SIEP S800001 36) Σ-7-Series Linear Servomotor Product Manual (Manual No.: SIEP S800001 37) Σ-7-Series Direct Drive Servomotor Product Manual (Manual No.: SIEP S800001 38)
Page 33: Functions
1.4 Functions 1.4.1 SERVOPACK Functions Functions This section lists the functions provided by SERVOPACKs. Refer to the following manuals for details on the functions. Σ Σ -7-Series -7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual (Manual No.: SIEP S800001 26) Σ...
Page 34: Servopack Functions
1.4 Functions 1.4.1 SERVOPACK Functions • Functions Related to the Host Controller Function Extended Address Setting Electronic Gear Settings I/O Signal Allocations Servo Alarm (ALM) Signal Alarm Code (ALO1 to ALO3) Signals* Warning Output (/WARN) Signal Rotation Detection (/TGON) Signal /S-RDY (Servo Ready) Signal Speed Control* Basic Settings for Speed Control*...
Page 35 1.4 Functions 1.4.1 SERVOPACK Functions • Functions to Achieve Optimum Motions Function Speed Control Soft Start Settings Position Control Smoothing Settings Torque Control Tuning-less Function Automatic Adjustment without a Host Reference Automatic Adjustment with a Host Reference Custom Adjustment Anti-Resonance Control Adjustment Vibration Suppression Gain Selection Friction Compensation...
Page 36: Functional Restrictions
1.4 Functions 1.4.2 Functional Restrictions 1.4.2 Functional Restrictions There are restrictions to the following functions when less-deviation control is used. Function Restriction The tuning-less function is given priority. Less-deviation control Tuning-less Function (Pn170 = n.X) will be disabled even if you set the parameter for less-deviation control (Pn190 = n.1).
Page 37: Sigmawin
1.5 SigmaWin+ SigmaWin+ To use the SigmaWin+, a model information file for the SERVOPACK must be added to Sig- maWin+ version 7.10 or higher. Contact your Yaskawa representative for the model information file.
Page 38: Combining The Servopacks With Mp-Series Machine Controllers And The Mpe720 Engineering Tool
1.6 Combining the SERVOPACKs with MP-Series Machine Controllers and the MPE720 Engineering Tool Combining the SERVOPACKs with MP-Series Machine Controllers and the MPE720 Engineering Tool If you combine the SERVOPACK with an MP-Series Machine Controller or the MPE720 Engi- neering Tool, it will be recognized as a SERVOPACK with standard specifications. To use the parameters that have been added or changed for the SERVOPACKs described in this manual, use the SigmaWin+.
Page 39 SERVOPACK Ratings and Specifications This chapter provides information required to select SERVOPACKs, such as specifications. Ratings ......2-2 SERVOPACK Overload Protection Characteristics .
Page 40: Ratings
2.1 Ratings Ratings This section gives the ratings of SERVOPACKs. Three-Phase, 200 VAC Model SGD7S- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A Maximum Applicable Motor 0.05 0.75 Capacity [kW] Continuous Output Current [Arms] 0.66 0.91 11.6 18.5 19.6 32.9...
Page 41 2.1 Ratings Single-Phase, 200 VAC Model SGD7S- R70A R90A 1R6A 2R8A 5R5A 120A Maximum Applicable Motor Capacity [kW] 0.05 0.75 Continuous Output Current [Arms] 0.66 0.91 11.6 Instantaneous Maximum Output Current [Arms] 16.9 Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz Main Circuit Input Current [Arms] Control Power Supply...
Page 42: Servopack Overload Protection Characteristics
Note: The above overload protection characteristics do not mean that you can perform continuous duty operation with an output of 100% or higher. For a Yaskawa-specified combination of SERVOPACK and Servomotor, maintain the effective torque within the continuous duty zone of the torque-motor speed characteristic of the Servomotor.
Page 43: Specifications
2.3 Specifications 2.3.1 SERVOPACKs with Analog Voltage/ Pulse Train References Specifications This section gives the general specifications of SERVOPACKs. 2.3.1 SERVOPACKs with Analog Voltage/ Pulse Train References Item Specification Control Method IGBT-based PWM control, sine wave current drive Serial encoder: 20 bits or 24 bits (incremental encoder/absolute With Rotary encoder) Servomotor...
Page 44 2.3 Specifications 2.3.1 SERVOPACKs with Analog Voltage/ Pulse Train References Continued from previous page. Item Specification 1:5000 (At the rated torque, the lower limit of the speed control range Speed Control Range must not cause the Servomotor to stop.) ±0.01% of rated speed max. (for a load fluctuation of 0% to 100%) 0% of rated speed max.
Page 45 2.3 Specifications 2.3.1 SERVOPACKs with Analog Voltage/ Pulse Train References Continued from previous page. Item Specification Allowable voltage range: 5 VDC to 30 VDC Fixed Number of output points: 1 Output Output signal: ALM (Servo Alarm) signal Allowable voltage range: 5 VDC to 30 VDC Number of output points: 6 (A photocoupler output (isolated) is used for three of the outputs.) (An open-collector output (non-isolated) is used for the other three out-...
Page 46 2.3 Specifications 2.3.1 SERVOPACKs with Analog Voltage/ Pulse Train References Continued from previous page. Item Specification Inputs /HWBB1 and /HWBB2: Base block signals for Power Modules Output EDM1: Monitors the status of built-in safety circuit (fixed output). Safety Functions Applicable Stan- ISO13849-1 PLe (Category 3) and IEC61508 SIL3 dards Fully-closed Modules and Safety Modules...
Page 47: Servopacks With Mechatrolink-Iii Communications References
2.3 Specifications 2.3.2 SERVOPACKs with MECHATROLINK-III Communications References Continued from previous page. Item Specification • Maximum input voltage: ±12 V (forward torque output for positive ref- Refer- erence). ence • 3 VDC at rated torque (default setting). Input gain setting can be Voltage changed.
Page 48 2.3 Specifications 2.3.2 SERVOPACKs with MECHATROLINK-III Communications References Continued from previous page. Item Specification 1,000 m max. (With derating, usage is possible between 1,000 m and 2,000 m.) Refer to the following manual for derating specifications. Altitude Environ- Σ Σ -7-Series -7S SERVOPACK with MECHATROLINK-III Communications mental...
Page 49 2.3 Specifications 2.3.2 SERVOPACKs with MECHATROLINK-III Communications References Continued from previous page. Item Specification Allowable voltage range: 5 VDC to 30 VDC Fixed Number of output points: 1 Output Output signal: ALM (Servo Alarm) signal Allowable voltage range: 5 VDC to 30 VDC Number of output points: 3 (A photocoupler output (isolated) is used.) Output Signals...
Page 50 2.3 Specifications 2.3.2 SERVOPACKs with MECHATROLINK-III Communications References Continued from previous page. Item Specification Built-in (An external resistor must be connected to the SGD7S-470A to -780A.) Regenerative Processing Refer to the following catalog for details. AC Servo Drives Σ-7 Series (Manual No.: KAEP S800001 23) Stopping with dynamic brake, deceleration to a stop, or coasting to a Overtravel (OT) Prevention stop for the P-OT (Forward Drive Prohibit) or N-OT (Reverse Drive Pro-...
Page 51: Less-Deviation Control
Less-Deviation Control This chapter describes less-deviation control. Introduction ......3-2 Restrictions ......3-3 3.2.1 Control Mode Restrictions .
Page 52: Introduction
3.1 Introduction Introduction You can use less-deviation control to reduce the deviation during movement and increase the locus tracking performance. The FT19 SERVOPACKs are used for applications that require reference tracking performance during movement, including the decrease of tracking error and the prevention of interference between the equipment and moving parts, which can be caused by the influences of position response delay.
Page 53: Restrictions
3.2 Restrictions 3.2.1 Control Mode Restrictions Restrictions 3.2.1 Control Mode Restrictions Less-deviation control can be used only in Position Control Mode. It cannot be used in Speed Control Mode or Torque Control Mode. If you change from Speed Control Mode or Torque Control Mode to Position Control Mode, less-deviation control will be enabled after the motor stops.
Page 54: Adjusting Less-Deviation Control 2
3.3 Adjusting Less-Deviation Control 2 3.3.1 Adjustment Procedure Adjusting Less-Deviation Control 2 3.3.1 Adjustment Procedure The basic adjustment flowchart for Less-Deviation Control 2 is given in the following figure. Make suitable adjustments considering the conditions and operating requirements of your machine.
Page 55 3.3 Adjusting Less-Deviation Control 2 3.3.1 Adjustment Procedure Use one of the following calculation methods. • Calculate the value manually. • Use the following SigmaWin+ function: Moment of Inertia Estimation. Refer to one of the following manuals for details. Σ Σ...
Page 56: Adjustment Example
3.3 Adjusting Less-Deviation Control 2 3.3.2 Adjustment Example 3.3.2 Adjustment Example Adjustment Example for Pn100, Pn101, Pn102, Pn11F, Pn197, and Pn401 The effects of Pn100 (Speed Loop Gain), Pn101 (Speed Loop Integral Time Constant), Pn102 (Position Loop Gain), Pn11F (Position Integral Time Constant), Pn197 (Less-Deviation Control 2 Torque Feedforward Filter Time Constant), and Pn401 (First Stage First Torque Reference Filter Time Constant) are shown below.
Page 57 3.3 Adjusting Less-Deviation Control 2 3.3.2 Adjustment Example Before Adjustment: Pn198 = 10000 (100.00%) After Adjustment: Pn198 = 20000 (200.00%) Position Position reference reference speed speed Torque Torque reference reference Position deviation is reduced. Position Position deviation deviation reference reference Time (ms) Time (ms) Adjustment Example for Less-Deviation Control 2 Viscous...
Page 58 3.3 Adjusting Less-Deviation Control 2 3.3.2 Adjustment Example The effects of Pn19B are shown below. Before Adjustment ： Pn19B = 0 (0.00%/min After Adjustment ： Pn19B = 75 (0.75%/min The torque reference and The torque reference and torque feedforward do not torque feedforward agree.
Page 59: Gain Switching Combinations
3.3 Adjusting Less-Deviation Control 2 3.3.3 Gain Switching Combinations 3.3.3 Gain Switching Combinations You can use gain switching to shorten the positioning time by increasing the gains during posi- tioning and to suppress vibration by decreasing the gains while stopping. SERVOPACKs with Analog Voltage/Pulse Train References Position Speed...
Page 60: Method To Switch The Gain
3.3 Adjusting Less-Deviation Control 2 3.3.4 Method to Switch the Gain 3.3.4 Method to Switch the Gain SERVOPACKs with Analog Voltage/Pulse Train References  First, make sure that Pn139 is set to n. 0 (manual gain switching). To switch between gain settings 1 and gain settings 2, use the G_SEL external input signal. Classification Signal Name Connector Pin...
Page 61 3.3 Adjusting Less-Deviation Control 2 3.3.5 Settings for Low-speed Feeding • Any change to the setting of Pn216 or Pn234 is not applied while the Servomotor is operating. Changes will be enabled the next time the Servomotor comes to a stop. •...
Page 62: Adjusting Less-Deviation Control 1
3.4 Adjusting Less-Deviation Control 1 3.4.1 Adjustment Procedure Adjusting Less-Deviation Control 1 3.4.1 Adjustment Procedure The basic adjustment flowchart for Less-Deviation Control 1 is given in the following flowchart. Make suitable adjustments considering the conditions and operating requirements of your machine.
Page 63: Adjustment Example
3.4 Adjusting Less-Deviation Control 1 3.4.2 Adjustment Example 3.4.2 Adjustment Example Pn193 Adjustment Example The effects of Pn193 (Less-Deviation Control 1 Feedforward Filter Time Constant) are shown below. If vibration or noise occurs during operation, increase the setting of Pn193 to reduce vibration and noise.
Page 64: Gain Switching Combinations
3.4 Adjusting Less-Deviation Control 1 3.4.3 Gain Switching Combinations 3.4.3 Gain Switching Combinations You can use gain switching to shorten the positioning time by increasing the gains during posi- tioning and to suppress vibration by decreasing the gains while stopping. SERVOPACKs with Analog Voltage/Pulse Train References Position Speed...
Page 65: Method To Switch The Gain
3.4 Adjusting Less-Deviation Control 1 3.4.4 Method to Switch the Gain 3.4.4 Method to Switch the Gain SERVOPACKs with Analog Voltage/Pulse Train References  First, make sure that Pn139 is set to n. 0 (manual gain switching). To switch between gain settings 1 and gain settings 2, use the G_SEL external input signal. Classification Signal Name Connector Pin...
Page 66 3.4 Adjusting Less-Deviation Control 1 3.4.5 Settings for Low-speed Feeding • Any change to the setting of Pn216 or Pn234 is not applied while the Servomotor is operating. Changes will be enabled the next time the Servomotor comes to a stop. •...
Page 67: Reference Compensation
3.5 Reference Compensation Reference Compensation Reference compensation is used when pulse train references are input with SERVOPACKs with Analog Voltage/Pulse Train References. If less-deviation control is enabled, reference compensation is used by the SERVOPACK to automatically divide the input references to smooth the references. Reference compensation can be used to suppress abnormal noise in motors.
Page 68: Monitoring Machine Operation Status And Signal Waveforms
3.6 Monitoring Machine Operation Status and Signal Waveforms Monitoring Machine Operation Status and Signal Waveforms To monitor waveforms, use the SigmaWin+ trace function or a measuring instrument, such as a memory recorder. The monitoring function that is shaded in the following block diagram was added to SERVO- PACKs for tracking applications.
Page 69: Maintenance
Maintenance This chapter provides information on the meaning of, causes of, and corrections for alarms and warnings. SERVOPACKs with Analog Voltage/Pulse Train References . . 4-2 4.1.1 Alarm Displays ......4-2 4.1.2 List of Alarms .
Page 70: Servopacks With Analog Voltage/Pulse Train References
4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.1 Alarm Displays SERVOPACKs with Analog Voltage/Pulse Train References 4.1.1 Alarm Displays If an error occurs in the SERVOPACK, an alarm number will be displayed on the panel display. An alarm number flashes on the display. 4.1.2 List of Alarms The list of alarms gives the alarm name, alarm meaning, alarm stopping method, alarm reset...
Page 71 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.2 List of Alarms Continued from previous page. Servo- Alarm Code Alarm motor Output Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ALO1 ALO2 ALO3 ble? Method The setting of Pn212 (Num- ber of Encoder Output Pulses) or Pn281 (Encoder Encoder Output Pulse...
Page 72: List Of Alarms
4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.2 List of Alarms Continued from previous page. Servo- Alarm Code Alarm motor Output Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ALO1 ALO2 ALO3 ble? Method • Rotary Servomotor: The pulse output speed for the setting of Pn212 (Number of Encoder Output Pulses)
Page 73 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.2 List of Alarms Continued from previous page. Servo- Alarm Code Alarm motor Output Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ALO1 ALO2 ALO3 ble? Method There is an internal data error A.840 Encoder Data Alarm Gr.1...
Page 74 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.2 List of Alarms Continued from previous page. Servo- Alarm Code Alarm motor Output Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ALO1 ALO2 ALO3 ble? Method The Servomotor ran out of A.C10 Servomotor Out of Control Gr.1...
Page 75 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.2 List of Alarms Continued from previous page. Servo- Alarm Code Alarm motor Output Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ALO1 ALO2 ALO3 ble? Method The servo was turned ON after the position deviation exceeded the setting of Position Deviation Over-...
Page 76 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.2 List of Alarms Continued from previous page. Servo- Alarm Code Alarm motor Output Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ALO1 ALO2 ALO3 ble? Method Digital Operator Commu- Communications were not CPF00 possible between the Digital nications Error 1...
Page 77: Troubleshooting Alarms
4.1.3 Troubleshooting Alarms 4.1.3 Troubleshooting Alarms The causes of and corrections for the alarms are given in the following table. Contact your Yaskawa representative if you cannot solve a problem with the correction given in the table. Alarm Number: Possible Cause Confirmation...
Page 78 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A.024: System Alarm The SERVOPACK may be (An internal pro- A failure occurred in faulty. Replace the SER- –...
Page 79 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The speed of program jogging went below Check to see if the the setting range Decrease the setting of when the electronic the electronic gear ratio detection conditions...
Page 80 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Set the parameters for a Linear Servomotor and A Rotary Servomotor reset the motor type was removed and a A.070: –...
Page 81 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The Main Circuit Cable is not wired Check the wiring. Correct the wiring. correctly or there is faulty contact.
Page 82 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A heavy load was Check to see if the Reduce the load applied applied while the Ser- operating conditions to the Servomotor.
Page 83 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Implement countermea- Improve the noise envi- sures against noise, such ronment, e.g. by as correct wiring of the A malfunction was improving the wiring or A.101:...
Page 84 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The power supply Set the power supply volt- Measure the power voltage exceeded the age within the specified –...
Page 85 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name If you are using the regen- The regenerative erative resistor built into resistor was discon- Measure the resistance the SERVOPACK, replace nected when the of the regenerative...
Page 86 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The power supply Set the AC/DC power Measure the power voltage exceeded the supply voltage within the –...
Page 87 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The order of phases U, V, and W in the Check the wiring of the Make sure that the Servo- –...
Page 88 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The wiring is not cor- Make sure that the Servo- rect or there is a faulty Check the wiring. motor and encoder are contact in the motor correctly wired.
Page 89 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Check the surrounding temperature using a Decrease the surround- thermostat. Or, check ing temperature by The surrounding tem- the operating status improving the SERVO- perature is too high.
Page 90 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Remove foreign matter A.7Ab: from the SERVOPACK. If The fan inside the Check for foreign matter an alarm still occurs, the SERVOPACK SERVOPACK –...
Page 91 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still The encoder malfunc- –...
Page 92 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The surrounding air Reduce the surrounding Measure the surround- temperature around air temperature of the ing air temperature –...
Page 93 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A failure occurred in Replace the external – – the external encoder. encoder. A.8A1: External Encoder A failure occurred in Replace the Serial Con- Module Error the Serial Converter...
Page 94 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Turn the power supply to the SERVOPACK OFF and A.bF0: A failure occurred in ON again. If an alarm still –...
Page 95 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Fine-tune the mounting of Check the voltage of The linear encoder the scale head. Or, the linear encoder sig- –...
Page 96 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The settings of Pn282 (Linear Encoder Scale Check the linear Pitch) and Pn080 = The parameter set- encoder specifications n.X...
Page 97 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Wire the overtravel sig- A.C51: nals. Execute polarity The overtravel signal Check the overtravel detection at a position Overtravel was detected during position.
Page 98 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name There is a faulty con- tact in the connector Reconnect the encoder Check the condition of or the connector is connector and check the the encoder connector.
Page 99 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Noise entered on the Implement countermea- signal line from the – sures against noise for the encoder. encoder wiring.
Page 100 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The encoder is wired Make sure that the Check the wiring of the incorrectly or there is encoder is correctly encoder.
Page 101 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The cable between the Serial Converter Correctly wire the cable Unit and SERVOPACK Check the wiring of the between the Serial Con- is not wired correctly external encoder.
Page 102 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The servo was turned Set the position deviation ON after the position A.d01: to be cleared while the deviation exceeded Check the position servo is OFF.
Page 103 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name There is a faulty con- Check the connection nection between the between the SERVO- Correctly connect the SERVOPACK and the –...
Page 104 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The three-phase Check the power sup- Make sure that the power power supply wiring is ply wiring. supply is correctly wired.
Page 105: Warning Displays
4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.4 Warning Displays Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Disconnect the Digital Operator and then con- nect it again. If an alarm A failure occurred in –...
Page 106: List Of Warnings
4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.5 List of Warnings 4.1.5 List of Warnings The list of warnings gives the warning name, warning meaning, and warning code output in order of the warning numbers. Warning Code Warning Output Warning Name Meaning Number ALO1 ALO2 ALO3...
Page 107: Troubleshooting Warnings
Pn00F = n.X (Preventative Maintenance Warning Selection) 4.1.6 Troubleshooting Warnings The causes of and corrections for the warnings are given in the following table. Contact your Yaskawa representative if you cannot solve a problem with the correction given in the table. Warning Number: Possible Cause Confirmation...
Page 108 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.6 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name The wiring is not correct or there is Make sure that the Servo- a faulty contact in Check the wiring.
Page 109 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.6 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name Check the surrounding temperature using a Decrease the surrounding The surrounding thermostat. Or, check temperature by improving temperature is too the operating status the SERVOPACK installa-...
Page 110 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.6 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name The power supply Set the power supply volt- voltage exceeded Measure the power age within the specified –...
Page 111 One of the con- A.9b0: Replace the part. Contact sumable parts has – your Yaskawa representa- Preventative Mainte- reached the end tive for replacement. nance Warning of its service life. Refer to the following manual for details.
Page 112: Troubleshooting Based On The Operation And Conditions Of The Servomotor
4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.7 Troubleshooting Based on the Operation and Conditions of the Servomotor 4.1.7 Troubleshooting Based on the Operation and Conditions of the Servomotor This section provides troubleshooting based on the operation and conditions of the Servomo- tor, including causes and corrections.
Page 113 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check between the torque reference input (T- Torque control: The torque Correctly set the con- REF) and signal ground reference input is not appro- trol method and input...
Page 114 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference There is a mistake in the Ser- Wire the Servomotor Check the wiring. –...
Page 115 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference The setting of Pn001 = n.X (Motor Stopping Check the setting of Set Pn001 = n.X Method for Servo OFF and –...
Page 116 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Reduce the load so that the moment of inertia ratio or mass The Servomotor vibrated ratio is within the allow- considerably while perform-...
Page 117 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check to see if the Correct the cable lay- The Encoder Cable was sub- Encoder Cable is bundled out so that no surge is jected to excessive noise...
Page 118 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check to see if the servo Perform autotuning The servo gains are not bal- gains have been cor- without a host refer- anced.
Page 119 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check to see if there is Implement counter- There is a SERVOPACK noise interference on the measures against noise pulse counting error due to...
Page 120 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Correct the external Check the external power power supply (+24 V) supply (+24 V) voltage for –...
Page 121 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check the Encoder Cable to see if it satisfies speci- fications. Use a shielded Noise interference occurred Use cables that satisfy twisted-pair wire cable or...
Page 122 4.1 SERVOPACKs with Analog Voltage/Pulse Train References 4.1.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check to see if vibration from the machine occurred. Check the Servomotor Reduce machine vibra- The encoder was subjected installation (mounting sur-...
Page 123: Servopacks With Mechatrolink-Iii Communications References
4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.1 Alarm Displays SERVOPACKs with MECHATROLINK-III Communications References 4.2.1 Alarm Displays If an error occurs in the SERVOPACK, an alarm number will be displayed on the panel display. If there is an alarm, the display will change in the following order. Example: Alarm A.E60 Status Not lit.
Page 124: List Of Alarms
4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.2 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method The setting of Pn212 (Number of Encoder Output Encoder Output Pulse Pulses) or Pn281 (Encoder Output Resolution) is A.041 Gr.1...
Page 125 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.2 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method Inrush Current Limiting The main circuit power supply was frequently A.740 Gr.1 turned ON and OFF.
Page 126 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.2 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method A.C10 Servomotor Out of Control The Servomotor ran out of control. Gr.1 A.C20 Phase Detection Error...
Page 127 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.2 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method The position feedback data exceeded A.d30 Position Data Overflow Gr.1 ±1,879,048,192. A synchronization error occurred during MECHA- MECHATROLINK Internal A.E02...
Page 128 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.2 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method Digital Operator Commu- CPF00 Communications were not possible between the nications Error 1 Digital Operator (model: JUSP-OP05A-1-E) and –...
Page 129: Troubleshooting Alarms
4.2.3 Troubleshooting Alarms 4.2.3 Troubleshooting Alarms The causes of and corrections for the alarms are given in the following table. Contact your Yaskawa representative if you cannot solve a problem with the correction given in the table. Alarm Number: Possible Cause Confirmation...
Page 130 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A.024: System Alarm The SERVOPACK may be (An internal pro- A failure occurred in faulty. Replace the SER- –...
Page 131 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The speed of program jogging went below Check to see if the the setting range Decrease the setting of when the electronic the electronic gear ratio detection conditions...
Page 132 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Set the parameters for a Linear Servomotor and A Rotary Servomotor reset the motor type was removed and a A.070: –...
Page 133 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The Main Circuit Cable is not wired Check the wiring. Correct the wiring. correctly or there is faulty contact. Check for short-circuits across Servomotor There is a short-circuit...
Page 134 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A heavy load was Check to see if the Reduce the load applied applied while the Ser- operating conditions to the Servomotor.
Page 135 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Pn600 (Regenerative Resistor Capacity) is Connect an External not set to 0 and an Check it see if an Exter- Regenerative Resistor, or External Regenerative nal Regenerative Resis-...
Page 136 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The power supply Set the power supply volt- Measure the power voltage exceeded the age within the specified –...
Page 137 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name If you are using the regen- The regenerative erative resistor built into resistor was discon- Measure the resistance the SERVOPACK, replace nected when the of the regenerative...
Page 138 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The power supply Set the AC/DC power Measure the power voltage exceeded the supply voltage within the – supply voltage.
Page 139 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The order of phases U, V, and W in the Check the wiring of the Make sure that the Servo- –...
Page 140 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The wiring is not cor- Make sure that the Servo- rect or there is a faulty Check the wiring. motor and encoder are contact in the motor correctly wired.
Page 141 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Check the surrounding temperature using a Decrease the surround- thermostat. Or, check ing temperature by The surrounding tem- the operating status improving the SERVO- perature is too high.
Page 142 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Remove foreign matter A.7Ab: from the SERVOPACK. If The fan inside the Check for foreign matter an alarm still occurs, the SERVOPACK SERVOPACK –...
Page 143 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still The encoder malfunc- –...
Page 144 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The surrounding air Reduce the surrounding Measure the surround- temperature around air temperature of the ing air temperature –...
Page 145 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A failure occurred in Replace the external – – the external encoder. encoder. A.8A1: External Encoder A failure occurred in Replace the Serial Con- Module Error the Serial Converter...
Page 146 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Turn the power supply to the SERVOPACK OFF and A.bF2: A failure occurred in ON again. If an alarm still –...
Page 147 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The polarity sensor is Correctly reinstall the protruding from the Check the polarity sen- Moving Coil or Magnetic –...
Page 148 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The settings of Pn282 (Linear Encoder Scale Check the linear Pitch) and Pn080 = The parameter set- encoder specifications n.X...
Page 149 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Wire the overtravel sig- A.C51: nals. Execute polarity The overtravel signal Check the overtravel detection at a position Overtravel was detected during position.
Page 150 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name There is a faulty con- tact in the connector Reconnect the encoder Check the condition of or the connector is connector and check the the encoder connector.
Page 151 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Noise entered on the Implement countermea- signal line from the – sures against noise for the encoder. encoder wiring. Reduce machine vibra- Excessive vibration or Check the operating...
Page 152 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The encoder is wired Make sure that the Check the wiring of the incorrectly or there is encoder is correctly encoder.
Page 153 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The cable between the Serial Converter Correctly wire the cable Unit and SERVOPACK Check the wiring of the between the Serial Con- is not wired correctly external encoder.
Page 154 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The servo was turned ON after the position A.d01: deviation exceeded Optimize the setting of Check the position Position Devia- the setting of Pn526 Pn526 (Position Deviation...
Page 155 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Check the setting of the station address of the Check rotary switches The station address is host controller, and reset S1 and S2 to see if the outside of the setting rotary switches S1 and S2...
Page 156 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Remove the cause of The MECHATROLINK Check the setting of the transmission cycle fluctu- transmission cycle MECHATROLINK trans- –...
Page 157 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A failure occurred in Replace the Safety Option the Safety Option – – A.E74: Module. Module. Unsupported Safety Option An unsupported Refer to the catalog of Connect a compatible...
Page 158 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The three-phase Check the power sup- Make sure that the power power supply wiring is ply wiring. supply is correctly wired. not correct.
Page 159: Warning Displays
4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.4 Warning Displays Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Disconnect the Digital Operator and then con- nect it again. If an alarm A failure occurred in – still occurs, the Digital –...
Page 160: List Of Warnings
4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.5 List of Warnings 4.2.5 List of Warnings The list of warnings gives the warning name and warning meaning in order of the warning num- bers. Warning Warning Name Meaning Resetting Number Position Deviation The position deviation exceeded the parameter settings A.900 Required.
Page 161 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.5 List of Warnings Continued from previous page. Warning Warning Name Meaning Resetting Number Command Warning 4 There was command interference, particularly latch Automatically A.95d (Command Interfer- command interference. reset.* ence) Command Warning 5 The subcommand and main command interfere with Automatically A.95E...
Page 162: Troubleshooting Warnings
4.2.6 Troubleshooting Warnings 4.2.6 Troubleshooting Warnings The causes of and corrections for the warnings are given in the following table. Contact your Yaskawa representative if you cannot solve a problem with the correction given in the table. Warning Number: Possible Cause Confirmation...
Page 163 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.6 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name The wiring is not correct or there is Make sure that the Servo- a faulty contact in Check the wiring. motor and encoder are cor- –...
Page 164: Troubleshooting Warnings
4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.6 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name Check the surrounding temperature using a Decrease the surrounding The surrounding thermostat. Or, check temperature by improving temperature is too the operating status the SERVOPACK installa- high.
Page 165 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.6 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name The power supply Set the power supply volt- voltage exceeded Measure the power age within the specified – the specified supply voltage.
Page 166 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.6 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name Reset the speed ripple – compensation value on the The speed ripple SigmaWin+. compensation Set Pn423 to n.1 (Do information stored not detect A.942 alarms).
Page 167 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.6 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name A.95F: An undefined Check the command Do not send undefined Command Warning command was that caused the warn- commands.
Page 168 One of the con- A.9b0: Replace the part. Contact sumable parts has – your Yaskawa representa- Preventative Mainte- reached the end nance Warning tive for replacement. of its service life. Refer to the following manual for details.
Page 169: Troubleshooting Based On The Operation And Conditions Of The Servomotor
4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.7 Troubleshooting Based on the Operation and Conditions of the Servomotor 4.2.7 Troubleshooting Based on the Operation and Conditions of the Servomotor This section provides troubleshooting based on the operation and conditions of the Servomo- tor, including causes and corrections.
Page 170: Troubleshooting Based On The Operation And Conditions Of The Servomotor
4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference A failure occurred in the SER- Replace the SERVO- – – VOPACK. PACK. Check the setting of Correct the parameter Pn080 =n.X (Polar-...
Page 171 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference The setting of Pn001 = n.X (Motor Stopping Check the setting of Set Pn001 = n.X Method for Servo OFF and –...
Page 172 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference • Rotary Servomotors: The Encoder Cable length must be 50 m max. • Linear Servomotors: Noise interference occurred Make sure that the Check the length of the...
Page 173 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check to see if the servo Perform autotuning The servo gains are not bal- gains have been cor- without a host refer- anced.
Page 174 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check the Encoder Cable to see if it satisfies speci- fications. Noise interference occurred Use a shielded twisted- Use cables that satisfy because of incorrect Encoder...
Page 175 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check to see if vibration from the machine occurred. Check the Servomotor Reduce machine vibra- The encoder was subjected installation (mounting sur- tion.
Page 176 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference If another signal is allo- Check to see if the P-OT cated in Pn50A There is a mistake in the allo- signal is allocated in =n.X, allocate the...
Page 177 4.2 SERVOPACKs with MECHATROLINK-III Communications References 4.2.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check to see if vibration from the machine occurred. Check the Servomotor Reduce machine vibra- The encoder was subjected installation (mounting sur- tion.
Page 178: Parameter Lists
Parameter Lists This chapter provides information on the parameters. SERVOPACKs with Analog Voltage/Pulse Train References . . . 5-2 5.1.1 Interpreting the Parameter Lists ... . . 5-2 5.1.2 List of Parameters ......5-3 5.1.3 Parameter Recording Table .
Page 179: Servopacks With Analog Voltage/Pulse Train References
5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.1 Interpreting the Parameter Lists SERVOPACKs with Analog Voltage/Pulse Train References 5.1.1 Interpreting the Parameter Lists The types of motors to which the parameter applies. All: The parameter is used for both Rotary Servomotors and Linear Servomotors. Rotary: The parameter is used for only Rotary Servomotors.
Page 180: List Of Parameters
5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters 5.1.2 List of Parameters The following table lists the parameters. Note: Do not change the following parameters from their default settings. • Reserved parameters • Parameters not given in this manual •...
Page 181 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to After – 0000 Setup Selections 1 1142 restart Motor Stopping Method for Servo OFF and Group 1 Alarms...
Page 182 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to After – 0000 – Setup Selections 2 4213 restart...
Page 183 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to Immedi- – 0002 Setup Selections 6 105F ately Analog Monitor 1 Signal Selection...
Page 184 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to Immedi- – 0000 Setup Selections 7 105F ately Analog Monitor 2 Signal Selection...
Page 185 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to After – 0000 Rotary Setup Selections 8 7121 restart...
Page 186 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to After – 0001 Setup Selections A 0044 restart Motor Stopping Method for Group 2 Alarms...
Page 187 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to After – 0000 – Setup Selections C 0131 restart...
Page 188 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Σ-V Compatible Func- 0000 to After – 0000 – Setup –...
Page 189 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Immedi- Pn109 Feedforward 0 to 100 Tuning ately Feedforward Filter Time Immedi- Pn10A 0 to 6,400...
Page 190 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Automatic Gain Switch- 0000 to Immedi- – 0000 Tuning ing Selections 1 0052 ately...
Page 191 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Model Following Con- Immedi- Pn143 trol Bias in the Forward 0 to 10,000 0.1% 1000...
Page 192 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Anti-Resonance Damp- Immedi- Pn163 0 to 300 Tuning ing Gain ately Anti-Resonance Filter -1,000 to...
Page 193 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Less-Deviation Func- 0000 to After – 2102 Setup – tion Selection Switches 2113 restart...
Page 194 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Position Control Refer- 0000 to After – 0000 Setup ence For Selections 2236 restart...
Page 195 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Electronic Gear Ratio 1 to After Pn210 Setup (Denominator) 1,073,741,824 restart Number of Encoder...
Page 196 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Speed Reference Filter Immedi- Pn307 0 to 65,535 0.01 ms Setup Time Constant ately...
Page 197 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque-Related Func- 0000 to – 0000 – Setup tion Selections 1111 When Notch Filter Selection 1...
Page 198 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque-Related Func- 0000 to Immedi- – 0000 Setup tion Selections 2 1111 ately Notch Filter Selection 3...
Page 199 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Release Time for Torque Immedi- Pn425 Limit at Main Circuit 0 to 1,000 1 ms Setup...
Page 200 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Immedi- Pn501 Zero Clamping Level 0 to 10,000 Rotary Setup 1 min ately...
Page 201 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000 to After – 2100 Setup FFF2 restart Input Signal Allocation Mode...
Page 202 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000 to After − 6543 Setup FFFF restart N-OT (Reverse Drive Prohibit) Signal Allocation...
Page 203 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000 to After − 8888 Setup FFFF restart /SPD-D (Motor Direction) Signal Allocation...
Page 204 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000 to After – 8888 – Setup FFFF restart...
Page 205 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Selec- 0000 to After – 3211 Setup tions 1 6666 restart...
Page 206 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 0000 to Output Signal Selec- After – 0000 Setup tions 3 restart 0666...
Page 207 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Selec- 0000 to After – 0000 Setup tions 4 0666 restart...
Page 208 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000 to After – 8888 Setup FFFF restart SEN (Absolute Data Request Input) Signal Allocation...
Page 209 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000 to After – 8888 Setup FFFF restart FSTP (Forced Stop Input) Signal Allocation...
Page 210 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Position Deviation Over- Immedi- Pn51E 10 to 100 Setup flow Warning Level ately 1 refer-...
Page 211 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Rotary: 1 min Program Jogging Move- Direct Immedi- Pn533 1 to 10,000 Rotary Setup...
Page 212: Parameter Recording Table
5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.3 Parameter Recording Table 5.1.3 Parameter Recording Table Use the following table to record the settings of the parameters. Parameter When Default Setting Name Enabled Pn000 0000 Basic Function Selections 0 After restart Application Function Selec- Pn001 0000...
Page 213 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Mode Switching Level for Pn10F Immediately Position Deviation Position Integral Time Con- Pn11F Immediately stant Pn121 Friction Compensation Gain Immediately Second Friction Compen- Pn122 Immediately...
Page 214 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Anti-Resonance Gain Cor- Pn162 Immediately rection Anti-Resonance Damping Pn163 Immediately Gain Anti-Resonance Filter Time Pn164 Immediately Constant 1 Correction Anti-Resonance Filter Time Pn165 Immediately...
Page 215 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Position Control Reference Pn200 0000 After restart For Selections Pn205 65535 Multiturn Limit After restart Position Control Function Pn207 1000 After restart Selections...
Page 216 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Pn381 Internal Set Speed 2 Immediately Pn382 Internal Set Speed 3 Immediately Pn383 Jogging Speed Immediately Pn384 Vibration Detection Level Immediately Pn385 Maximum Motor Speed...
Page 217 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Fourth Stage Notch Filter Pn41C Immediately Depth Fifth Stage Notch Filter Fre- Pn41D 5000 Immediately quency Fifth Stage Notch Filter Q Pn41E Immediately Value...
Page 218 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Brake Reference Output Pn507 Immediately Speed Level Servo OFF-Brake Com- Pn508 Immediately mand Waiting Time Momentary Power Interrup- Pn509 Immediately tion Hold Time Pn50A...
Page 219 5.1 SERVOPACKs with Analog Voltage/Pulse Train References 5.1.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Program Jogging Waiting Pn535 Immediately Time Program Jogging Number Pn536 Immediately of Movements Analog Monitor 1 Offset Pn550 Immediately Voltage Analog Monitor 2 Offset Pn551...
Page 220: Servopacks With Mechatrolink-Iii Communications References
5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.1 Interpreting the Parameter Lists SERVOPACKs with MECHATROLINK-III Communications References 5.2.1 Interpreting the Parameter Lists List of Servo Parameters The types of motors to which the parameter applies. All: The parameter is used for both Rotary Servomotors and Linear Servomotors. Rotary: The parameter is used for only Rotary Servomotors.
Page 221 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters List of MECHATROLINK-III Common Parameters Indicates when a change to the The types of motors to which the parameter applies. parameter will be effective. All: The parameter is used for both Rotary Servomotors and Linear Servomotors. “After restart”...
Page 222 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to After – 0000 Setup Selections 1 1142 restart Motor Stopping Method for Servo OFF and Group 1 Alarms...
Page 223 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to After – 0011 – Setup –...
Page 224 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to Immedi- – 0002 Setup Selections 6 105F ately Analog Monitor 1 Signal Selection...
Page 225 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to Immedi- – 0000 Setup Selections 7 105F ately Analog Monitor 2 Signal Selection...
Page 226 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to After – 4000 Rotary Setup Selections 8 7121 restart...
Page 227 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to After – 0001 Setup Selections A 0044 restart Motor Stopping Method for Group 2 Alarms...
Page 228 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to After – 0000 – Setup Selections C 0131 restart...
Page 229 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Σ-V Compatible Func- 0000 to After – 0000 – Setup –...
Page 230 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Second Speed Loop Immedi- Pn105 15 to 51,200 0.01 ms 2000 Tuning Integral Time Constant...
Page 231 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Automatic Gain Switch- 0000 to Immedi- – 0000 Tuning ing Selections 1 0052 ately...
Page 232 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Model Following Con- Immedi- Pn143 trol Bias in the Forward 0 to 10,000 0.1% 1000...
Page 233 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Anti-Resonance Damp- Immedi- Pn163 0 to 300 Tuning ing Gain ately Anti-Resonance Filter -1,000 to...
Page 234 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Less-Deviation Func- 0000 to After – 2102 Setup – 2113 restart tion Selection Switches...
Page 235 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Position Control Func- 0000 to After – 1000 Setup tion Selections 2210 restart...
Page 236 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Second Position Refer- ence Acceleration/ Immedi- Pn234 0 to 65,535 0.1 ms Setup Deceleration Time Con-...
Page 237 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Reverse External Torque Immedi- Pn405 0 to 800 Setup Limit ately Immedi-...
Page 238 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque-Related Func- 0000 to Immedi- – 0000 Setup tion Selections 2 1111 ately Notch Filter Selection 3...
Page 239 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Release Time for Torque Immedi- Pn425 Limit at Main Circuit 0 to 1,000 1 ms Setup...
Page 240 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Immedi- Pn502 Rotation Detection Level 1 to 10,000 Rotary Setup 1 min ately...
Page 241 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000 to After − 8882 Setup FFFF restart N-OT (Reverse Drive Prohibit) Signal Allocation...
Page 242 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Selec- 0000 to After – 0000 Setup tions 1 6666 restart...
Page 243 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 0000 to Output Signal Selec- After – 0000 Setup tions 3 restart 0666...
Page 244 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Inverse 0000 to After – 0000 Setup Settings 1111 restart...
Page 245 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000 to After – 8888 Setup FFFF restart FSTP (Forced Stop Input) Signal Allocation...
Page 246 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Base Current Derating After Pn52C at Motor Overload 10 to 100 Setup restart Detection...
Page 247 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Immedi- Pn581 Zero Speed Level 1 to 10,000 1 mm/s Linear Setup ately...
Page 248 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Communications Con- 0000 to Immedi- − 1040 Setup – trols 1FF3 ately...
Page 249 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence -1,073,741,823 1 refer- 107374 Immedi- Pn804 Forward Software Limit ence Setup 1823...
Page 250 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Monitor 0000 to Immedi- – 0000 Setup Selections 7777 ately...
Page 251 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Monitor 1 Selec- 0000 to Immedi- – 0000 –...
Page 252 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Setting Monitor Applicable Motors Communications Module Only Previous value of latched feedback position (LPOS1) [encoder 0080 hex pulses] Pn824...
Page 253: List Of Servo Parameters
5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Field Allocations 0000 to After – 1D1C Setup 1F1F restart V_PPI Allocation (Option)
Page 254 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Field Allocations 0000 to After – 0000 Setup 1F1C restart BANK_SEL1 Allocation (Option)
Page 255 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Field Allocations 0000 to After – 0000 Setup 1D1F restart ...
Page 256 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 10,000 refer- Immedi- Second Stage Linear 1 to Pn83C Setup ence Deceleration Constant 2...
Page 257 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Latch Sequence 5 to 8 0000 to Immedi- – 0000 Setup Settings...
Page 258 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence SVCMD_IO Input Signal 0000 to Immedi- – 0000 Setup Monitor Allocations 2 1717 ately...
Page 259 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence SVCMD_IO Output Sig- 0000 to Immedi- nal Monitor Allocations –...
Page 260 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Communications Con- 0000 to Immedi- – 0000 Setup trols 2 0001 ately MECHATROLINK Communications Error Holding Brake Signal Setting...
Page 261 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.3 List of MECHATROLINK-III Common Parameters 5.2.3 List of MECHATROLINK-III Common Parameters The following table lists the common MECHATROLINK-III parameters. These common parame- ters are used to make settings from the host controller via MECHATROLINK communications. Do not change the settings with the Digital Operator or any other device.
Page 262 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.3 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Electronic Gear Ratio 1 to After – (Numerator) 1,073,741,824 restart PnA42...
Page 263: List Of Mechatrolink-Iii Common Parameters
5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.3 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Position Base Unit Selection (Set the value of n After from the following –...
Page 264 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.3 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication 1,000 to 0.001 Hz Immedi- Speed Loop Gain 40000 2,000,000 [0.1 Hz]...
Page 265 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.3 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Fixed Monitor Selec- Immedi- 0 to F – tion 2 ately PnB10...
Page 266 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.3 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication SEL_MON (CMN2) Immedi- 0 to 9 – Monitor Selection 2 ately 0000 to PnB14...
Page 267 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.3 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Servo Status Field Enable/Disable 0FFF3F33 – – – Selections (read only) Bit 0...
Page 268 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.3 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Input Bit Enable/Dis- FF0FFEFE able Selections (read – –...
Page 269: Parameter Recording Table
5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.4 Parameter Recording Table 5.2.4 Parameter Recording Table Use the following table to record the settings of the parameters. Parameter When Default Setting Name Enabled Pn000 0000 Basic Function Selections 0 After restart Application Function Selec- Pn001 0000 After restart...
Page 270 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.4 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Position Integral Time Con- Pn11F Immediately stant Pn121 Friction Compensation Gain Immediately Second Friction Compen- Pn122 Immediately sation Gain Friction Compensation Pn123 Immediately Coefficient...
Page 271 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.4 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Anti-Resonance Damping Pn163 Immediately Gain Anti-Resonance Filter Time Pn164 Immediately Constant 1 Correction Anti-Resonance Filter Time Pn165 Immediately Constant 2 Correction Anti-Resonance Damping Pn166 Immediately...
Page 272 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.4 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Position Control Function Pn207 1000 After restart Selections Number of External Scale Pn20A 32768 After restart Pitches Electronic Gear Ratio Pn20E After restart (Numerator)
Page 273 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.4 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Speed Limit during Torque Pn407 10000 Immediately Control Torque-Related Function Pn408 0000 Selections First Stage Notch Filter Fre- Pn409 5000 Immediately quency First Stage Notch Filter Q...
Page 274 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.4 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Notch Filter Adjustment Pn460 0101 Immediately Selections 1 Speed Limit during Force Pn480 10000 Immediately Control Polarity Detection Speed Pn481 Immediately Loop Gain Polarity Detection Speed...
Page 275 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.4 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Position Deviation Over- Pn520 5242880 Immediately flow Alarm Level Positioning Completed Pn522 Immediately Width Pn524 1073741824 Near Signal Width Immediately Position Deviation Over- Pn526 5242880...
Page 276 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.4 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Polarity Detection Execu- Pn587 0000 tion Selection for Absolute Immediately Linear Encoder Regenerative Resistor Pn600 Immediately Capacity Dynamic Brake Resistor Pn601 Allowable Energy Con- After restart...
Page 277 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.4 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Immedi- Linear Deceleration Con- Pn827 stant 1 for Stopping ately SVOFF Waiting Time (for Pn829 SVOFF at Deceleration to Immediately Stop) Pn82A 1813...
Page 278 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.4 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Set Transmission Byte Pn881 Count Monitor [bytes] (for Immediately maintenance, read only) Transmission Cycle Setting Monitor [× 0.25 μs] (for Pn882 Immediately maintenance, read only)
Page 279 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.4 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Electronic Gear Ratio After restart (Denominator) PnA44 Immedi- Absolute Encoder Origin Offset PnA46 ately 65535 Multiturn Limit Setting After restart PnA48 0000 hex Limit Setting...
Page 280 5.2 SERVOPACKs with MECHATROLINK-III Communications References 5.2.4 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled × 5,000 reference units/s converted to Origin Approach Speed Immediately PnB08 × 500 reference units/s converted to Origin Return Creep Speed Immediately PnB0A Final Travel Distance for...
Page 281 Index Index - - - - - - - - - - - - - - - - - - - - - - - - - - - - ix SigmaWin+ - - - - - - - - - - - - - - - - - - - - 2-5 , 2-9 storage humidity - - - - - - - - - - - - - - - - - - 2-5...
Page 282 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800001 89A Published in Japan September 2015 Date of publication Date of Rev. Rev. Section Revised Contents Publication −...
Page 283 Phone 81-4-2962-5151 Fax 81-4-2962-6138 http://www.yaskawa.co.jp YASKAWA AMERICA, INC. 2121, Norman Drive South, Waukegan, IL 60085, U.S.A. Phone 1-800-YASKAWA (927-5292) or 1-847-887-7000 Fax 1-847-887-7310 http://www.yaskawa.com YASKAWA ELÉTRICO DO BRASIL LTDA. 777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil Phone 55-11-3585-1100 Fax 55-11-3585-1187 http://www.yaskawa.com.br...

This manual is also suitable for:

Sgd7s-r70a Sgd7s-r90a Sgd7s-5r5a Sgd7s-3r8a Sgd7s-2r8a Sgd7s-1r6a ... Show all

YASKAWA SGD7S series Product Manual

Quick Links

Troubleshooting

Related Manuals for YASKAWA SGD7S series

Summary of Contents for YASKAWA SGD7S series

This manual is also suitable for:

Table of Contents