YASKAWA SGM7D-01G Product Manual Download

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Model: SGD7S-





F82

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, -



00A



F83

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

-7S SERVOPACK with

FT/EX Specification
for Application with Special Motor,
SGM7D Motor



-7-Series AC Servo Drive

Product Manual

MANUAL NO. SIEP S800001 91D

Maintenance

Parameter Lists

Basic Information on

SERVOPACKs

SERVOPACK Ratings and

Specifications

Summary of Contents for SGM7D-01G

Page 1: ...ith FT EX Specification for Application with Special Motor SGM7D Motor 7 Series AC Servo Drive Product Manual MANUAL NO SIEP S800001 91D 1 2 3 4 Maintenance Parameter Lists Basic Information on SERVOPACKs SERVOPACK Ratings and Specifications ...

Page 2: ... 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 Every precaution has been taken in the preparation of this manual Nevertheless Yaskawa assumes no responsibility for errors or omissions Neither is any li...

Page 3: ...EP S800001 27 Σ 7S SERVO PACK with MECHATROLINK III Communica tions References Product Manual Manual No SIEP S800001 28 Σ 7S SERVO PACK Command Option Attachable Type with INDEXER Module Product Manual Manual No SIEP S800001 64 Basic Informa tion on SERVO PACKs The Σ 7 Series 1 1 1 1 1 1 1 1 Product Introduction 1 1 Interpreting the Nameplates 1 2 1 2 1 2 1 3 Part Names 1 3 1 3 1 3 1 4 Model Desig...

Page 4: ...le Alarm Displays and Troubleshooting 3 4 4 Resetting Alarms 12 2 3 12 2 3 12 2 3 15 2 4 Displaying the Alarm History 12 2 4 12 2 4 12 2 4 15 2 5 Clearing the Alarm History 12 2 5 12 2 5 12 2 5 15 2 6 Resetting Alarms Detected in Option Modules 12 2 6 12 2 6 12 2 6 15 2 7 Resetting Motor Type Alarms 12 2 7 12 2 7 12 2 7 15 2 8 Warning Displays 3 1 4 3 2 4 3 3 4 3 4 5 List of Warnings 3 1 5 3 2 5 3...

Page 5: ... Parameter Recording Table 14 2 13 2 13 3 16 3 Appendix Chapter 15 Chapter 14 Chapter 14 Chapter 17 Continued from previous page Item This Man ual Σ 7S SERVO PACK with Analog Voltage Pulse Train References Prod uct Manual Man ual No SIEP S800001 26 Σ 7S SERVO PACK with MECHATROLINK II Communica tions References Product Manual Manual No SIEP S800001 27 Σ 7S SERVO PACK with MECHATROLINK III Communic...

Page 6: ... 3 Wiring and Connecting SERVOPACKs Wiring Precautions 4 1 Basic Wiring Diagrams 3 1 Wiring the Power Supply to the SERVOPACK 4 3 Wiring Servomotors 4 4 I O Signal Connections 3 2 Connecting Safety Function Signals 4 6 Connecting the Other Connectors 4 7 Basic Functions That Require Setting before Operation Chapter 5 Application Functions Chapter 6 Trial Operation and Actual Operation Flow of Tria...

Page 7: ...les 12 2 6 Resetting Motor Type Alarms 12 2 7 Warning Displays 3 5 5 List of Warnings 3 5 6 Troubleshooting Warnings 3 5 7 INDEXER Warning Displays and Troubleshooting 3 5 8 Troubleshooting Based on the Oper ation and Conditions of the Servo motor 3 5 9 Panel Displays and Panel Operator Procedures Chapter 13 List of Parame ters Parameter Configurations 9 1 List of Parameters 4 5 Parameter Recordin...

Page 8: ...W SERVOPACKs with Built in Controllers Σ 7C Servomotors Other Documents Built in Function Manuals Σ 7 Series Σ 7S Σ 7W SERVOPACK Product Manuals Σ 7 Series Σ 7S Σ 7W SERVOPACK Hardware Option Product Manuals Option Module User s Manuals Option Module User s Manual Σ 7 Series Servomotor Product Manuals Σ 7 Series Σ 7C SERVOPACK Product Manual Σ 7 Series Σ 7C SERVOPACK Troubleshooting Manual Enclose...

Page 9: ...detailed information on the specifications system configu ration and communications con nection methods for the Ethernet communications that are used with MP3000 Series Machine Control lers and Σ 7 Series Σ 7C SERVO PACKs Option Module User s Manuals Machine Controller MP2000 Series Communication Module User s Manual SIEP C880700 04 Provide detailed information on the specifications and communica ...

Page 10: ...procedures for installing the Safety Module in a SERVOPACK Σ V Series Σ V Series for Large Capacity Models Σ 7 Series Installation Guide INDEXER Module TOBP C720829 02 Provides detailed procedures for installing the INDEXER Module in a SERVOPACK Σ V Series Σ V Series for Large Capacity Models Σ 7 Series Installation Guide DeviceNet Module TOBP C720829 07 Provides detailed procedures for installing...

Page 11: ...Command Option Attachable Type with INDEXER Module Product Manual SIEP S800001 64 Σ 7 Series AC Servo Drive Σ 7S SERVOPACK Command Option Attachable Type with DeviceNet Module Product Manual SIEP S800001 70 Σ 7 Series AC Servo Drive Σ 7W SERVOPACK with MECHATROLINK III Communications References Product Manual SIEP S800001 29 Σ 7 Series Σ 7S Σ 7W SERVOPACK with Hardware Option Specifications Produc...

Page 12: ...oduct Manual SIEP S800001 95 Σ 7 Series AC Servo Drive Σ 7S SERVOPACK with FT EX Specification for Torque Force Assistance for Conveyance Application Product Manual SIEP S800002 09 Σ 7 Series AC Servo Drive Σ 7S SERVOPACK with FT EX Specification for Cutting Application Feed Shaft Motor Product Manual SIEP S800002 10 Option Module User s Manual AC Servo Drives Σ V Series Σ V Series for Large Capac...

Page 13: ...ommunications Command Manual SIEP S800001 30 Provides detailed information on the MECHATROLINK II communi cations commands that are used for a Σ 7 Series Servo System Σ 7 Series AC Servo Drive MECHATROLINK III Communications Standard Servo Profile Command Manual SIEP S800001 31 Provides detailed information on the MECHATROLINK III communi cations standard servo profile com mands that are used for ...

Page 14: ... Series Servo System AC Servo Drive Engineering Tool SigmaWin Operation Manual SIET S800001 34 Provides detailed operating proce dures for the SigmaWin Engineer ing Tool for a Σ 7 Series Servo System Distributed I O Module User s Manual MECHATROLINK III Compatible I O Module User s Manual SIEP C880781 04 Describes the functions specifica tions operating methods and MECHATROLINK III communica tions...

Page 15: ...wer to the motor servo OFF Not supplying power to the motor base block BB Shutting OFF the power supply to the motor by shutting OFF the base current to the power transistor in the SERVOPACK servo lock A state in which the motor is stopped and is in a position loop with a position reference of 0 Main Circuit Cable One of the cables that connect to the main circuit terminals including the Main Circ...

Page 16: ...ed Speed control Position control Torque control This is the parameter setting before shipment This is when any change made to the parameter will become effective This is the parameter classification This is the minimum unit setting increment that you can set for the parameter Position Speed Parameter Meaning When Enabled Classification Pn002 n 0 After restart Setup n 1 n 2 Parameter number The no...

Page 17: ...sed to indicate certain types of information for easier reference Indicates precautions or restrictions that must be observed Also indicates alarm displays and other precautions that will not result in machine damage Indicates definitions of difficult terms or terms that have not been previously explained in this manual Indicates operating or setting examples Indicates supplemental information to ...

Page 18: ...rmation marked as shown below is important for safety Always read this information and heed the precau tions that are provided DANGER Indicates precautions that if not heeded are likely to result in loss of life serious injury or fire WARNING Indicates precautions that if not heeded could result in loss of life serious injury or fire CAUTION Indicates precautions that if not heeded could result in...

Page 19: ...dify the product There is a risk of fire or failure The warranty is void for the product if you disassemble repair or modify it CAUTION The SERVOPACK heat sinks regenerative resistors External Dynamic Brake Resistors Servo motors and other components can be very hot while power is ON or soon after the power is turned OFF Implement safety measures such as installing covers so that hands and parts s...

Page 20: ...ny 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 Locations that are subject to condensation as the result of extreme changes in temperature Locations that are subject to corrosive or flammable gases Loc...

Page 21: ...damaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which includes chlorine fluorine bromine or iodine can contribute to the erosion of the capacitors Do not overtighten the eyebolts on a SERVOPACK or Servomotor If you use a tool to overtighten the eyebolts the tapped holes may be damaged CAUTION Install the Servomotor or SERVOPACK in ...

Page 22: ...ERVOPACK in a control panel Do not allow any foreign matter to enter a SERVOPACK or a Servomotor with a Cooling Fan and do not cover the outlet from the Servomotor s cooling fan There is a risk of failure DANGER Do not change any wiring while power is being supplied There is a risk of electric shock or injury WARNING Wiring and inspections must be performed only by qualified engineers There is a r...

Page 23: ...ncluding the main circuit termi nals has been completed If a connector is used for the main circuit terminals remove the main circuit connector from the SER VOPACK before you wire it Insert only one wire per insertion hole in the main circuit terminals When you insert a wire make sure that the conductor wire e g whiskers does not come into con tact with adjacent wires Install molded case circuit b...

Page 24: ... problems such as broken signal lines occur For example the P OT and N OT signals are set in the default settings to operate on the safe side if a signal line breaks Do not change the polarity of this type of signal When overtravel occurs the power supply to the motor is turned OFF and the brake is released If you use the Servomotor to drive a vertical load set the Servomotor to enter a zero clamp...

Page 25: ...arameter settings normal operation may not be possible after a faulty SERVOPACK is replaced possibly resulting in machine or equipment damage DANGER Do not change any wiring while power is being supplied There is a risk of electric shock or injury WARNING Wiring and inspections must be performed only by qualified engineers There is a risk of electric shock or product failure CAUTION Wait for six m...

Page 26: ...lways insert a magnetic contactor in the line between the main circuit power supply and the main circuit power supply terminals on the SERVOPACK so that the power supply can be shut OFF at the main circuit power supply If a magnetic contactor is not connected when the SERVOPACK fails a large current may flow possibly resulting in fire If an alarm occurs shut OFF the main circuit power supply There...

Page 27: ... of this document because it has been lost or damaged contact your nearest Yaskawa representative or one of the offices listed on the back of this document This document is subject to change without notice for product improvements specifications changes and improvements to the manual itself We will update the document number of the document and issue revisions when changes are made Any and all qua...

Page 28: ...vered product in a manner in which it was not originally intended Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa 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 ari...

Page 29: ... property Systems that require a high degree of reliability such as systems that supply gas water or electricity or systems that operate continuously 24 hours a day Other systems that require a similar high degree of safety Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety wi...

Page 30: ...duct Model EU Directive Harmonized Standards SERVOPACKs SGD7S Machinery Directive 2006 42 EC EN ISO13849 1 2015 EMC Directive 2014 30 EU EN 55011 group 1 class A EN 61000 6 2 EN 61000 6 4 EN 61800 3 Category C2 Second environment Low Voltage Directive 2014 35 EU EN 50178 EN 61800 5 1 RoHS Directive 2011 65 EU EN 50581 Direct Drive Ser vomotors SGM7D EMC Directive 2014 30 EU EN 55011 group 1 class ...

Page 31: ...EC 61508 IEC 62061 PFH 4 04 10 9 1 h 4 04 of SIL3 PFH 4 05 10 9 1 h 4 05 of SIL3 Performance Level EN ISO 13849 1 PLe Category 3 Mean Time to Dangerous Failure of Each Channel EN ISO 13849 1 MTTFd High Average Diagnostic Coverage EN ISO 13849 1 DCavg Medium Stop Category IEC 60204 1 Stop category 0 Safety Function IEC 61800 5 2 STO Hardware Fault Tolerance IEC 61508 HFT 1 Subsystem IEC 61508 B ...

Page 32: ...ctions 1 7 1 4 2 Function Application Restrictions 1 10 1 5 SigmaWin 1 11 1 6 Combining the SERVOPACKs with MP Series Machine Controllers and the MPE720 Engineering Tool 1 12 SERVOPACK Ratings and Specifications 2 2 1 Ratings 2 2 2 1 1 Three Phase 200 VAC 2 2 2 1 2 Single Phase 200 VAC 2 2 2 1 3 Single Phase 100 VAC 2 3 2 2 SERVOPACK Overload Protection Characteristics 2 4 2 3 Specifications 2 5 2...

Page 33: ... 3 5 List of Warnings 3 128 3 3 6 Troubleshooting Warnings 3 130 3 3 7 Troubleshooting Based on the Operation and Conditions of the Servomotor 3 137 3 4 Command Option Attachable type FT82 SERVOPACKs with INDEXER Modules 3 145 3 4 1 Alarm Displays 3 145 3 4 2 List of Alarms 3 146 3 4 3 Troubleshooting Alarms 3 151 3 4 4 INDEXER Module Alarm Displays and Troubleshooting 3 177 3 4 5 Warning Displays...

Page 34: ...References 4 32 4 3 FT82 SERVOPACK with MECHATROLINK III Communications References 4 67 4 3 1 List of Servo Parameters 4 67 4 3 2 List of MECHATROLINK III Common Parameters 4 106 4 4 Command Option Attachable type FT82 SERVOPACKs with INDEXER Modules 4 114 4 5 FT83 SERVOPACKs with Analog Voltage Pulse Train References 4 139 Index Revision History ...

Page 35: ...ng FT82 SERVOPACK Model Numbers 1 3 1 2 2 Interpreting FT83 SERVOPACK Model Numbers 1 4 1 2 3 Interpreting Direct Drive Servomotor Model Numbers 1 5 1 3 Combinations of SERVOPACKs and Servomotors 1 6 1 4 Functions 1 7 1 4 1 SERVOPACK Functions 1 7 1 4 2 Function Application Restrictions 1 10 1 5 SigmaWin 1 11 1 6 CombiningtheSERVOPACKswithMP SeriesMachineControllersandtheMPE720EngineeringTool 1 12...

Page 36: ...his manual were developed to drive SGM7D motors The SGM7D motors were designed for applications that require high torque easy operation and high precision The SERVOPACK will make the most of machine performance in the short est time possible thus contributing to improving productivity ...

Page 37: ... No KAEP S800001 23 FT EX Specification None B None BTO specification Specification Code BTO Specification 5 001 SGD7S 2R8A and 2R8F SGD7S 120A 020 4 000 002 SGD7S 120A 008 Single phase 200 VAC power supply input No dynamic brake External dynamic brake resistor MECHATROLINK II communications references 10 MECHATROLINK III communications reference 20 Command option attachable type 3 E0 A 200 VAC 00...

Page 38: ... FT EX Specification None B None BTO specification Specification Code BTO Specification 4 001 SGD7S 2R8A and 2R8F SGD7S 120A 020 3 000 002 SGD7S 120A 008 Single phase 200 VAC power supply input No dynamic brake External dynamic brake resistor 00 A Maximum Applicable Motor Capacity Voltage Interface Code Specification Analog voltage pulse train reference Design Revision Order Hardware Options Speci...

Page 39: ...K 4 5 With cable on side With cable on bottom 1 Standard mechanical precision Applicable models Specification 2 High mechanical precision L Non load side Direct Drive Servomotors SGM7D 4th digit 6th digit 3rd digit 7th digit Options 5th digit Design Revision Order Servomotor Outer Diameter Serial Encoder Flange 1st 2nd digits 1st 2nd digits Rated Torque 3rd digit 4th digit 5th digit 6th digit 7th ...

Page 40: ...6 W 2R8A and 2R8F SGM7D 05G 63 W SGM7D 08G 101 W 120A SGM7D 18G 226 W SGM7D 24G 302 W SGM7D 34G 320 W SGM7D 45G 565 W SGM7D 03H 38 W 2R8A and 2R8F SGM7D 28I 264 W 120A SGM7D 70I 440 W SGM7D 1ZI 628 W SGM7D 1CI 817 W SGM7D 2BI 691 W SGM7D 2DI 754 W SGM7D 06J 75 W SGM7D 09J 113 W SGM7D 18J 226 W SGM7D 20J 251 W SGM7D 38J 358 W SGM7D 02K 52 W 2R8A and 2R8F SGM7D 06K 151 W SGM7D 08K 201 W SGM7D 06L 11...

Page 41: ...on for details on restrictions to these functions 1 4 2 Function Application Restrictions on page 1 10 1 4 1 SERVOPACK Functions Functions Related to the Machine These functions can be used with SERVOPACKs with MECHATROLINK II Communications References and SERVOPACKs with MECHATROLINK III Communications References Functions Power Supply Type Settings for the Main Circuit and Control Circuit Automa...

Page 42: ... Zero Clamping V CMP Speed Coincidence Detection Signal Position Control Reference Pulse Form CLR Position Deviation Clear Signal Function and Set tings Reference Pulse Input Multiplication Switching COIN Positioning Completion Signal NEAR Near Signal Reference Pulse Inhibition Function and Settings Torque Control Basic Settings for Torque Control Torque Reference Filter Settings Speed Limit durin...

Page 43: ... Control 1 Tuning less Function Autotuning without Host Reference Autotuning with a Host Reference Custom Tuning Anti resonance Control Adjustment Vibration Suppression Gain Selection Friction Compensation Gravity Compensation Backlash Compensation 2 Model Following Control Compatible Adjustment Functions Mechanical Analysis Easy FFT Functions Software Reset Trial Operation for the Servomotor with...

Page 44: ... Linear Encoder Pitch Cannot be used Writing Linear Servomotor Param eters Cannot be used Selecting the Phase Sequence for a Linear Servomotor Cannot be used Polarity Sensor Setting Cannot be used Polarity Detection Cannot be used Speed Ripple Compensation Cannot be used Do not change the following default setting Pn423 n 0 Tuning less Function Cannot be used if the load moment of inertia ratio is...

Page 45: ...To use the SigmaWin a model information file for the SERVOPACK must be added to Sig maWin version 7 FT82 SERVOPACKs Add the FT82 model information file to SigmaWin to use the SigmaWin FT83 SERVOPACKs Add the FT83 model information file to SigmaWin to use the SigmaWin ...

Page 46: ... 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 47: ...eristics 2 4 2 3 Specifications 2 5 2 3 1 FT82 SERVOPACKs with Analog Voltage Pulse Train References 2 5 2 3 2 FT82 SERVOPACK with MECHATROLINK II Communications References 2 9 2 3 3 FT82 SERVOPACK with MECHATROLINK III Communications References 2 12 2 3 4 Command Option Attachable type FT82 SERVOPACKs with INDEXER Modules 2 15 2 3 5 FT83 SERVOPACKs with Analog Voltage Pulse Train References 2 19 ...

Page 48: ...r Loss W 12 15 Built in Regenerative Resistor Power Loss W 10 Total Power Loss W 34 5 97 6 Regenerative Resistor Built In Regenerative Resistor Resistance Ω 20 Capacity W 60 Minimum Allowable External Resistance Ω 40 20 Overvoltage Category III Model SGD7S 2R8A 120A Maximum Applicable Motor Capacity kW 0 4 1 5 Continuous Output Current Arms 2 8 11 6 Instantaneous Maximum Output Current Arms 9 3 28...

Page 49: ... 2 8 Instantaneous Maximum Output Current Arms 9 3 Main Circuit Power Supply 100 VAC to 120 VAC 15 to 10 50 Hz 60 Hz Input Current Arms 10 Control Power Supply 100 VAC to 120 VAC 15 to 10 50 Hz 60 Hz Input Current Arms 0 38 Power Supply Capacity kVA 1 4 Power Loss Main Circuit Power Loss W 26 2 Control Circuit Power Loss W 12 Total Power Loss W 38 2 Regenerative Resistor Minimum Allowable Resistan...

Page 50: ...e Train References Product Manual Manual No SIEP S800001 26 Σ 7 Series Σ 7S SERVOPACK with MECHATROLINK II Communications References Product Manual Manual No SIEP S800001 27 Σ 7 Series Σ 7S SERVOPACK with MECHATROLINK III Communications References Product Manual Manual No SIEP S800001 28 Σ 7 Series Σ 7S Command Option Attachable type SERVOPACK with INDEXER Module Product Manual Manual No SIEP S800...

Page 51: ... or iron dust Altitude 1 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 Σ 7 Series Σ 7S SERVOPACK with Analog Voltage Pulse Train References Product Manual Manual No SIEP S800001 26 Others Do not use the SERVOPACK in the following locations Locations sub ject to static electricity noise strong electromagnetic magnet...

Page 52: ...IBIT Reference Pulse Inhibit signal P DET Polarity Detection signal G SEL Gain Selection signal PSEL Reference Pulse Input Multiplication Switch signal SEN Absolute Data Request signal A signal can be allocated and the positive and negative logic can be changed Sequence Output Signals Fixed Output Allowable voltage range 5 VDC to 30 VDC Number of output points 1 Output signal ALM Servo Alarm signa...

Page 53: ...Activated when a servo alarm or overtravel OT occurs or when the power supply to the main circuit or servo is OFF Regenerative Processing Built in Refer to the following catalog for details AC Servo Drives Σ 7 Series Manual No KAEP S800001 23 Overtravel OT Prevention Stopping with dynamic brake deceleration to a stop or coasting to a stop for the P OT Forward Drive Prohibit or N OT Reverse Drive P...

Page 54: ...ops or another control method is used when both signals are OFF Posi tion Con trol Feedforward Compensation 0 to 100 Output Signal Posi tioning Completed Width Setting 0 to 1 073 741 824 reference units In put Sig nals Ref eren ce puls es Refer ence Pulse Form One of the following is selected Sign pulse train CW CCW pulse trains and two phase pulse trains with 90 phase differential Input Form Line...

Page 55: ...on I Pollution Degree 2 Must be no corrosive or flammable gases Must be no exposure to water oil or chemicals Must be no dust salts or iron dust Altitude 1 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 Σ 7 Series Σ 7S SERVOPACK with MECHATROLINK II Communications References Product Manual Manual No SIEP S800001 27 ...

Page 56: ...ltage range 5 VDC to 30 VDC Number of output points 1 Output signal ALM Servo Alarm signal Output Signals That Can Be Allo cated Allowable voltage range 5 VDC to 30 VDC Number of output points 3 A photocoupler output isolated is used Output Signals COIN Positioning Completion signal V CMP Speed Coincidence Detection signal TGON Rotation Detection signal S RDY Servo Ready signal CLT Torque Limit De...

Page 57: ...a setting data access monitoring adjustment etc MECHATROLINK II Communica tions Setting Switches Rotary switch S2 positions 16 Number of DIP switch S3 pins 4 Analog Monitor CN5 Number of points 2 Output voltage range 10 VDC effective linearity range 8 V Resolution 16 bits Accuracy 20 mV Typ Maximum output current 10 mA Settling time 1 1 2 ms Typ Dynamic Brake DB Activated when a servo alarm or ove...

Page 58: ... 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 Σ 7 Series Σ 7S SERVOPACK with MECHATROLINK III Communications References Product Manual Manual No SIEP S800001 28 Others Do not use the SERVOPACK in the following locations Locations sub ject to static electricity noise strong electromagnetic magnetic fields or radioa...

Page 59: ...tput Allowable voltage range 5 VDC to 30 VDC Number of output points 1 Output signal ALM Servo Alarm signal Output Signals That Can Be Allo cated Allowable voltage range 5 VDC to 30 VDC Number of output points 3 A photocoupler output isolated is used Output Signals COIN Positioning Completion signal V CMP Speed Coincidence Detection signal TGON Rotation Detection signal S RDY Servo Ready signal CL...

Page 60: ...tandard servo profile MECHATROLINK III Communica tions Setting Switches Rotary switch S1 and S2 positions 16 Number of DIP switch S3 pins 4 Analog Monitor CN5 Number of points 2 Output voltage range 10 VDC effective linearity range 8 V Resolution 16 bits Accuracy 20 mV Typ Maximum output current 10 mA Settling time 1 1 2 ms Typ Dynamic Brake DB Activated when a servo alarm or overtravel OT occurs ...

Page 61: ...ion IP10 Pollution Degree 2 Must be no corrosive or flammable gases Must be no exposure to water oil or chemicals Must be no dust salts or iron dust Altitude 1 000 m or less Others Do not use the SERVOPACK in the following locations Locations sub ject to static electricity noise strong electromagnetic magnetic fields or radioactivity Applicable Standards Refer to the following section for details ...

Page 62: ...NDEXER Module Allowable voltage range 24 VDC 10 Number of input points 11 MODE 0 1 Mode Switch Input signal Mode 0 Mode 1 START STOP Program Table Operation Start Stop Input sig nal PGMRES Program Table Oper ation Reset Input signal SEL0 Program Step Selection Input 0 signal SEL1 Program Step Selection Input 1 signal SEL2 Program Step Selection Input 2 signal SEL3 Program Step Selection Input 3 si...

Page 63: ...letion Output signal POUT0 Programmable Output 0 signal POUT1 Programmable Output 1 signal POUT2 Programmable Output 2 signal POUT3 Programmable Output 3 signal POUT4 Programmable Output 4 signal POUT5 Programmable Output 5 signal POUT6 Programmable Output 6 signal POUT7 Programmable Output 7 signal Communi cations RS 422A Commu nica tions CN3 Interfaces Digital Operator JUSP OP05A 1 E Personal co...

Page 64: ...earity range 8 V Resolution 16 bits Accuracy 20 mV Typ Maximum output current 10 mA Settling time 1 1 2 ms Typ Dynamic Brake DB Activated when a servo alarm or overtravel OT occurs or when the power supply to the main circuit or servo is OFF Regenerative Processing Built in Refer to the following manual for details Σ 7 Series Peripheral Device Selection Manual Manual No SIEP S800001 32 Overtravel ...

Page 65: ...000 m max Others Do not use the SERVOPACK in the following locations Locations subject to static electricity noise strong electro magnetic magnetic fields or radioactivity Applicable Standards Refer to the following section for details Compliance with UL Standards EU Directives and Other Safety Standards on page xxx Mounting Base mounted or rack mounted Perfor mance Speed Control Range 1 5000 At t...

Page 66: ...ernal Set Speed Selection signals C SEL Control Selection signal ZCLAMP Zero Clamping signal INHIBIT Reference Pulse Inhibit signal P DET Polarity Detection signal G SEL Gain Selection signal PSEL Reference Pulse Input Multiplication Switch Signal SEN Absolute Data Request signal DEC Origin Return Deceleration Switch signal MODE 0 1 Mode Switch Input signal START STOP Program Table Operation Start...

Page 67: ...e Output 4 signal POSRDY Origin Return Completed Output signal DEN Position Reference Distribution Completed signal A signal can be allocated and the positive and negative logic can be changed Communi cations Digital Operator Communi cations CN3 Interfaces Digital Operator JUSP OP05A 1 E 1 N Communications Up to N 15 stations possible for RS 422A port Axis Address Set ting Set with parameters USB ...

Page 68: ...WBB1 and HWBB2 Base block signals for Power Mod ules Output EDM1 Monitors the status of built in safety circuit fixed out put Applicable Standards 3 ISO13849 1 PLe Category 3 and IEC61508 SIL3 Applicable Option Modules Fully closed Modules and Safety Modules Note You cannot use a Fully closed Module and a Safety Module together Controls Speed Con trol Soft Start Time Setting 0 s to 10 s Can be set...

Page 69: ...lses Refer ence Pulse Form One of the following is selected Sign pulse train CW CCW pulse trains and two phase pulse trains with 90 phase differential Input Form Line driver or open collector Maxi mum Input Fre quency Line Driver Sign pulse train or CW CCW pulse trains 4 Mpps Two phase pulse trains with 90 phase differential 1 Mpps Open Collector Sign pulse train or CW CCW pulse trains 200 kpps Tw...

Page 70: ...HATROLINK II Communications References 3 50 3 2 1 Alarm Displays 3 50 3 2 2 List of Alarms 3 50 3 2 3 Troubleshooting Alarms 3 55 3 2 4 Warning Displays 3 80 3 2 5 List of Warnings 3 80 3 2 6 Troubleshooting Warnings 3 82 3 2 7 Troubleshooting Based on the Operation and Conditions of the Servomotor 3 89 3 3 FT82 SERVOPACK with MECHATROLINK III Communications References 3 98 3 3 1 Alarm Displays 3 ...

Page 71: ...s and Troubleshooting 3 189 3 4 9 Troubleshooting Based on the Operation and Conditions of the Servomotor 3 197 3 5 FT83 SERVOPACKs with Analog Voltage Pulse Train References 3 205 3 5 1 Alarm Displays 3 205 3 5 2 List of Alarms 3 205 3 5 3 Troubleshooting Alarms 3 210 3 5 4 INDEXER Alarm Displays and Troubleshooting 3 234 3 5 5 Warning Displays 3 237 3 5 6 List of Warnings 3 237 3 5 7 Troubleshoo...

Page 72: ...0001 26 Alarm Reset Possibility Yes You can use an alarm reset to clear the alarm However this assumes that the cause of the alarm has been removed No You cannot clear the alarm List of Alarms Example If an A 020 alarm occurs 020 will flash on the display Alarm Number Alarm Name Alarm Meaning Servo motor Stop ping Method Alarm Reset Possi ble Alarm Code Output ALO1 ALO2 ALO3 A 020 Parameter Checks...

Page 73: ... An overcurrent flowed through the power trans former or the heat sink over heated Gr 1 No L H H A 101 Motor Overcurrent Detected The current to the motor exceeded the allowable cur rent Gr 1 No L H H A 300 Regeneration Error There is an error related to regeneration Gr 1 Yes L L H A 320 Regenerative Overload A regenerative overload occurred Gr 2 Yes L L H A 330 Main Circuit Power Supply Wiring Er...

Page 74: ...d Tempera ture Error The surrounding tempera ture of the power PCB is abnormal Gr 2 Yes L L L A 7A3 Internal Temperature Sen sor Error An error occurred in the tem perature sensor circuit Gr 2 No L L L A 7Ab SERVOPACK Built in Fan Stopped The fan inside the SERVO PACK stopped Gr 1 Yes L L L A 810 Encoder Backup Alarm The power supplies to the encoder all failed and the position data was lost Gr 1 ...

Page 75: ...ed Reference A D Data Error An error occurred in the A D conversion data for the speed reference Gr 2 Yes H H H A b20 Torque Reference A D Error An error occurred in the A D converter for the torque ref erence input Gr 2 Yes H H H A b33 Current Detection Error 3 An error occurred in the cur rent detection circuit Gr 1 No H H H A bF0 System Alarm 0 Internal program error 0 occurred in the SERVO PAC...

Page 76: ...and the SERVOPACK Gr 1 No L H L A CF1 Reception Failed Error in Feedback Option Module Communications Receiving data from the Feedback Option Module failed Gr 1 No L H L A CF2 Timer Stopped Error in Feedback Option Module Communications An error occurred in the timer for communications with the Feedback Option Module Gr 1 No L H L A d00 Position Deviation Over flow The setting of Pn520 Exces sive ...

Page 77: ...cted Gr 1 No H L L A Eb1 Safety Function Signal Input Timing Error An error occurred in the input timing of the safety function signal Gr 1 No H L L A EC8 Gate Drive Error 1 An error occurred in the gate drive circuit Gr 1 No H L L A EC9 Gate Drive Error 2 An error occurred in the gate drive circuit Gr 1 No H L L A F10 Power Supply Line Open Phase The voltage was low for more than one second for p...

Page 78: ...s or cutting oil entered the SERVOPACK and caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Replace the SER VOPACK A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If the alarm still occurs the SERVOPACK may have failed The SERVOPACK may be faulty Replace the SER VOPACK A 021 Parameter For mat Error T...

Page 79: ...ck the electronic gear ratio The ratio must be within the fol lowing range 0 001 Pn20E Pn210 64 000 Set the electronic gear ratio in the following range 0 001 Pn20E Pn210 64 000 1 A 041 Encoder Output Pulse Setting Error The setting of Pn212 Encoder Output Pulses or Pn281 Encoder Output Res olution is outside of the setting range or does not satisfy the setting conditions Check the setting of Pn21...

Page 80: ...a tion of the SERVOPACK and Servomotor capaci ties 1 A failure occurred in the encoder Replace the encoder and check to see if the alarm still occurs Replace the Servomotor or encoder A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A 051 Unsupported Device Alarm An unsupported Serial Converter Unit or encoder e g an external encoder is connected to the SERVOP...

Page 81: ...eplace the SER VOPACK The regenerative resistor is not wired correctly or there is faulty contact Check the wiring Correct the wiring 1 The dynamic brake DB emergency stop executed from the SERVOPACK was frequently activated or a DB overload alarm occurred Check the power con sumed by the DB resis tor to see how frequently the DB is being used Or check the alarm display to see if a DB overload ala...

Page 82: ...able phases U V and W The cable may be short circuited Replace the cable There is a short circuit or ground fault inside the Servomotor Check for short circuits across Servomotor phases U V and W or between the ground and Servomotor phases U V or W The Servomotor may be faulty Replace the Servo motor There is a short circuit or ground fault inside the SERVOPACK Check for short circuits across the ...

Page 83: ...generative resis tor terminals B2 and B3 was removed from one of the fol lowing SERVO PACKs SGD7S 120A Check to see if the jumper is connected between power supply terminals B2 and B3 Correctly connect a jumper 1 The External Regener ative Resistor is not wired correctly or was removed or discon nected Check the wiring of the External Regenerative Resistor Correct the wiring of the External Regene...

Page 84: ... applied to the Servomotor during operation Reconsider the system including the servo machine and operating conditions The setting of Pn600 Regenerative Resis tor Capacity is smaller than the capacity of the Exter nal Regenerative Resistor Check it see if a Regen erative Resistor is con nected and check the setting of Pn600 Correct the setting of Pn600 1 The setting of Pn603 Regenerative Resis tor...

Page 85: ...K may be faulty Replace the SER VOPACK A 400 Overvoltage Detected in the main circuit power supply section of the SERVOPACK The power supply voltage exceeded the specified range Measure the power supply voltage Set the AC DC power supply voltage within the specified range The power supply is not stable or was influenced by a light ning surge Measure the power supply voltage Improve the power sup p...

Page 86: ...eeded the maximum speed Check the waveform of the motor speed Reduce the speed refer ence input gain and adjust the servo gain Or reconsider the operating conditions A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A 511 Encoder Output Pulse Overspeed The encoder output pulse frequency exceeded the limit Check the encoder out put pulse setting Decrease the set...

Page 87: ...g conditions Or increase the motor capacity An excessive load was applied during operation because the Servomotor was not driven due to mechanical problems Check the operation reference and motor speed Correct the mechanical problem A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A 730 and A 731 Dynamic Brake Overload An excessive power consump tion by the dy...

Page 88: ...PACK A 7A2 Internal Tempera ture Error 2 Power Board Temperature Error The surrounding tem perature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERVOPACK installation environment monitor Decrease the surround ing temperature by improving the SERVO PACK installation condi tions 1 An overload alarm was reset by turning OFF the power sup ply...

Page 89: ...er and set up the encoder A failure occurred in the absolute encoder If the alarm still occurs after setting up the encoder again replace the Servomotor A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A 820 Encoder Check sum Alarm Detected at the encoder A failure occurred in the encoder When Using an Abso lute Encoder Set up the encoder again If the alarm st...

Page 90: ...d ON again If an alarm still occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A 860 Encoder Over heated Detected at the encoder The surrounding air temperature around the Servomotor is too high Measure the surround ing air ...

Page 91: ...the input voltage with the overheat pro tection input information on the Motion Monitor Tab Page on the Sig maWin Repair the line for the overheat protection input signal An overload alarm was reset by turning OFF the power sup ply too many times Check the alarm display to see if there is an overload alarm Change the method for resetting the alarm Operation was per formed under an excessive load U...

Page 92: ...urs the SERVOPACK may be faulty Replace the SERVOPACK A b11 Speed Reference A D Data Error A malfunction occurred in the speed reference input sec tion Reset the alarm and restart operation 1 A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A b20 Torque Refer ence A D Error Detecte...

Page 93: ...nd ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF5 System Alarm 5 A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF6 System Alarm 6 A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm ...

Page 94: ... the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A C80 Encoder Clear Error or Multiturn Limit Setting Error A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor may be faulty Replace the Se...

Page 95: ... around the encoder by separating the Encoder Cable from the Servomotor Main Cir cuit Cable or by ground ing the encoder 1 A failure occurred in the SERVOPACK Connect the Servomotor to another SERVOPACK and turn ON the control power supply If no alarm occurs the SERVOPACK may be faulty Replace the SERVOPACK A C91 Encoder Commu nications Posi tion Data Acceleration Rate Error Noise entered on the s...

Page 96: ...till occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A CA0 Encoder Parame ter Error A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor may be f...

Page 97: ...ibra tion Correctly install the Ser vomotor A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A CC0 Multiturn Limit ...

Page 98: ...e occurred in the Serial Converter Unit Replace the Serial Con verter Unit A failure occurred in the SERVOPACK Replace the SERVO PACK A d00 Position Devia tion Overflow The setting of Pn520 Exces sive Position Deviation Alarm Level was exceeded by the position devia tion while the servo was ON The Servomotor U V and W wiring is not correct Check the wiring of the Servomotor s Main Cir cuit Cables ...

Page 99: ...e motor direction and external encoder installation orientation are backward Check the motor direc tion and the external encoder installation ori entation Install the external encoder in the opposite direction or change the setting of Pn002 n X External Encoder Usage to reverse the direction 1 There is an error in the connection between the load e g stage and external encoder coupling Check the co...

Page 100: ...he catalog of the connected Safety Option Module Connect a compatible Safety Option Module A Eb1 Safety Function Signal Input Tim ing Error The delay between activation of the HWBB1 and HWBB2 input sig nals for the HWBB was ten second or longer Measure the time delay between the HWBB1 and HWBB2 signals The output signal circuits or devices for HWBB1 and HWBB2 or the SER VOPACK input signal cir cui...

Page 101: ...connection The Servomotor did not operate or power was not supplied to the Servomotor even though the S ON Servo ON signal was input when the Servomotor was ready to receive it A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK The wiring is not cor rect or there is a faulty contact in the motor wiring Check the wiring Make sure that the Servo motor is correctly...

Page 102: ...ry They are only displayed on the panel display CPF01 Digital Operator Communications Error 2 A failure occurred in the Digital Operator Disconnect the Digital Operator and then con nect it again If an alarm still occurs the Digital Operator may be faulty Replace the Digital Oper ator A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occu...

Page 103: ...l PCB is abnormal H L H A 913 Internal Temperature Warning 2 Power Board Temperature Error The surrounding temperature of the power PCB is abnormal H L H A 920 Regenerative Overload This warning occurs before an A 320 alarm Regenerative Overload occurs If the warning is ignored and operation is continued an alarm may occur H L H A 921 Dynamic Brake Over load This warning occurs before an A 731 ala...

Page 104: ...n X Preventative Maintenance Selection Continued from previous page Warning Number Warning Name Meaning Warning Code Output ALO1 ALO2 ALO3 Warning Number Warning Name Possible Cause Confirmation Correction Reference A 900 Position Deviation Overflow The Servomotor U V and W wiring is not correct Check the wiring of the Servomotor s Main Cir cuit Cables Make sure that there are no faulty connection...

Page 105: ...motor was not driven because of mechanical prob lems Check the operation reference and motor speed Remove the mechanical problem The overload warning level Pn52B is not suitable Check that the overload warning level Pn52B is suitable Set a suitable overload warning level Pn52B A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 911 Vibration Abnormal vibra tio...

Page 106: ...tions A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 913 Internal Tempera ture Warning 2 Power Board Tem perature Error The surrounding temperature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERVOPACK installation environ ment monitor Decrease the surrounding temperature by improving the SERVOPA...

Page 107: ...hat the motor will not be rotated by an exter nal force When the Servo motor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capacity of the dynamic brake resistor Check the power con sumed by the DB resis tor to see how frequently the DB is being used Reconsider the following Reduce the Servomotor command speed Decrease the moment of inertia or mass Reduce ...

Page 108: ... compensa tion information stored in the SER VOPACK Reset the speed ripple compensation value on the SigmaWin Set Pn423 to n 1 Do not detect A 942 alarms However changing the set ting may increase the speed ripple Set Pn423 to n 0 Disable torque ripple com pensation However changing the setting may increase the speed ripple A 971 Undervoltage For a 200 V SER VOPACK the AC power supply volt age dro...

Page 109: ...ignal monitor Even if an overtravel signal is not shown by the input signal monitor momentary overtravel may have been detected Take the following precautions Do not specify move ments that would cause overtravel from the host controller Check the wiring of the overtravel signals Implement countermea sures against noise A 9b0 Preventative Mainte nance Warning One of the con sumable parts has reach...

Page 110: ... with a larger capacity The type of encoder that is being used does not agree with the setting of Pn002 n X Encoder Usage Check the type of the encoder that is being used and the setting of Pn002 n X Set Pn002 n X according to the type of the encoder that is being used No speed or position refer ence is input Check the allocation sta tus of the input signals Allocate an input signal so that the sp...

Page 111: ... the HWBB1 and HWBB2 input signals Turn ON the HWBB1 and HWBB2 input sig nals If you are not using the safety function con nect the Safety Jumper Connector provided as an accessory to CN8 The FSTP Forced Stop Input signal is still OFF Check the FSTP signal Turn ON the FSTP signal If you will not use the function to force the motor to stop set Pn516 n X FSTP Forced Stop Input Signal Alloca tion to ...

Page 112: ...on control The refer ence pulse input is not appropriate Check the setting of Pn200 n X Refer ence Pulse Form and the sign and pulse signals Correctly set the con trol method and input method A failure occurred in the SER VOPACK Replace the SERVO PACK Dynamic Brake Does Not Operate The setting of Pn001 n X Servo OFF or Alarm Group 1 Stopping Method is not suitable Check the setting of Pn001 n X Se...

Page 113: ...ctors of at least 0 12 mm2 Use cables that satisfy the specifications Noise interference occurred because an I O signal cable is too long Check the lengths of the I O signal cables The I O signal cables must be no longer than 3 m Noise interference occurred because of incorrect Encoder Cable specifications Make sure that the rotary or Linear Encoder Cable satisfies the specifica tions Use a shield...

Page 114: ...egral Time Con stant is not appropriate Check the setting of Pn101 The default setting is Ti 20 0 ms Set Pn101 to an appro priate value The setting of Pn103 Moment of Inertia Ratio or Mass Ratio is not appropri ate Check the setting of Pn103 Set Pn103 to an appro priate value Large Motor Speed Overshoot on Starting and Stop ping The servo gains are not bal anced Check to see if the servo gains hav...

Page 115: ...e of machines on the Servomotor side such as a welder Check to see if the machines are correctly grounded Properly ground the machines to separate them from the FG of the encoder There is a SERVOPACK pulse counting error due to noise Check to see if there is noise interference on the I O signal line from the encoder or Serial Con verter Unit Implement counter measures against noise for the encoder...

Page 116: ...located in Pn50A n X If another signal is allo cated in Pn50A n X allocate the P OT signal instead Check to see if the N OT signal is allocated in Pn50B n X If another signal is allo cated in Pn50B n X allocate the N OT signal instead The selection of the Servo motor stopping method is not correct Check the servo OFF stopping method set in Pn001 n X or Pn001 n X Select a Servomotor stopping method...

Page 117: ... improve the mounting conditions of the Servomotor The coupling between the machine and Servomotor is not suitable Check to see if position offset occurs at the cou pling between machine and Servomotor Correctly secure the coupling between the machine and Servomo tor Noise interference occurred because of incorrect I O sig nal cable specifications Check the I O signal cables to see if they sat isf...

Page 118: ...dirt dust and oil from the surface There is an overload on the Servomotor Check the load status with a monitor If the Servomotor is overloaded reduce the load or replace the Servo Drive with a SERVOPACK and Ser vomotor with larger capacities Polarity detection was not performed correctly Check to see if electrical angle 2 electrical angle from polarity origin at any position is between 10 Correct ...

Page 119: ...Product Man ual Manual No SIEP S800001 27 Alarm Reset Possibility Yes You can use an alarm reset to clear the alarm However this assumes that the cause of the alarm has been removed No You cannot clear the alarm List of Alarms Status Indications Not lit Not lit Not lit Not lit Not lit Alarm Number Alarm Name Alarm Meaning Servo motor Stop ping Method Alarm Reset Possi ble A 020 Parameter Checksum ...

Page 120: ...ror The AC power supply input setting or DC power supply input setting is not correct The power supply wiring is not correct Gr 1 Yes A 400 Overvoltage The main circuit DC voltage is too high Gr 1 Yes A 410 Undervoltage The main circuit DC voltage is too low Gr 2 Yes A 510 Overspeed The motor exceeded the maximum speed Gr 1 Yes A 511 Encoder Output Pulse Overspeed The pulse output speed for the se...

Page 121: ... Yes A 8A1 External Encoder Module Error An error occurred in the Serial Converter Unit Gr 1 Yes A 8A2 External Incremental Encoder Sensor Error An error occurred in the external encoder Gr 1 Yes A 8A3 External Absolute Encoder Position Error An error occurred in the position data of the external encoder Gr 1 Yes A 8A5 External Encoder Over speed An overspeed error occurred in the external encoder...

Page 122: ...ith the Feedback Option Module Gr 1 No A d00 Position Deviation Over flow The setting of Pn520 Excessive Position Devia tion Alarm Level was exceeded by the position deviation while the servo was ON Gr 1 Yes A d01 Position Deviation Over flow Alarm at Servo ON The servo was turned ON after the position devi ation exceeded the setting of Pn526 Excessive Position Deviation Alarm Level at Servo ON wh...

Page 123: ...4 Unsupported Safety Option Module An unsupported Safety Option Module was con nected Gr 1 No A Eb1 Safety Function Signal Input Timing Error An error occurred in the input timing of the safety function signal Gr 1 No A EC8 Gate Drive Error 1 An error occurred in the gate drive circuit Gr 1 No A EC9 Gate Drive Error 2 An error occurred in the gate drive circuit Gr 1 No A Ed1 Command Execution Tim ...

Page 124: ...ops or cutting oil entered the SERVOPACK and caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Replace the SER VOPACK A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If the alarm still occurs the SERVOPACK may have failed The SERVOPACK may be faulty Replace the SER VOPACK A 021 Parameter For mat Error...

Page 125: ...proper combina tion of SERVOPACK and Servomotor capacities 1 A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A parameter setting is outside of the setting range Check the setting ranges of the parame ters that have been changed Set the parameters to val ues within the setting ranges The electronic gear ratio is outside of the setting range Check the electroni...

Page 126: ...or 2 For 4 byte parameter bank members there are two consecutive members with nothing registered Change the number of bytes for bank members to an appropriate value The total amount of bank data exceeds 64 Pn900 Pn901 64 Reduce the total amount of bank data to 64 or less A 050 Combination Error The capacities of the SERVOPACK and Servomotor do not match The SERVOPACK and Servomotor capaci ties do ...

Page 127: ... Replace the SER VOPACK The regenerative resistor is not wired correctly or there is faulty contact Check the wiring Correct the wiring 1 The dynamic brake DB emergency stop executed from the SERVOPACK was frequently activated or a DB overload alarm occurred Check the power con sumed by the DB resis tor to see how frequently the DB is being used Or check the alarm display to see if a DB overload a...

Page 128: ...e phases U V and W or between the ground and cable phases U V and W The cable may be short circuited Replace the cable There is a short circuit or ground fault inside the Servomotor Check for short circuits across Servomotor phases U V and W or between the ground and Servomotor phases U V or W The Servomotor may be faulty Replace the Servo motor There is a short circuit or ground fault inside the ...

Page 129: ...egenerative resis tor terminals B2 and B3 was removed from one of the fol lowing SERVO PACKs SGD7S 120A Check to see if the jumper is connected between power supply terminals B2 and B3 Correctly connect a jumper 1 The External Regener ative Resistor is not wired correctly or was removed or discon nected Check the wiring of the External Regenerative Resistor Correct the wiring of the External Regen...

Page 130: ...d applied to the Servomotor during operation Reconsider the system including the servo machine and operating conditions The setting of Pn600 Regenerative Resis tor Capacity is smaller than the capacity of the Exter nal Regenerative Resistor Check it see if a Regen erative Resistor is con nected and check the setting of Pn600 Correct the setting of Pn600 1 The setting of Pn603 Regenerative Resis to...

Page 131: ...ACK may be faulty Replace the SER VOPACK A 400 Overvoltage Detected in the main circuit power supply section of the SERVOPACK The power supply voltage exceeded the specified range Measure the power supply voltage Set the AC DC power supply voltage within the specified range The power supply is not stable or was influenced by a light ning surge Measure the power supply voltage Improve the power sup...

Page 132: ...ceeded the maximum speed Check the waveform of the motor speed Reduce the speed refer ence input gain and adjust the servo gain Or reconsider the operating conditions A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A 511 Encoder Output Pulse Overspeed The encoder output pulse frequency exceeded the limit Check the encoder out put pulse setting Decrease the se...

Page 133: ...ng conditions Or increase the motor capacity An excessive load was applied during operation because the Servomotor was not driven due to mechanical problems Check the operation reference and motor speed Correct the mechanical problem A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A 730 and A 731 Dynamic Brake Overload An excessive power consump tion by the d...

Page 134: ...OPACK A 7A2 Internal Tempera ture Error 2 Power Board Temperature Error The surrounding tem perature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERVOPACK installation environment monitor Decrease the surround ing temperature by improving the SERVO PACK installation condi tions 1 An overload alarm was reset by turning OFF the power sup pl...

Page 135: ...der and set up the encoder A failure occurred in the absolute encoder If the alarm still occurs after setting up the encoder again replace the Servomotor A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A 820 Encoder Check sum Alarm Detected at the encoder A failure occurred in the encoder When Using an Abso lute Encoder Set up the encoder again If the alarm s...

Page 136: ...alarm still occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A 860 Encoder Over heated Detected at the encoder The surrounding air temperature around the Servomotor is too high Measure the surround ing air temperature aroun...

Page 137: ...k the input voltage with the overheat pro tection input information on the Motion Monitor Tab Page on the Sig maWin Repair the line for the overheat protection input signal An overload alarm was reset by turning OFF the power sup ply too many times Check the alarm display to see if there is an overload alarm Change the method for resetting the alarm Operation was per formed under an excessive load...

Page 138: ... supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A b6b MECHATROLINK Communications ASIC Error 2 A malfunction occurred in the MECHATROLINK communications sec tion due to noise Implement the following countermeasures against noise Check the MECHATROLINK Com munications Cable and FG wiring Attach a ferrite core to the MECHATROLINK C...

Page 139: ...ty Replace the SERVOPACK A bF8 System Alarm 8 A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A C10 Servomotor Out of Control Detected when the servo is turned ON The order of phases U V and W in the motor wiring is not correct Check the Servomotor wiring Make sure that the Servo ...

Page 140: ...by vibration Check the operating environment Improve the operating environmental and replace the cable If the alarm still occurs replace the SERVOPACK 1 A malfunction was caused by noise Correct the wiring around the encoder by separating the Encoder Cable from the Servomotor Main Cir cuit Cable or by ground ing the encoder 1 A failure occurred in the SERVOPACK Connect the Servomotor to another SE...

Page 141: ...occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A CA0 Encoder Parame ter Error A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor may be faulty...

Page 142: ...ns Reduce machine vibra tion Correctly install the Ser vomotor A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A C...

Page 143: ...ce the Serial Con verter Unit A failure occurred in the SERVOPACK Replace the SERVO PACK A d00 Position Devia tion Overflow The setting of Pn520 Exces sive Position Deviation Alarm Level was exceeded by the position devia tion while the servo was ON The Servomotor U V and W wiring is not correct Check the wiring of the Servomotor s Main Cir cuit Cables Make sure that there are no faulty contacts i...

Page 144: ...coder Usage to reverse the direction 1 There is an error in the connection between the load e g stage and external encoder coupling Check the coupling of the external encoder Check the mechanical coupling A d30 Position Data Overflow The position data exceeded 1 879 048 192 Check the input refer ence pulse counter Reconsider the operating specifications A E02 MECHATROLINK Internal Synchro nization...

Page 145: ...in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A E61 Synchronization Interval Error in MECHATROLINK Transmission Cycle The MECHATROLINK transmission cycle fluctuated Check the setting of the MECHATROLINK trans mission cycle Remove the cause of transmission cycle fluctu ation at the host control ler...

Page 146: ... input sig nals for the HWBB was ten second or longer Measure the time delay between the HWBB1 and HWBB2 signals The output signal circuits or devices for HWBB1 and HWBB2 or the SER VOPACK input signal cir cuits may be faulty Alternatively the input sig nal cables may be discon nected Check to see if any of these items are faulty or have been dis connected A failure occurred in the SERVOPACK Repla...

Page 147: ... connection The Servomotor did not operate or power was not supplied to the Servomotor even though the SV_ON Servo ON command was input when the Servomotor was ready to receive it A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK The wiring is not cor rect or there is a faulty contact in the motor wiring Check the wiring Make sure that the Servo motor is correc...

Page 148: ...istory They are only displayed on the panel display CPF01 Digital Operator Communications Error 2 A failure occurred in the Digital Operator Disconnect the Digital Operator and then con nect it again If an alarm still occurs the Digital Operator may be faulty Replace the Digital Oper ator A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still ...

Page 149: ...ower Board Temperature Error The surrounding temperature of the power PCB is abnormal A 920 Regenerative Overload This warning occurs before an A 320 alarm Regenerative Overload occurs If the warning is ignored and operation is continued an alarm may occur A 921 Dynamic Brake Over load This warning occurs before an A 731 alarm Dynamic Brake Overload occurs If the warning is ignored and operation i...

Page 150: ...d command was sent A 960 MECHATROLINK Communications Warning A communications error occurred during MECHATROLINK communica tions A 971 Undervoltage This warning occurs before an A 410 alarm Undervoltage occurs If the warning is ignored and operation is continued an alarm may occur A 9A0 Overtravel Overtravel was detected while the servo was ON A 9b0 Preventative Mainte nance Warning One of the con...

Page 151: ... erence is too high Reduce the reference acceleration and try operating the SERVO PACK Reduce the acceleration of the position reference using a MECHATROLINK com mand Or smooth the posi tion reference acceleration by selecting the position reference filter ACCFIL using a MECHATROLINK command The excessive position deviation alarm level Pn520 Pn51E 100 is too low for the operating condi tions Check...

Page 152: ...vel Pn52B is not suitable Check that the overload warning level Pn52B is suitable Set a suitable overload warning level Pn52B A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 911 Vibration Abnormal vibra tion was detected during motor operation Check for abnormal motor noise and check the speed and torque waveforms during oper ation Reduce the motor speed O...

Page 153: ... A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 913 Internal Tempera ture Warning 2 Power Board Tem perature Error The surrounding temperature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERVOPACK installation environ ment monitor Decrease the surrounding temperature by improving the SERVOPACK in...

Page 154: ... ensure that the motor will not be rotated by an exter nal force When the Servo motor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capacity of the dynamic brake resistor Check the power con sumed by the DB resis tor to see how frequently the DB is being used Reconsider the following Reduce the Servomotor command speed Decrease the moment of inertia or mas...

Page 155: ...ror An invalid param eter number was used Check the command that caused the warn ing Use the correct parameter number A 94b Data Setting Warn ing 2 Out of Range The set com mand data was clamped to the minimum or maxi mum value of the setting range Check the command that caused the warn ing Set the parameter within the setting range A 94C Data Setting Warn ing 3 Calculation Error The calculation r...

Page 156: ...following countermeasures against noise Check the MECHATROLINK Com munications Cable and FG wiring and implement countermeasures to pre vent noise from entering Attach a ferrite core to the MECHATROLINK Com munications Cable A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 971 Undervoltage For a 200 V SER VOPACK the AC power supply volt age dropped below 14...

Page 157: ...t signal monitor Even if an overtravel signal is not shown by the input signal monitor momentary overtravel may have been detected Take the following precautions Do not specify move ments that would cause overtravel from the host controller Check the wiring of the overtravel signals Implement countermea sures against noise A 9b0 Preventative Mainte nance Warning One of the con sumable parts has re...

Page 158: ...oad and check the load status Reduce the load or replace the Servomo tor with a Servomotor with a larger capacity The type of encoder that is being used does not agree with the setting of Pn002 n X Encoder Usage Check the type of the encoder that is being used and the setting of Pn002 n X Set Pn002 n X according to the type of the encoder that is being used There is a mistake in the input signal a...

Page 159: ... the wir ing Tighten any loose ter minals or connectors and correct the wiring Servomotor Moves with out a Refer ence Input A failure occurred in the SER VOPACK Replace the SERVO PACK Dynamic Brake Does Not Operate The setting of Pn001 n X Servo OFF or Alarm Group 1 Stopping Method is not suitable Check the setting of Pn001 n X Set Pn001 n X correctly The dynamic brake resistor is disconnected Che...

Page 160: ...e tuning less level set tings The machine mounting is not secure Check to see if there are any loose mounting screws Tighten the mounting screws The machine mounting is not secure Check to see if there is misalignment in the cou pling Align the coupling Check to see if the cou pling is balanced Balance the coupling The bearings are defective Check for noise and vibration around the bear ings Repla...

Page 161: ...ence occurred because the Encoder Cable is damaged Check the Encoder Cable to see if it is pinched or the sheath is damaged Replace the Encoder Cable and correct the cable installation envi ronment The Encoder Cable was sub jected to excessive noise interference Check to see if the Encoder Cable is bundled with a high current line or installed near a high cur rent line Correct the cable lay out so...

Page 162: ...e Motor Speed Overshoot on Starting and Stop ping The servo gains are not bal anced Check to see if the servo gains have been cor rectly tuned Perform autotuning without a host refer ence The setting of Pn100 Speed Loop Gain is too high Check the setting of Pn100 The default setting is Kv 40 0 Hz Set Pn100 to an appro priate value The setting of Pn102 Posi tion Loop Gain is too high Check the sett...

Page 163: ...he influence of machines on the Servomotor side such as a welder Check to see if the machines are correctly grounded Properly ground the machines to separate them from the FG of the encoder There is a SERVOPACK pulse counting error due to noise Check to see if there is noise interference on the I O signal line from the encoder or Serial Con verter Unit Implement counter measures against noise for ...

Page 164: ...vel limit switches Check the wiring of the overtravel limit switches e g check for cable damage and loose screws Correct the wiring of the overtravel limit switches There is a mistake in the allo cation of the P OT or N OT Forward Drive Prohibit or Reverse Drive Prohibit sig nal in Pn50A n X or Pn50B n X Check to see if the P OT signal is allocated in Pn50A n X If another signal is allo cated in P...

Page 165: ...arate them from the FG of the encoder There is a SERVOPACK pulse counting error due to noise Check to see if there is noise interference on the I O signal line from the encoder or Serial Con verter Unit Implement counter measures against noise for the encoder wiring or Serial Converter Unit wiring The encoder was subjected to excessive vibration or shock Check to see if vibration from the machine ...

Page 166: ...ean dirt dust and oil from the surface There is an overload on the Servomotor Check the load status with a monitor If the Servomotor is overloaded reduce the load or replace the Servo Drive with a SERVOPACK and Ser vomotor with larger capacities Polarity detection was not performed correctly Check to see if electrical angle 2 electrical angle from polarity origin at any position is between 10 Corr...

Page 167: ...s Product Man ual Manual No SIEP S800001 28 Alarm Reset Possibility Yes You can use an alarm reset to clear the alarm However this assumes that the cause of the alarm has been removed No You cannot clear the alarm List of Alarms Status Indications Not lit Not lit Not lit Not lit Not lit Alarm Number Alarm Name Alarm Meaning Servo motor Stop ping Method Alarm Reset Possi ble A 020 Parameter Checksu...

Page 168: ...ror The AC power supply input setting or DC power supply input setting is not correct The power supply wiring is not correct Gr 1 Yes A 400 Overvoltage The main circuit DC voltage is too high Gr 1 Yes A 410 Undervoltage The main circuit DC voltage is too low Gr 2 Yes A 510 Overspeed The motor exceeded the maximum speed Gr 1 Yes A 511 Encoder Output Pulse Overspeed The pulse output speed for the se...

Page 169: ...1 Yes A 8A1 External Encoder Module Error An error occurred in the Serial Converter Unit Gr 1 Yes A 8A2 External Incremental Encoder Sensor Error An error occurred in the external encoder Gr 1 Yes A 8A3 External Absolute Encoder Position Error An error occurred in the position data of the external encoder Gr 1 Yes A 8A5 External Encoder Over speed An overspeed error occurred in the external encode...

Page 170: ...dback Option Module Gr 1 No A d00 Position Deviation Over flow The setting of Pn520 Excessive Position Devia tion Alarm Level was exceeded by the position deviation while the servo was ON Gr 1 Yes A d01 Position Deviation Over flow Alarm at Servo ON The servo was turned ON after the position devi ation exceeded the setting of Pn526 Excessive Position Deviation Alarm Level at Servo ON while the ser...

Page 171: ...afety Option Module Detection Failure Detection of the Safety Option Module failed Gr 1 No A E72 Feedback Option Module Detection Failure Detection of the Feedback Option Module failed Gr 1 No A E74 Unsupported Safety Option Module An unsupported Safety Option Module was con nected Gr 1 No A Eb1 Safety Function Signal Input Timing Error An error occurred in the input timing of the safety function ...

Page 172: ...rops or cutting oil entered the SERVOPACK and caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Replace the SER VOPACK A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If the alarm still occurs the SERVOPACK may have failed The SERVOPACK may be faulty Replace the SER VOPACK A 021 Parameter For mat Erro...

Page 173: ...Check the electronic gear ratio The ratio must be within the fol lowing range 0 001 Pn20E Pn210 64 000 Set the electronic gear ratio in the following range 0 001 Pn20E Pn210 64 000 1 A 041 Encoder Output Pulse Setting Error The setting of Pn212 Encoder Output Pulses or Pn281 Encoder Output Res olution is outside of the setting range or does not satisfy the setting conditions Check the setting of P...

Page 174: ...tor capaci ties do not match each other Confirm that the follow ing condition is met 1 4 Servomotor capacity SERVOPACK capacity 4 Select a proper combina tion of the SERVOPACK and Servomotor capaci ties 1 A failure occurred in the encoder Replace the encoder and check to see if the alarm still occurs Replace the Servomotor or encoder A failure occurred in the SERVOPACK The SERVOPACK may be faulty ...

Page 175: ...y Replace the SER VOPACK The regenerative resistor is not wired correctly or there is faulty contact Check the wiring Correct the wiring 1 The dynamic brake DB emergency stop executed from the SERVOPACK was frequently activated or a DB overload alarm occurred Check the power con sumed by the DB resis tor to see how frequently the DB is being used Or check the alarm display to see if a DB overload ...

Page 176: ...le phases U V and W or between the ground and cable phases U V and W The cable may be short circuited Replace the cable There is a short circuit or ground fault inside the Servomotor Check for short circuits across Servomotor phases U V and W or between the ground and Servomotor phases U V or W The Servomotor may be faulty Replace the Servo motor There is a short circuit or ground fault inside the...

Page 177: ...regenerative resis tor terminals B2 and B3 was removed from one of the fol lowing SERVO PACKs SGD7S 120A Check to see if the jumper is connected between power supply terminals B2 and B3 Correctly connect a jumper 1 The External Regener ative Resistor is not wired correctly or was removed or discon nected Check the wiring of the External Regenerative Resistor Correct the wiring of the External Rege...

Page 178: ...ad applied to the Servomotor during operation Reconsider the system including the servo machine and operating conditions The setting of Pn600 Regenerative Resis tor Capacity is smaller than the capacity of the Exter nal Regenerative Resistor Check it see if a Regen erative Resistor is con nected and check the setting of Pn600 Correct the setting of Pn600 1 The setting of Pn603 Regenerative Resis t...

Page 179: ...PACK may be faulty Replace the SER VOPACK A 400 Overvoltage Detected in the main circuit power supply section of the SERVOPACK The power supply voltage exceeded the specified range Measure the power supply voltage Set the AC DC power supply voltage within the specified range The power supply is not stable or was influenced by a light ning surge Measure the power supply voltage Improve the power su...

Page 180: ...xceeded the maximum speed Check the waveform of the motor speed Reduce the speed refer ence input gain and adjust the servo gain Or reconsider the operating conditions A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A 511 Encoder Output Pulse Overspeed The encoder output pulse frequency exceeded the limit Check the encoder out put pulse setting Decrease the s...

Page 181: ...ing conditions Or increase the motor capacity An excessive load was applied during operation because the Servomotor was not driven due to mechanical problems Check the operation reference and motor speed Correct the mechanical problem A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A 730 and A 731 Dynamic Brake Overload An excessive power consump tion by the ...

Page 182: ...VOPACK A 7A2 Internal Tempera ture Error 2 Power Board Temperature Error The surrounding tem perature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERVOPACK installation environment monitor Decrease the surround ing temperature by improving the SERVO PACK installation condi tions 1 An overload alarm was reset by turning OFF the power sup p...

Page 183: ...oder and set up the encoder A failure occurred in the absolute encoder If the alarm still occurs after setting up the encoder again replace the Servomotor A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A 820 Encoder Check sum Alarm Detected at the encoder A failure occurred in the encoder When Using an Abso lute Encoder Set up the encoder again If the alarm ...

Page 184: ... alarm still occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A 860 Encoder Over heated Detected at the encoder The surrounding air temperature around the Servomotor is too high Measure the surround ing air temperature arou...

Page 185: ...ck the input voltage with the overheat pro tection input information on the Motion Monitor Tab Page on the Sig maWin Repair the line for the overheat protection input signal An overload alarm was reset by turning OFF the power sup ply too many times Check the alarm display to see if there is an overload alarm Change the method for resetting the alarm Operation was per formed under an excessive loa...

Page 186: ...r supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A b6b MECHATROLINK Communications ASIC Error 2 A malfunction occurred in the MECHATROLINK communications sec tion due to noise Implement the following countermeasures against noise Check the MECHATROLINK Com munications Cable and FG wiring Attach a ferrite core to the MECHATROLINK ...

Page 187: ...lty Replace the SERVOPACK A bF8 System Alarm 8 A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A C10 Servomotor Out of Control Detected when the servo is turned ON The order of phases U V and W in the motor wiring is not correct Check the Servomotor wiring Make sure that the Servo...

Page 188: ... by vibration Check the operating environment Improve the operating environmental and replace the cable If the alarm still occurs replace the SERVOPACK 1 A malfunction was caused by noise Correct the wiring around the encoder by separating the Encoder Cable from the Servomotor Main Cir cuit Cable or by ground ing the encoder 1 A failure occurred in the SERVOPACK Connect the Servomotor to another S...

Page 189: ... occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A CA0 Encoder Parame ter Error A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor may be fault...

Page 190: ...ons Reduce machine vibra tion Correctly install the Ser vomotor A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A ...

Page 191: ...ace the Serial Con verter Unit A failure occurred in the SERVOPACK Replace the SERVO PACK A d00 Position Devia tion Overflow The setting of Pn520 Exces sive Position Deviation Alarm Level was exceeded by the position devia tion while the servo was ON The Servomotor U V and W wiring is not correct Check the wiring of the Servomotor s Main Cir cuit Cables Make sure that there are no faulty contacts ...

Page 192: ...ection or change the setting of Pn002 n X External Encoder Usage to reverse the direction 1 There is an error in the connection between the load e g stage and external encoder coupling Check the coupling of the external encoder Check the mechanical coupling A d30 Position Data Overflow The position data exceeded 1 879 048 192 Check the input refer ence pulse counter Reconsider the operating specif...

Page 193: ...still occurs the SERVOPACK may be faulty Replace the SERVOPACK A E51 MECHATROLINK Synchronization Failed The WDT data at the host controller was not updated correctly at the start of syn chronous communi cations so synchronous commu nications could not be started Check to see if the WDT data is being updated in the host controller Correctly update the WDT data at the host controller A failure occu...

Page 194: ...CK may be faulty Replace the SERVOPACK A E71 Safety Option Module Detec tion Failure There is a faulty con nection between the SERVOPACK and the Safety Option Module Check the connection between the SERVO PACK and the Safety Option Module Correctly connect the Safety Option Module The Safety Option Module was discon nected Execute Fn014 Reset Option Module Configura tion Error from the Digital Ope...

Page 195: ... An error occurred in the gate drive circuit A Ed1 Command Exe cution Timeout A timeout error occurred for a MECHATROLINK command Check the motor status when the command is executed Execute the SV_ON or SENS_ON command only when the motor is not operating For fully closed loop control check the sta tus of the external encoder when the com mand is executed Execute the SENS_ON command only when an e...

Page 196: ...again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK FL 2 5 System Alarm FL 3 5 System Alarm FL 4 5 System Alarm FL 5 5 System Alarm FL 6 5 System Alarm CPF00 Digital Operator Communications Error 1 There is a faulty con tact between the Digi tal Operator and the SERVOPACK Check the connector contact Disconnect the connec tor and insert it again Or replace the cable A m...

Page 197: ...ired A 910 Overload This warning occurs before an overload alarm A 710 or A 720 occurs If the warning is ignored and operation is continued an alarm may occur Required A 911 Vibration Abnormal vibration was detected during motor opera tion The detection level is the same as A 520 Set whether to output an alarm or a warning by setting Pn310 Vibration Detection Switch Required A 912 Internal Tempera...

Page 198: ...om mand Conditions A command was sent when the conditions for sending a command were not satisfied Automatically reset A 95b Command Warning 2 Unsupported Com mand An unsupported command was sent Automatically reset A 95d Command Warning 4 Command Interfer ence There was command interference particularly latch command interference Automatically reset A 95E Command Warning 5 Subcommand Not Possible...

Page 199: ...vertravel Warning Detection Selection Not affected by the setting of Pn008 n X A 9b0 Pn00F n X Preventative Maintenance Selection Warning Number Warning Name Possible Cause Confirmation Correction Reference A 900 Position Deviation Overflow The Servomotor U V and W wiring is not correct Check the wiring of the Servomotor s Main Cir cuit Cables Make sure that there are no faulty connections in the ...

Page 200: ...cause of mechanical prob lems Check the operation reference and motor speed Remove the mechanical problem The overload warning level Pn52B is not suitable Check that the over load warning level Pn52B is suitable Set a suitable overload warning level Pn52B A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 911 Vibration Abnormal vibra tion was detected during ...

Page 201: ...s A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 913 Internal Tempera ture Warning 2 Power Board Tem perature Error The surrounding temperature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERVOPACK installation environ ment monitor Decrease the surrounding temperature by improving the SERVOPACK i...

Page 202: ...o ensure that the motor will not be rotated by an exter nal force When the Servo motor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capacity of the dynamic brake resistor Check the power con sumed by the DB resis tor to see how frequently the DB is being used Reconsider the following Reduce the Servomotor command speed Decrease the moment of inertia or ma...

Page 203: ... 94A Data Setting Warn ing 1 Parameter Number Error An invalid param eter number was used Check the command that caused the warn ing Use the correct parameter number A 94b Data Setting Warn ing 2 Out of Range The set com mand data was clamped to the minimum or maxi mum value of the setting range Check the command that caused the warn ing Set the parameter within the setting range A 94C Data Settin...

Page 204: ...noise Confirm the installation conditions Implement the following countermeasures against noise Check the MECHATROLINK Com munications Cable and FG wiring and implement countermeasures to pre vent noise from entering Attach a ferrite core to the MECHATROLINK Com munications Cable A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 971 Undervoltage For a 200 V ...

Page 205: ...setting ranges A 9A0 Overtravel Over travel status was detected Overtravel was detected while the servo was ON Check the status of the overtravel signals on the input signal moni tor Even if an overtravel signal is not shown by the input signal monitor momentary overtravel may have been detected Take the following precautions Do not specify move ments that would cause overtravel from the host cont...

Page 206: ... Reduce the load or replace the Servomo tor with a Servomotor with a larger capacity The type of encoder that is being used does not agree with the setting of Pn002 n X Encoder Usage Check the type of the encoder that is being used and the setting of Pn002 n X Set Pn002 n X according to the type of the encoder that is being used There is a mistake in the input signal allocations Pn50A Pn50B Pn511 ...

Page 207: ...or connectors and correct the wiring Servomotor Moves with out a Refer ence Input A failure occurred in the SER VOPACK Replace the SERVO PACK Dynamic Brake Does Not Operate The setting of Pn001 n X Servo OFF or Alarm Group 1 Stopping Method is not suitable Check the setting of Pn001 n X Set Pn001 n X correctly The dynamic brake resistor is disconnected Check the moment of inertia motor speed and d...

Page 208: ... bear ings Replace the Servomo tor There is a vibration source at the driven machine Check for any foreign matter damage or defor mation in the machine s moving parts Consult with the machine manufacturer Noise interference occurred because of incorrect I O sig nal cable specifications Check the I O signal cables to see if they sat isfy specifications Use shielded twisted pair wire cables or scree...

Page 209: ...ce on the signal line from the encoder Implement counter measures against noise for the encoder wiring The encoder was subjected to excessive vibration or shock Check to see if vibration from the machine occurred Check the Ser vomotor installation mounting surface preci sion securing state and alignment Reduce machine vibra tion Improve the mounting conditions of the Servomotor A failure occurred ...

Page 210: ... posi tion when the power was next turned ON Noise interference occurred because of incorrect Encoder Cable specifications Check the Encoder Cable to see if it satisfies speci fications Use a shielded twisted pair wire cable or a screened twisted pair cable with conductors of at least 0 12 mm2 Use cables that satisfy the specifications Noise interference occurred because the Encoder Cable is too l...

Page 211: ...e Drive Prohibit signal was input Check the external power supply 24 V voltage for the input signals Correct the external power supply 24 V voltage for the input signals Check the operating con dition of the overtravel limit switches Make sure that the overtravel limit switches operate correctly Check the wiring of the overtravel limit switches Correct the wiring of the overtravel limit switches C...

Page 212: ...he cable installation envi ronment The Encoder Cable was sub jected to excessive noise interference Check to see if the Encoder Cable is bundled with a high current line or installed near a high cur rent line Correct the cable lay out so that no surge is applied by high current lines There is variation in the FG potential because of the influence of machines on the Servomotor side such as a welder...

Page 213: ...ature around the Servomotor Reduce the surround ing air temperature to 40 C or less The surface of the Servomo tor is dirty Visually check the surface for dirt Clean dirt dust and oil from the surface There is an overload on the Servomotor Check the load status with a monitor If the Servomotor is overloaded reduce the load or replace the Servo Drive with a SERVOPACK and Ser vomotor with larger cap...

Page 214: ...7S SERVOPACK Command Option Attach able Type with INDEXER Module Product Manual Manual No SIEP S800001 64 Indicators Green indicator Remains unlit Red indicator Remains lit Refer to the following section for details Σ 7 Series Σ 7S SERVOPACK Command Option Attach able Type with INDEXER Module Product Manual Manual No SIEP S800001 64 Digital Operator The alarm code is displayed at the top left of t...

Page 215: ... 042 Parameter Combina tion Error The combination of some parameters exceeds the setting range Gr 1 No A 044 Semi Closed Fully Closed Loop Control Parameter Setting Error The settings of the Option Module and Pn002 n X External Encoder Usage do not match Gr 1 No H H H A 04A Parameter Setting Error 2 There is an error in setting of parameters reserved by the system Gr 1 No A 050 Combination Error T...

Page 216: ...1 Control Board Temperature Error The surrounding temperature of the con trol PCB is abnormal Gr 2 Yes A 7A2 Internal Temperature Error 2 Power Board Temperature Error The surrounding temperature of the power PCB is abnormal Gr 2 Yes A 7A3 Internal Temperature Sensor Error An error occurred in the temperature sen sor circuit Gr 2 No A 7Ab SERVOPACK Built in Fan Stopped The fan inside the SERVOPACK...

Page 217: ...SERVOPACK Gr 1 No A bF1 System Alarm 1 Internal program error 1 occurred in the SERVOPACK Gr 1 No A bF2 System Alarm 2 Internal program error 2 occurred in the SERVOPACK Gr 1 No A bF3 System Alarm 3 Internal program error 3 occurred in the SERVOPACK Gr 1 No A bF4 System Alarm 4 Internal program error 4 occurred in the SERVOPACK Gr 1 No A bF5 System Alarm 5 Internal program error 5 occurred in the ...

Page 218: ... Pn526 Excessive Position Deviation Alarm Level at Servo ON while the servo was OFF Gr 1 Yes A d02 Position Deviation Overflow Alarm for Speed Limit at Servo ON If position deviation remains in the devia tion counter the setting of Pn529 or Pn584 Speed Limit Level at Servo ON limits the speed when the servo is turned ON This alarm occurs if a position refer ence is input and the setting of Pn520 E...

Page 219: ...r 1 No A EC8 Gate Drive Error 1 An error occurred in the gate drive circuit Gr 1 No A EC9 Gate Drive Error 2 An error occurred in the gate drive circuit Gr 1 No A Ed1 Command Option Module IF Command Timeout Error Processing of command from the com mand option module was not completed Gr 2 Yes A F10 Power Supply Line Open Phase The voltage was low for more than one second for phase R S or T when t...

Page 220: ...r drops or cutting oil entered the SERVOPACK and caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Replace the SER VOPACK A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If the alarm still occurs the SERVOPACK may have failed The SERVOPACK may be faulty Replace the SER VOPACK A 021 Parameter For mat E...

Page 221: ...e Check the electronic gear ratio The ratio must be within the fol lowing range 0 001 Pn20E Pn210 64 000 Set the electronic gear ratio in the following range 0 001 Pn20E Pn210 64 000 1 A 041 Encoder Output Pulse Setting Error The setting of Pn212 Encoder Output Pulses or Pn281 Encoder Output Res olution is outside of the setting range or does not satisfy the setting conditions Check the setting of...

Page 222: ...at the follow ing condition is met 1 4 Servomotor capacity SERVOPACK capacity 4 Select a proper combina tion of the SERVOPACK and Servomotor capaci ties 1 A failure occurred in the encoder Replace the encoder and check to see if the alarm still occurs Replace the Servomotor or encoder A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A 051 Unsupported Device Al...

Page 223: ...lty Replace the SER VOPACK The regenerative resistor is not wired correctly or there is faulty contact Check the wiring Correct the wiring 1 The dynamic brake DB emergency stop executed from the SERVOPACK was frequently activated or a DB overload alarm occurred Check the power con sumed by the DB resis tor to see how frequently the DB is being used Or check the alarm display to see if a DB overloa...

Page 224: ...able phases U V and W or between the ground and cable phases U V and W The cable may be short circuited Replace the cable There is a short circuit or ground fault inside the Servomotor Check for short circuits across Servomotor phases U V and W or between the ground and Servomotor phases U V or W The Servomotor may be faulty Replace the Servo motor There is a short circuit or ground fault inside t...

Page 225: ...he regenerative resis tor terminals B2 and B3 was removed from one of the fol lowing SERVO PACKs SGD7S 120A Check to see if the jumper is connected between power supply terminals B2 and B3 Correctly connect a jumper 1 The External Regener ative Resistor is not wired correctly or was removed or discon nected Check the wiring of the External Regenerative Resistor Correct the wiring of the External R...

Page 226: ... load applied to the Servomotor during operation Reconsider the system including the servo machine and operating conditions The setting of Pn600 Regenerative Resis tor Capacity is smaller than the capacity of the Exter nal Regenerative Resistor Check it see if a Regen erative Resistor is con nected and check the setting of Pn600 Correct the setting of Pn600 1 The setting of Pn603 Regenerative Resi...

Page 227: ...VOPACK may be faulty Replace the SER VOPACK A 400 Overvoltage Detected in the main circuit power supply section of the SERVOPACK The power supply voltage exceeded the specified range Measure the power supply voltage Set the AC DC power supply voltage within the specified range The power supply is not stable or was influenced by a light ning surge Measure the power supply voltage Improve the power ...

Page 228: ... exceeded the maximum speed Check the waveform of the motor speed Reduce the speed refer ence input gain and adjust the servo gain Or reconsider the operating conditions A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A 511 Encoder Output Pulse Overspeed The encoder output pulse frequency exceeded the limit Check the encoder out put pulse setting Decrease the...

Page 229: ...rating conditions Or increase the motor capacity An excessive load was applied during operation because the Servomotor was not driven due to mechanical problems Check the operation reference and motor speed Correct the mechanical problem A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A 730 and A 731 Dynamic Brake Overload An excessive power consump tion by t...

Page 230: ...ER VOPACK A 7A2 Internal Tempera ture Error 2 Power Board Temperature Error The surrounding tem perature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERVOPACK installation environment monitor Decrease the surround ing temperature by improving the SERVO PACK installation condi tions 1 An overload alarm was reset by turning OFF the power su...

Page 231: ...encoder and set up the encoder A failure occurred in the absolute encoder If the alarm still occurs after setting up the encoder again replace the Servomotor A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A 820 Encoder Check sum Alarm Detected at the encoder A failure occurred in the encoder When Using an Abso lute Encoder Set up the encoder again If the ala...

Page 232: ... an alarm still occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A 860 Encoder Over heated Detected at the encoder The surrounding air temperature around the Servomotor is too high Measure the surround ing air temperature a...

Page 233: ...heck the input voltage with the overheat pro tection input information on the Motion Monitor Tab Page on the Sig maWin Repair the line for the overheat protection input signal An overload alarm was reset by turning OFF the power sup ply too many times Check the alarm display to see if there is an overload alarm Change the method for resetting the alarm Operation was per formed under an excessive l...

Page 234: ... Error 3 A failure occurred in the current detection circuit Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF0 System Alarm 0 A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF1 System Alarm 1...

Page 235: ...ure that the Servo motor is correctly wired A failure occurred in the encoder If the motor wiring is cor rect and an alarm still occurs after turning the power supply OFF and ON again the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPA...

Page 236: ...t the wiring around the encoder by separating the Encoder Cable from the Servomotor Main Cir cuit Cable or by ground ing the encoder 1 A failure occurred in the SERVOPACK Connect the Servomotor to another SERVOPACK and turn ON the control power supply If no alarm occurs the SERVOPACK may be faulty Replace the SERVOPACK A C91 Encoder Commu nications Posi tion Data Acceleration Rate Error Noise ente...

Page 237: ...ll occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A CA0 Encoder Parame ter Error A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor may be fau...

Page 238: ...uce machine vibra tion Correctly install the Ser vomotor or linear encoder A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the S...

Page 239: ...le that connects the Serial Converter Unit The length of the cable between the Serial Con verter Unit and SERVO PACK must be 20 m or less The sheath on cable between the Serial Converter Unit and SERVOPACK is bro ken Check the cable that connects the Serial Converter Unit Replace the cable between the Serial Con verter Unit and SERVO PACK A CF2 Timer Stopped Error in Feed back Option Module Commu ...

Page 240: ...evel is too low for the operating conditions Check Pn520 Exces sive Position Deviation Alarm Level to see if it is set to an appropriate value Optimize the setting of Pn520 1 A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A d01 Position Devia tion Overflow Alarm at Servo ON The s...

Page 241: ...tion module is faulty Check the connection between the SERVO PACK and the com mand option module Correctly connect the command option module A command option module fault occurred Replace the command option module A SERVOPACK fault occurred Replace the SERVO PACK A E02 Command Option Module IF Synchronization Error 1 The timing of synchro nization between the servomotor and com mand option module ...

Page 242: ... occurred Replace the SERVO PACK A E71 Safety Option Module Detec tion Failure The connection between the SERVO PACK and the safety option module is faulty Check the connection between the SERVO PACK and the safety option module Correctly connect the safety option module The safety option module was discon nected Execute Fn014 Reset ting configuration error of option module using the digital opera...

Page 243: ...erator or Sig maWin and turn the power supply OFF and then ON again A EA2 Alarm in Current Communications between the INDEXER Module and SERVO PACK 1 An error occurred in communications between the INDEXER Module and SERVO PACK during opera tion Take steps to reduce noise in the system such as improving frame ground 1 A EA3 Alarm in Current Communications between the INDEXER Module and SERVO PACK ...

Page 244: ...iring Make sure that the power supply is correctly wired 1 The three phase power supply is unbalanced Measure the voltage for each phase of the three phase power sup ply Balance the power sup ply by changing phases A single phase power supply was input with out specifying a sig nal phase AC power supply input Pn00B n 1 Check the power sup ply and the parameter setting Match the parameter set ting ...

Page 245: ... 5 System Alarm FL 6 5 System Alarm CPF00 Digital Operator Communications Error 1 There is a faulty con tact between the Digi tal Operator and the SERVOPACK Check the connector contact Disconnect the connec tor and insert it again Or replace the cable A malfunction was caused by noise Keep the Digital Operator or the cable away from sources of noise CPF01 Digital Operator Communications Error 2 A ...

Page 246: ...tion set disabled Gr 1 N A E14A A AEF Parameter Checksum Alarm Detected only when control power supply is turned ON Incorrect or cor rupted parameters are stored in EEPROM This alarm can occur if the control power supply is turned OFF while the parameters are being initialized or changed Initialize the param eters with the PRMI NIT command or FnB0B If the problem is not solved correct the paramete...

Page 247: ...cted When a parame ter has been changed during occurrence of A 040 alarm Connect the encoder and then change the parame ter Cancel the A 040 alarm and then change the parame ter If the alarm display is other than A E00 it can be reset by turning the power OFF and back ON E18A A EA2 A EA3 Communication Alarm between INDEXER Mod ule and SERVO PACK An error occurred in communications between the INDE...

Page 248: ...l power supply is turned ON The combination of the firmware version and the ZONE table version is wrong Change the firm ware version Change the ZONE table version to match the firmware version Gr 1 Available 2 E1EA A AEF Zone Table Out of range Alarm Detected only when control power supply is turned ON A value set in the zone table is not within the allowed setting range Change the firm ware versi...

Page 249: ... power supply is turned ON A value set in the JOG speed table is not within the allowed setting range Change the firm ware version Change the JOG speed table version to match the firm ware version Gr 1 Available 3 E23A A AEF Insufficient Reg istration Dis tance Alarm The registration dis tance was shorter than the decelera tion distance when the RGRT signal went ON to start registration opera tion...

Page 250: ...ct Manual Manual No SIEP S800001 64 Digital Operator When a warning occurs the warning code is displayed at the top left of the screen Response to the Alarm or Warning Read Command ALM Warning code Response to the Most Recent Error Read Command ERR No change ALM Signal No change WARN Signal Turns ON Warning Number Warning Name Meaning Warning Code Output ALO1 ALO2 ALO3 A 900 Position Deviation Ove...

Page 251: ...tery Error This warning occurs when the voltage of absolute encoder s battery is low L L H A 93B Overheat Warning The input voltage temperature for the overheat protection input TH signal exceeded the setting of Pn61C Overheat Warning Level L L H A 942 Speed Ripple Com pensation Information Disagreement The speed ripple compensation information stored in the encoder does not agree with the speed r...

Page 252: ... is too high Reduce the reference acceleration and try operating the SERVO PACK Reduce the acceleration of the position reference with one of the following meth ods Reduce the acceleration rate ACC and decelera tion rate DEC in the pro gram table Reduce the settings of PnB29 Acceleration Rate and PnB2B Deceleration Rate The excessive position deviation alarm level Pn520 Pn51E 100 is too low for th...

Page 253: ... Pn52B is not suitable Check that the overload warning level Pn52B is suitable Set a suitable overload warning level Pn52B A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 911 Vibration Abnormal vibra tion was detected during motor operation Check for abnormal motor noise and check the speed and torque waveforms during oper ation Reduce the motor speed Or r...

Page 254: ...ifications A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 913 Internal Tempera ture Warning 2 Power Board Tem perature Error The surrounding temperature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERVOPACK installation environ ment monitor Decrease the surrounding temperature by improving the SE...

Page 255: ...ure that the motor will not be rotated by an exter nal force When the Servo motor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capacity of the dynamic brake resistor Check the power con sumed by the DB resis tor to see how frequently the DB is being used Reconsider the following Reduce the Servomotor command speed Decrease the moment of inertia or mass Re...

Page 256: ...lue on the SigmaWin Set Pn423 to n 1 Do not detect A 942 alarms However changing the set ting may increase the speed ripple Set Pn423 to n 0 Disable torque ripple com pensation However changing the setting may increase the speed ripple A 971 Undervoltage For a 200 V SER VOPACK the AC power supply volt age dropped below 140 V Measure the power supply voltage Set the power supply volt age within the...

Page 257: ...ay have been detected Take the following precautions Do not specify move ments that would cause overtravel from the host controller Check the wiring of the overtravel signals Implement countermea sures against noise A 9b0 Preventative Mainte nance Warning One of the con sumable parts has reached the end of its service life Replace the part Contact your Yaskawa representa tive for replacement A A9F...

Page 258: ...m or Warning Read Command ALM No change Response to the Most Recent Error Read Command ERR Error code the most recent closest error code ALM Signal No change WARN Signal The signal is valid for 2 seconds Serial Command Negative Response Alarm Number Error Name Meaning Corrective Action E41E A A9F Program Table Save Failure Error While writing data to the flash memory a failure occurred during one ...

Page 259: ...s an overflow in the reception buf fer used for serial commands An error will occur if too many serial com mands are sent consecutively without waiting for the responses Normally the reception buffer will not overflow if there is command response handshaking When an overflow has occurred error code E47E will be returned and all of the data that has accumulated in the recep tion buffer will be disc...

Page 260: ...re s reception buffer was over written with the subsequent data Normally data is read before it is over written so this error does not occur Repair the hard ware E4BE A A9F Moving Disabled Error due to P OT Travel in the forward direction was requested when P OT was in effect For ward movement is disabled when P OT forward overtravel is in effect When P OT is being used move to a posi tion where t...

Page 261: ...n exceeds the position reference of reverse software limit set in PnB23 Check the tar get position specification Check the reverse soft ware limit in PnB23 Check the mov ing mode rotary or lin ear set in PnB20 If software lim its are not being used either select a rotary moving mode in PnB20 or dis able the soft ware limits by setting PnB21 PnB23 0 E4FE A A9F Position Refer ence Out of range Error...

Page 262: ...istance was not specified even once there was a request by the RS command to start regis tration positioning Specify a regis tration distance with the RDST command E53E A A9F Move Reference Duplication Error There was a new move reference requested even though the system was already mov ing in a positioning or other traveling opera tion Send the next move reference request only after the current m...

Page 263: ...gnal or exe cuting the SVON command The motor is rotating during servo ON execution The main power supply went OFF during servo ON execution Hard wire base block status HWBB sta tus Error E5BE will occur if there was an alarm when the servo ON request was sent using the SVON command Error E5CE will occur if the main power supply was OFF when the servo ON request was sent Turn the servo ON when the...

Page 264: ... com mand was executed while the main power supply was OFF Turn the servo ON after turning ON the main power supply E5DE A A9F Origin Return Method Unspeci fied Error The origin return method is not specified An origin return start was requested HOME signal was turned ON or ZRN command was executed without setting the origin return method Specify the ori gin return method in PnB31 E5EE A A9F Execu...

Page 265: ...cates that Pn205 does not match the setting in the encoder after the multi turn limit setting in Pn205 was changed and the control power supply was turned OFF and ON Use the Multi turn Limit Setting operation to adjust the setting in the encoder to match Pn205 only after alarm A CC0 has occurred E63E A A9F Continuous Stop Execution Dis abled Error An attempt was made to execute a continu ous stop ...

Page 266: ...load and check the load status Reduce the load or replace the Servomo tor with a Servomotor with a larger capacity The type of encoder that is being used does not agree with the setting of Pn002 n X Encoder Usage Check the type of the encoder that is being used and the setting of Pn002 n X Set Pn002 n X according to the type of the encoder that is being used Settings for input signals PnB03 to PnB...

Page 267: ...ls or connectors and correct the wiring Servomotor Moves with out a Refer ence Input A failure occurred in the SER VOPACK Replace the SERVO PACK Dynamic Brake Does Not Operate The setting of Pn001 n X Servo OFF or Alarm Group 1 Stopping Method is not suitable Check the setting of Pn001 n X Set Pn001 n X correctly The dynamic brake resistor is disconnected Check the moment of inertia motor speed an...

Page 268: ...st 0 12 mm2 Use cables that satisfy the specifications Noise interference occurred because an I O signal cable is too long Check the lengths of the I O signal cables The I O signal cables must be no longer than 3 m Noise interference occurred because of incorrect Encoder Cable specifications Make sure that the rotary or Linear Encoder Cable satisfies the specifica tions Use a shielded twisted pair...

Page 269: ...ral Time Con stant is not appropriate Check the setting of Pn101 The default setting is Ti 20 0 ms Set Pn101 to an appro priate value The setting of Pn103 Moment of Inertia Ratio or Mass Ratio is not appropri ate Check the setting of Pn103 Set Pn103 to an appro priate value Large Motor Speed Overshoot on Starting and Stop ping The servo gains are not bal anced Check to see if the servo gains have ...

Page 270: ...erference occurred because the Encoder Cable is damaged Check to see if the Encoder Cable is bundled with a high current line or installed near a high cur rent line Correct the cable lay out so that no surge is applied by high current lines There is variation in the FG potential because of the influence of machines on the Servomotor side such as a welder Check to see if the machines are correctly ...

Page 271: ... supply 24 V voltage for the input signals Eliminate fluctuation from the external power supply 24 V voltage for the input signals Check to see if the opera tion of the overtravel limit switches is unstable Stabilize the operating condition of the over travel limit switches Check the wiring of the overtravel limit switches e g check for cable damage and loose screws Correct the wiring of the overt...

Page 272: ...ate them from the FG of the encoder There is a SERVOPACK pulse counting error due to noise Check to see if there is noise interference on the I O signal line from the encoder or Serial Con verter Unit Implement counter measures against noise for the encoder wiring or Serial Converter Unit wiring The encoder was subjected to excessive vibration or shock Check to see if vibration from the machine oc...

Page 273: ...n dirt dust and oil from the surface There is an overload on the Servomotor Check the load status with a monitor If the Servomotor is overloaded reduce the load or replace the Servo Drive with a SERVOPACK and Ser vomotor with larger capacities Polarity detection was not performed correctly Check to see if electrical angle 2 electrical angle from polarity origin at any position is between 10 Correc...

Page 274: ... displayed Refer to the following manual for details Σ 7 Series Σ 7S SERVOPACK with Analog Voltage Pulse Train References Product Manual Manual No SIEP S800001 26 Digital Operator The alarm code is displayed at the top left of the screen ALM Signal The alarm signal turns ON The photocoupler turns OFF WARN Signal No change Alarm Number Alarm Name Alarm Meaning Servo motor Stop ping Method Alarm Res...

Page 275: ...r or the heat sink overheated Gr 1 No L H H A 101 Motor Overcurrent Detected The current to the motor exceeded the allowable current Gr 1 No A 300 Regeneration Error There is an error related to regeneration Gr 1 Yes L L H A 320 Regenerative Over load A regenerative overload occurred Gr 2 Yes A 330 Main Circuit Power Supply Wiring Error The AC power supply input setting or DC power supply input se...

Page 276: ...hecksum Alarm There is an error in the checksum results for encoder memory Gr 1 No A 830 Encoder Battery Alarm The battery voltage was lower than the specified level after the control power supply was turned ON Gr 1 Yes A 840 Encoder Data Alarm There is an internal data error in the encoder Gr 1 No A 850 Encoder Overspeed The encoder was operating at high speed when the power was turned ON Gr 1 No...

Page 277: ...rror The multiturn data for the absolute encoder was not correctly cleared or set Gr 1 No A C90 Encoder Communica tions Error Communications between the encoder and SERVOPACK is not possible Gr 1 No A C91 Encoder Communica tions Position Data Acceleration Rate Error An error occurred in calculating the posi tion data of the encoder Gr 1 No L H L A C92 Encoder Communica tions Timer Error An error o...

Page 278: ...k Option Mod ule failed Gr 1 No A E74 Unsupported Safety Option Module An unsupported safety option module was connected Gr 1 No A E75 Unsupported Feed back Option Module An unsupported feedback option module was connected Gr 1 No A Eb1 Safety Function Sig nal Input Timing Error An error occurred in the input timing of the safety function signal Gr 1 No A EC8 Gate Drive Error 1 An error occurred i...

Page 279: ...rs were fre quently changed from the host controller The SERVOPACK may be faulty Replace the SER VOPACK Reconsider the method for writing the parame ters 1 A malfunction was caused by noise from the AC power supply ground static elec tricity or other source Turn the power supply to the SERVOPACK OFF and ON again If the alarm still occurs noise may be the cause Implement countermea sures against no...

Page 280: ...VOPACK A 040 Parameter Set ting Error A parameter set ting is outside of the setting range The SERVOPACK and Servomotor capaci ties do not match each other Check the combination of the SERVOPACK and Servomotor capacities Select a proper combina tion of SERVOPACK and Servomotor capacities 1 A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A parameter setting is...

Page 281: ...ng of Pn002 n X 1 A 04A Parameter Set ting Error 2 A parameter reserved by the system was changed Set the following reserved parameters to the default settings Pn200 2 Pn207 1 Pn50A 0 Pn50A 1 Pn50A 2 Pn50C Pn50D A 050 Combination Error The capacities of the SERVOPACK and Servomotor do not match The SERVOPACK and Servomotor capaci ties do not match each other Confirm that the follow ing condition i...

Page 282: ...resistor is not wired correctly or there is faulty contact Check the wiring Correct the wiring 1 The dynamic brake DB emergency stop executed from the SERVOPACK was frequently activated or a DB overload alarm occurred Check the power con sumed by the DB resis tor to see how frequently the DB is being used Or check the alarm display to see if a DB overload alarm A 730 or A 731 has occurred Change t...

Page 283: ... U V and W or between the ground and cable phases U V and W The cable may be short circuited Replace the cable There is a short circuit or ground fault inside the Servomotor Check for short circuits across Servomotor phases U V and W or between the ground and Servomotor phases U V or W The Servomotor may be faulty Replace the Servo motor There is a short circuit or ground fault inside the SERVOPAC...

Page 284: ...tween the regenerative resis tor terminals B2 and B3 was removed from one of the fol lowing SERVO PACKs SGD7S 120A Check to see if the jumper is connected between power supply terminals Correctly connect a jumper 1 The External Regener ative Resistor is not wired correctly or was removed or discon nected Check the wiring of the External Regenerative Resistor Correct the wiring of the External Rege...

Page 285: ...d to the Servomotor during operation Reconsider the system including the servo machine and operating conditions The setting of Pn600 Regenerative Resis tor Capacity is smaller than the capacity of the Exter nal Regenerative Resistor Check it see if a Regen erative Resistor is con nected and check the setting of Pn600 Correct the setting of Pn600 1 The setting of Pn603 Regenerative Resis tor Capaci...

Page 286: ...SERVOPACK may be faulty Replace the SER VOPACK A 400 Overvoltage Detected in the main circuit power supply section of the SERVOPACK The power supply voltage exceeded the specified range Measure the power supply voltage Set the AC DC power supply voltage within the specified range The power supply is not stable or was influenced by a light ning surge Measure the power supply voltage Improve the pow...

Page 287: ...the maximum speed Check the waveform of the motor speed Reduce the speed refer ence input gain and adjust the servo gain Or reconsider the operating conditions A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A 511 Encoder Output Pulse Overspeed The encoder output pulse frequency exceeded the limit Check the encoder out put pulse setting Decrease the setting o...

Page 288: ...perating conditions Or increase the motor capacity An excessive load was applied during operation because the Servomotor was not driven due to mechanical problems Check the operation reference and motor speed Correct the mechanical problem A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A 730 and A 731 Dynamic Brake Overload An excessive power consump tion by...

Page 289: ...7A2 Internal Tempera ture Error 2 Power Board Temperature Error The surrounding tem perature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERVOPACK installation environment monitor Decrease the surround ing temperature by improving the SERVO PACK installation condi tions 1 An overload alarm was reset by turning OFF the power sup ply too ma...

Page 290: ...e encoder and set up the encoder A failure occurred in the absolute encoder If the alarm still occurs after setting up the encoder again replace the Servomotor A failure occurred in the SERVOPACK The SERVOPACK may be faulty Replace the SER VOPACK A 820 Encoder Check sum Alarm Detected at the encoder A failure occurred in the encoder When Using an Abso lute Encoder Set up the encoder again If the a...

Page 291: ...ill occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A 860 Encoder Over heated Detected at the encoder The surrounding air temperature around the Servomotor is too high Measure the surround ing air temperature around the Se...

Page 292: ...d Check the input voltage with the overheat pro tection input information on the Motion Monitor Tab Page on the Sig maWin Repair the line for the overheat protection input signal An overload alarm was reset by turning OFF the power sup ply too many times Check the alarm display to see if there is an overload alarm Change the method for resetting the alarm Operation was per formed under an excessiv...

Page 293: ...e SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF1 System Alarm 1 A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A bF2 System Alarm 2 A failure occurred in the SERVOPACK Turn the pow...

Page 294: ... motor wiring is not correct Check the Servomotor wiring Make sure that the Servo motor is correctly wired A failure occurred in the encoder If the motor wiring is cor rect and an alarm still occurs after turning the power supply OFF and ON again the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an ala...

Page 295: ...g around the encoder by separating the Encoder Cable from the Servomotor Main Cir cuit Cable or by ground ing the encoder 1 A failure occurred in the SERVOPACK Connect the Servomotor to another SERVOPACK and turn ON the control power supply If no alarm occurs the SERVOPACK may be faulty Replace the SERVOPACK A C91 Encoder Commu nications Posi tion Data Acceleration Rate Error Noise entered on the ...

Page 296: ...still occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A CA0 Encoder Parame ter Error A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor may be ...

Page 297: ...e machine vibra tion Correctly install the Ser vomotor A failure occurred in the encoder Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the Servomotor may be faulty Replace the Servomotor A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A CC0 Multi...

Page 298: ...able that connects the Serial Converter Unit The length of the cable between the Serial Con verter Unit and SERVO PACK must be 20 m or less The sheath on cable between the Serial Converter Unit and SERVOPACK is bro ken Check the cable that connects the Serial Converter Unit Replace the cable between the Serial Con verter Unit and SERVO PACK A CF2 Timer Stopped Error in Feed back Option Module Comm...

Page 299: ...o low for the operating conditions Check Pn520 Exces sive Position Deviation Alarm Level to see if it is set to an appropriate value Optimize the setting of Pn520 1 A failure occurred in the SERVOPACK Turn the power supply to the SERVOPACK OFF and ON again If an alarm still occurs the SERVOPACK may be faulty Replace the SERVOPACK A d01 Position Devia tion Overflow Alarm at Servo ON The servo was t...

Page 300: ...d turn the power supply OFF and then ON again 1 A safety option mod ule fault occurred Replace the safety option module A failure occurred in the SERVOPACK Replace the SERVO PACK A E72 Feedback Option Module Detec tion Failure There is a faulty con nection between the SERVOPACK and the Feedback Option Module Check the connection between the SERVO PACK and the Feed back Option Module Correctly conn...

Page 301: ...s low for more than one second for phase R S or T when the main power supply was ON The three phase power supply wiring is not correct Check the power sup ply wiring Make sure that the power supply is correctly wired 1 The three phase power supply is unbalanced Measure the voltage for each phase of the three phase power sup ply Balance the power sup ply by changing phases A single phase power supp...

Page 302: ...m FL 5 5 System Alarm FL 6 5 System Alarm CPF00 Digital Operator Communications Error 1 There is a faulty con tact between the Digi tal Operator and the SERVOPACK Check the connector contact Disconnect the connec tor and insert it again Or replace the cable A malfunction was caused by noise Keep the Digital Operator or the cable away from sources of noise CPF01 Digital Operator Communications Erro...

Page 303: ... Gr 1 N A E14A A EF9 Parameter Checksum Alarm Detected only when control power supply is turned ON Incorrect or cor rupted parameters are stored in EEPROM This alarm can occur if the control power supply is turned OFF while the parameters are being initialized or changed Initialize the param eters Fn005 If the problem is not solved correct the parameters Gr 1 N A E15A A EF9 Parameter Version Unmat...

Page 304: ...program table is being saved or ini tialized Initialize the pro gram table Fn063 If the problem is not solved correct the program table Gr 1 Available 1 E1AA A EF9 Program Table Version Unmatched Detected only when the control power is ON The combination of the firmware version and the program table version is wrong Change the firm ware version Change the pro gram table version to match the firm w...

Page 305: ... power supply is turned ON The JOG speed table stored in flash memory was not recorded properly This alarm can occur if the control power supply is turned OFF while the JOG speed table is being saved or ini tialized Initialize the JOG speed table Fn065 If the problem is not solved correct the JOG speed table Gr 1 Available 3 E21A A EF9 JOG Speed Table Version Unmatched Detected only when the contr...

Page 306: ... was turned ON exceeded the percentage set with the following formula Pn526 Pn528 100 A 910 Overload This warning occurs before an overload alarm A 710 or A 720 occurs If the warning is ignored and operation is continued an alarm may occur L H H A 911 Vibration Abnormal vibration was detected during motor operation The detection level is the same as A 520 Set whether to output an alarm or a warnin...

Page 307: ...is warning occurs before an A 410 alarm Under voltage occurs If the warning is ignored and oper ation is continued an alarm may occur L L L A 9A0 Overtravel Overtravel was detected while the servo was ON H L L A 9b0 Preventative Mainte nance Warning One of the consumable parts has reached the end of its service life H L H A 9F9 INDEXER Warning A warning occurred in the INDEXER L H H Warning Parame...

Page 308: ...oo high Reduce the reference acceleration and try operating the SERVO PACK Reduce the acceleration of the position reference with one of the following meth ods Reduce the acceleration rate ACC and decelera tion rate DEC in the pro gram table Reduce the settings of Pn63F Acceleration Rate and Pn640 Deceleration Rate The excessive position deviation alarm level Pn520 Pn51E 100 is too low for the ope...

Page 309: ...B is not suitable Check that the overload warning level Pn52B is suitable Set a suitable overload warning level Pn52B A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 911 Vibration Abnormal vibra tion was detected during motor operation Check for abnormal motor noise and check the speed and torque waveforms during oper ation Reduce the motor speed Or reduce...

Page 310: ...ations A failure occurred in the SERVO PACK The SERVOPACK may be faulty Replace the SERVO PACK A 913 Internal Tempera ture Warning 2 Power Board Tem perature Error The surrounding temperature is too high Check the surrounding temperature using a thermostat Or check the operating status with the SERVOPACK installation environ ment monitor Decrease the surrounding temperature by improving the SERVOP...

Page 311: ...that the motor will not be rotated by an exter nal force When the Servo motor was stopped with the dynamic brake the rotational or linear kinetic energy exceeded the capacity of the dynamic brake resistor Check the power con sumed by the DB resis tor to see how frequently the DB is being used Reconsider the following Reduce the Servomotor command speed Decrease the moment of inertia or mass Reduce...

Page 312: ...n the SigmaWin Set Pn423 to n 1 Do not detect A 942 alarms However changing the set ting may increase the speed ripple Set Pn423 to n 0 Disable torque ripple com pensation However changing the setting may increase the speed ripple A 971 Undervoltage For a 200 V SER VOPACK the AC power supply volt age dropped below 140 V Measure the power supply voltage Set the power supply volt age within the spec...

Page 313: ...ons Do not specify move ments that would cause overtravel from the host controller Check the wiring of the overtravel signals Implement countermea sures against noise A 9b0 Preventative Mainte nance Warning One of the con sumable parts has reached the end of its service life Replace the part Contact your Yaskawa representa tive for replacement A 9F9 INDEXER Warning A warning occurred in the INDEXE...

Page 314: ... speed table by using Fn061 While initializing a JOG speed table by using Fn065 Repair the hard ware E44E A 9F9 Canceled Pro gram Table Error There was a request to start program table operation even though an E19A or E1BA alarm occurred when the control power sup ply was turned ON Remove the cause of the alarm E46E A 9F9 Canceled JOG Speed Table Error There was a request to start JOG speed table ...

Page 315: ...ference of reverse software limit set in Pn63A Check the tar get position specification Check the reverse soft ware limit in Pn63A Check the set ting of the Mov ing Mode rotational linear coordinates Pn637 n X If the software limits are not being used select rotational coordinates for the i e set Pn637 to n 1 or dis able the soft ware limits by setting Pn638 Pn63A 0 E4FE A 9F9 Position Refer ence ...

Page 316: ...ncrease the regis tration distance or shorten the decel eration distance i e increase the deceleration rate Registration dis tance RDST in the program table Deceleration rate Pn640 E55E A 9F9 Servo ON Failure Error The servo could not be turned ON within 2 s of when the S ON signal turned ON The motor is rotating during servo ON exe cution The main power supply went OFF during servo ON execution H...

Page 317: ...at the same time as the function that was being executed Example There was a request to start program table operation while the program table was being initialized Execute the oper ation again after the execution of the current func tion is completed E63E A 9F9 Continuous Stop Execution Dis abled Error An attempt was made to execute a continu ous stop under conditions where it could not be execute...

Page 318: ...th no load and check the load status Reduce the load or replace the Servomo tor with a Servomotor with a larger capacity The type of encoder that is being used does not agree with the setting of Pn002 n X Encoder Usage Check the type of the encoder that is being used and the setting of Pn002 n X Set Pn002 n X according to the type of the encoder that is being used Settings for input signals Pn630 ...

Page 319: ... connectors and correct the wiring Servomotor Moves with out a Refer ence Input A failure occurred in the SER VOPACK Replace the SERVO PACK Dynamic Brake Does Not Operate The setting of Pn001 n X Servo OFF or Alarm Group 1 Stopping Method is not suitable Check the setting of Pn001 n X Set Pn001 n X correctly The dynamic brake resistor is disconnected Check the moment of inertia motor speed and dyn...

Page 320: ...12 mm2 Use cables that satisfy the specifications Noise interference occurred because an I O signal cable is too long Check the lengths of the I O signal cables The I O signal cables must be no longer than 3 m Noise interference occurred because of incorrect Encoder Cable specifications Make sure that the rotary or Linear Encoder Cable satisfies the specifica tions Use a shielded twisted pair wire...

Page 321: ...Time Con stant is not appropriate Check the setting of Pn101 The default setting is Ti 20 0 ms Set Pn101 to an appro priate value The setting of Pn103 Moment of Inertia Ratio or Mass Ratio is not appropri ate Check the setting of Pn103 Set Pn103 to an appro priate value Large Motor Speed Overshoot on Starting and Stop ping The servo gains are not bal anced Check to see if the servo gains have been...

Page 322: ...ence occurred because the Encoder Cable is damaged Check to see if the Encoder Cable is bundled with a high current line or installed near a high cur rent line Correct the cable lay out so that no surge is applied by high current lines There is variation in the FG potential because of the influence of machines on the Servomotor side such as a welder Check to see if the machines are correctly groun...

Page 323: ...ly 24 V voltage for the input signals Eliminate fluctuation from the external power supply 24 V voltage for the input signals Check to see if the opera tion of the overtravel limit switches is unstable Stabilize the operating condition of the over travel limit switches Check the wiring of the overtravel limit switches e g check for cable damage and loose screws Correct the wiring of the overtravel...

Page 324: ...to separate them from the FG of the encoder There is a SERVOPACK pulse counting error due to noise Check to see if there is noise interference on the I O signal line from the encoder or Serial Con verter Unit Implement counter measures against noise for the encoder wiring or Serial Converter Unit wiring The encoder was subjected to excessive vibration or shock Check to see if vibration from the ma...

Page 325: ...e load status with a monitor If the Servomotor is overloaded reduce the load or replace the Servo Drive with a SERVOPACK and Ser vomotor with larger capacities Polarity detection was not performed correctly Check to see if electrical angle 2 electrical angle from polarity origin at any position is between 10 Correct the settings for the polarity detection related parameters Estimating the moment o...

Page 326: ... Communications References 4 32 4 3 FT82 SERVOPACK with MECHATROLINK III Communications References 4 67 4 3 1 List of Servo Parameters 4 67 4 3 2 List of MECHATROLINK III Common Parameters 4 106 4 4 Command Option Attachable type FT82 SERVOPACKs with INDEXER Modules 4 114 4 5 FT83 SERVOPACKs with Analog Voltage Pulse Train References 4 139 Parameter Lists 4 ...

Page 327: ...with pulse train references 2 Torque control with analog references 3 Internal set speed control with contact commands 4 Switching between internal set speed control with contact refer ences and speed control with analog references 5 Switching between internal set speed control with contact refer ences and position control with pulse train references 6 Switching between internal set speed control ...

Page 328: ...06 as the maximum torque and then servo lock the motor 2 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then let the motor coast 3 Decelerate the motor to a stop using the deceleration time set in Pn30A and then servo lock the motor 4 Decelerate the motor to a stop using the deceleration time set in Pn30A and then let the motor coast n X Main Circuit Power S...

Page 329: ...REF as an external torque limit input when P CL or N CL is ON 1 n X Torque Control Option V REF Input Allocation Applicable Motors Reference 0 Do not use V REF All 1 1 Use V REF as an external speed limit input n X Encoder Usage Applicable Motors Reference 0 Use the encoder according to encoder specifica tions All 1 1 Use the encoder as an incremental encoder 2 Use the encoder as a single turn abs...

Page 330: ... amplifier deviation after electronic gear 0 05 V encoder pulse unit 05 Position reference speed 1 V 1 000 min 1 06 Reserved setting Do not use 07 Load motor position deviation 0 01 V reference unit 08 Positioning completion positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 0A Torque feedforward 1 V 100 rated torque 0B Active gain 1st gain 1 V 2nd gain 2...

Page 331: ...tioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 0A Torque feedforward 1 V 100 rated torque 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Completion of position reference distribution completed 5 V not com pleted 0 V 0D External encoder speed 1 V 1 000 min 1 value at the motor shaft 0E Reserved setting Do not use 0F Reserved setting Do not use 10 Main circuit...

Page 332: ...hod set in Pn001 n X 1 1 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque Use the setting of Pn001 n X for the status after stopping 2 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then let the motor coast 3 Decelerate the motor to a stop using the deceleration time set in Pn30A Use the setting of Pn001 n X for the status a...

Page 333: ... motor to a stop use the stopping method set in Pn001 n X 2 Set the stopping method with Pn00A n X n X Power Input Selection for Three phase SERVOPACK Reference 0 Use a three phase power supply input 1 1 Use a three phase power supply input as a single phase power supply input n X Reserved parameter Do not change n X Function Selection for Test without a Motor Applicable Motors 0 Disable tests wit...

Page 334: ...uning 1 Pn105 2 Second Speed Loop Integral Time Constant 15 to 51 200 0 01 ms 2000 All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Preventative Maintenance Warning Selection Reference 0 Do not detect preventative maintenance warnings 1 1 Dete...

Page 335: ...124 2 Friction Compensation Frequency Correction 10 000 to 10 000 0 1 Hz 0 All Immedi ately Tuning 1 Pn125 2 Friction Compensation Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning 1 Pn131 2 Gain Switching Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn132 2 Gain Switching Time 2 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn135 2 Gain Switching Waiting Time 1 0 to 65 535 1 ms 0 All...

Page 336: ...the first gain when switching condition A is not satisfied n X Gain Switching Condition A 0 COIN Positioning Completion Output signal turns ON 1 COIN Positioning Completion Output signal turns OFF 2 NEAR Near Output signal turns ON 3 NEAR Near Output signal turns OFF 4 Position reference filter output is 0 and reference pulse input is OFF 5 Position reference pulse input is ON n X Reserved paramet...

Page 337: ...d Selections 0000h to 0011h 0010h All Immedi ately Tuning Pn161 2 Anti Resonance Fre quency 10 to 20 000 0 1 Hz 1000 All Immedi ately Tuning 1 Pn162 2 Anti Resonance Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence...

Page 338: ...s Function Related Selections 0000h to 2711h 1401h All Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Tuning less Selection When Enabled 0 Disable tuning less function After restart 1 Enable tuning less function n X Speed Control Method When Enabled 0 Use for...

Page 339: ... Clear position deviation when the signal is at low level 3 Clear position deviation on the falling edge of the signal n X Clear Operation Reference 0 Clear position deviation at a base block at servo OFF or when alarm occurs 1 1 Do not clear position error cleared only with CLR Clear Position Deviation signal 2 Clear position deviation when an alarm occurs n X Filter Selection Reference 0 Use the...

Page 340: ...ion 1 to 4 096 1 edge pitch 20 All After restart Setup 1 Pn300 2 Speed Reference Input Gain 150 to 3 000 0 01 V Rated motor speed 600 All Immedi ately Setup 1 Pn301 2 Internal Set Speed 1 0 to 10 000 Rotary 1 min 1 Direct Drive 0 1 min 1 100 Rotary Immedi ately Setup 1 Pn302 2 Internal Set Speed 2 0 to 10 000 Rotary 1 min 1 Direct Drive 0 1 min 1 200 Rotary Immedi ately Setup 1 Pn303 2 Internal Se...

Page 341: ... Input Gain 10 to 100 0 1 V rated torque 30 All Immedi ately Setup 1 Pn401 2 First Stage First Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Pn402 2 Forward Torque Limit 0 to 800 1 2 800 Rotary Immedi ately Setup 1 Pn403 2 Reverse Torque Limit 0 to 800 1 2 800 Rotary Immedi ately Setup 1 Pn404 2 Forward External Torque Limit 0 to 800 1 2 100 All Immedi ate...

Page 342: ...t 0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Pn415 2 T REF Filter Time Con stant 0 to 65 535 0 01 ms 0 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Notch Filter Selection 1 When Enabled Reference 0 Disable first stage notch filter Im...

Page 343: ...ng 1 Pn423 2 Speed Ripple Compen sation Selections 0000h to 1111h 0000h Rotary Setup 1 Pn424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 2 50 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Notch Filter Selection 3 0 Disable third ...

Page 344: ...i ately Setup 1 Pn508 2 Servo OFF Brake Com mand Waiting Time 10 to 100 10 ms 50 All Immedi ately Setup 1 Pn509 2 Momentary Power Inter ruption Hold Time 20 to 50 000 1 ms 20 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Notch Filter Adjustm...

Page 345: ...1 43 input signal is OFF open D Active when CN1 44 input signal is OFF open E Active when CN1 45 input signal is OFF open F Active when CN1 46 input signal is OFF open n X P CON Proportional Control Signal Allocation Reference 0 to F The allocations are the same as the S ON Servo ON signal allo cations 1 n X P OT Forward Drive Prohibit Signal Allocation Reference 0 Enable forward drive when CN1 40...

Page 346: ...t Signal Allocation Reference 0 Active on signal edge when CN1 40 input signal changes from OFF open to ON closed 1 1 Active on signal edge when CN1 41 input signal changes from OFF open to ON closed 2 Active on signal edge when CN1 42 input signal changes from OFF open to ON closed 3 Active on signal edge when CN1 43 input signal changes from OFF open to ON closed 4 Active on signal edge when CN1...

Page 347: ...46 input signal is ON closed 7 The signal is always active 8 The signal is always inactive 9 Active when CN1 40 input signal is OFF open A Active when CN1 41 input signal is OFF open B Active when CN1 42 input signal is OFF open C Active when CN1 43 input signal is OFF open D Active when CN1 44 input signal is OFF open E Active when CN1 45 input signal is OFF open F Active when CN1 46 input signal...

Page 348: ...ve when CN1 45 input signal is ON closed 6 Active when CN1 46 input signal is ON closed 7 The signal is always active 8 The signal is always inactive 9 Active when CN1 40 input signal is OFF open A Active when CN1 41 input signal is OFF open B Active when CN1 42 input signal is OFF open C Active when CN1 43 input signal is OFF open D Active when CN1 44 input signal is OFF open E Active when CN1 45...

Page 349: ...locations 1 n X TGON Rotation Detection Output Signal Allocation Reference 0 to 6 The allocations are the same as the COIN Positioning Comple tion signal allocations 1 n X S RDY Servo Ready Signal Allocation Reference 0 to 6 The allocations are the same as the COIN Positioning Comple tion signal allocations 1 n X CLT Torque Limit Detection Output Signal Allocation Reference 0 Disabled the above si...

Page 350: ...ut the signal from the CN1 38 output terminal 6 Output the signal from the CN1 39 output terminal n X Reserved parameter Do not change n X PSELA Reference Pulse Input Multiplication Switching Output Signal Allocation Reference 0 to 6 The allocations are the same as the NEAR Near signal alloca tions 1 n X Reserved parameter Do not change n X Output Signal Inversion for CN1 25 and CN1 26 Terminals 0...

Page 351: ...r Do not change n X Reserved parameter Do not change n X PM Preventative Maintenance Output Signal Allocation Reference 0 Disabled the above signal output is not used 1 1 Output the signal from the CN1 25 or CN1 26 output terminal 2 Output the signal from the CN1 27 or CN1 28 output terminal 3 Output the signal from the CN1 29 or CN1 30 output terminal 4 Output the signal from the CN1 37 output te...

Page 352: ...e when CN1 42 input signal is OFF open C Active when CN1 43 input signal is OFF open D Active when CN1 44 input signal is OFF open E Active when CN1 45 input signal is OFF open F Active when CN1 46 input signal is OFF open n X PSEL Reference Pulse Input Multiplication Switching Input Signal Allo cation Reference 0 Active when CN1 40 input signal is ON closed 1 1 Active when CN1 41 input signal is ...

Page 353: ...motor to stop 9 Enable drive when CN1 40 input signal is OFF open A Enable drive when CN1 41 input signal is OFF open B Enable drive when CN1 42 input signal is OFF open C Enable drive when CN1 43 input signal is OFF open D Enable drive when CN1 44 input signal is OFF open E Enable drive when CN1 45 input signal is OFF open F Enable drive when CN1 46 input signal is OFF open n X Reserved parameter...

Page 354: ...F 2 Monitor Display at Startup 0000h to 0FFFh 0FFFh All Immedi ately Setup 1 Pn530 2 Program Jogging Related Selections 0000h to 0005h 0000h All Immedi ately Setup 1 Pn531 4 Program Jogging Travel Distance 1 to 1 073 741 824 1 refer ence unit 32768 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicab...

Page 355: ...Resistor Capacity 4 Depends on model 5 10 W 0 All Immedi ately Setup 1 Pn601 2 Dynamic Brake Resis tor Allowable Energy Consumption 0 to 65 535 10 J 0 All After restart Setup 6 Pn603 2 Regenerative Resis tance 0 to 65 535 10 mΩ 0 All Immedi ately Setup 1 Pn604 2 Dynamic Brake Resis tance 0 to 65 535 10 mΩ 0 All After restart Setup 6 Pn61A 2 Overheat Protection Selections 0000h to 0003h 0000h Linea...

Page 356: ...Series User s Manual Safety Module Manual No SIEP C720829 06 4 Normally set this parameter to 0 If you use an External Regenerative Resistor set the capacity W of the Exter nal Regenerative Resistor 5 The upper limit is the maximum output capacity W of the SERVOPACK 6 These parameters are for SERVOPACKs with the dynamic brake option Refer to the following manual for details Σ 7 Series AC Servo Dri...

Page 357: ...opping Method for Servo OFF and Group 1 Alarms Reference 0 Stop the motor by applying the dynamic brake 1 1 Stop the motor by the applying dynamic brake and then release the dynamic brake 2 Coast the motor to a stop without the dynamic brake n X Overtravel Stopping Method Reference 0 Apply the dynamic brake or coast the motor to a stop use the stopping method set in Pn001 n X 1 1 Decelerate the mo...

Page 358: ...N_TLIM as the torque limit when P_CL or N_CL in the OPTION field is ON n X Torque Control Option Applicable Motors Reference 0 Ignore the setting of the speed limit for torque con trol VLIM All 2 1 Use the speed limit for torque control VLIM as the speed limit n X Encoder Usage Applicable Motors Reference 0 Use the encoder according to encoder specifica tions All 1 1 Use the encoder as an incremen...

Page 359: ...ier deviation after electronic gear 0 05 V encoder pulse unit 05 Position reference speed 1 V 1 000 min 1 06 Reserved setting Do not use 07 Load motor position deviation 0 01 V reference unit 08 Positioning completion positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 0A Torque feedforward 1 V 100 rated torque 0B Active gain 1st gain 1 V 2nd gain 2 V 0C C...

Page 360: ...letion positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 0A Torque feedforward 1 V 100 rated torque 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Completion of position reference distribution completed 5 V not com pleted 0 V 0D External encoder speed 1 V 1 000 min 1 value at the motor shaft 0E Reserved setting Do not use 0F Reserved setting Do not use 10 M...

Page 361: ... in Pn001 n X 1 1 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque Use the setting of Pn001 n X for the status after stopping 2 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then let the motor coast 3 Decelerate the motor to a stop using the deceleration time set in Pn30A Use the setting of Pn001 n X for the status after st...

Page 362: ...r coast the motor to a stop use the stopping method set in Pn001 n X 2 Set the stopping method with Pn00A n X n X Power Input Selection for Three phase SERVOPACK Reference 0 Use a three phase power supply input 1 1 Use a three phase power supply input as a single phase power supply input n X Reserved parameter Do not change n X Function Selection for Test without a Motor Applicable Motors 0 Disabl...

Page 363: ... Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Preventative Maintenance Warning Selection Reference 0 Do not detect preventative maintenance warnings 1 1 Detect preventative maintenance warnings n X Reserved parameter Do not change n X Reserved parameter Do not chan...

Page 364: ...Tuning 1 Pn124 2 Friction Compensation Frequency Correction 10 000 to 10 000 0 1 Hz 0 All Immedi ately Tuning 1 Pn125 2 Friction Compensation Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning 1 Pn131 2 Gain Switching Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn132 2 Gain Switching Time 2 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn135 2 Gain Switching Waiting Time 1 0 to 65 535...

Page 365: ... gain when switching condition A is not satisfied n X Gain Switching Condition A 0 COIN Positioning Completion Output signal turns ON 1 COIN Positioning Completion Output signal turns OFF 2 NEAR Near Output signal turns ON 3 NEAR Near Output signal turns OFF 4 Position reference filter output is 0 and position reference input is OFF 5 Position reference input is ON n X Reserved parameter Do not ch...

Page 366: ...rol Related Selections 0000h to 0011h 0010h All Immedi ately Tuning Pn161 2 Anti Resonance Fre quency 10 to 20 000 0 1 Hz 1000 All Immedi ately Tuning 1 Pn162 2 Anti Resonance Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication ...

Page 367: ...nge Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Tuning less Selection When Enabled 0 Disable tuning less function After restart 1 Enable tuning less function n X Speed Control Method When Enabled 0 Use for speed control After restart 1 Use for speed control and use host controller for position control n X Rigidity Level When Enabled 0 to 7 Set the rig...

Page 368: ...p 1 Pn305 2 Soft Start Acceleration Time 0 to 10 000 1 ms 0 All Immedi ately Setup 2 Pn306 2 Soft Start Deceleration Time 0 to 10 000 1 ms 0 All Immedi ately Setup 2 Pn308 2 Speed Feedback Filter Time Constant 0 to 65 535 0 01 ms 0 All Immedi ately Setup 1 Pn30A 2 Deceleration Time for Servo OFF and Forced Stops 0 to 10 000 1 ms 0 All Immedi ately Setup 1 Pn30C 2 Speed Feedforward Average Movement...

Page 369: ...y Immedi ately Setup 1 Pn403 2 Reverse Torque Limit 0 to 800 1 3 800 Rotary Immedi ately Setup 1 Pn404 2 Forward External Torque Limit 0 to 800 1 3 100 All Immedi ately Setup 1 Pn405 2 Reverse External Torque Limit 0 to 800 1 3 100 All Immedi ately Setup 1 Pn406 2 Emergency Stop Torque 0 to 800 1 3 800 All Immedi ately Setup 1 Pn407 2 Speed Limit during Torque Control 0 to 10 000 1 min 1 10000 Rot...

Page 370: ...Second Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Notch Filter Selection 1 When Enabled Reference 0 Disable first stage notch filter Immedi ately 1 1 Enable first stage notch ...

Page 371: ...0h to 1111h 0000h Rotary Setup 1 Pn424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 3 50 All Immedi ately Setup 1 Pn425 2 Release Time for Torque Limit at Main Circuit Voltage Drop 0 to 1 000 1 ms 100 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi ficatio...

Page 372: ...ely Setup 1 Pn509 2 Momentary Power Inter ruption Hold Time 20 to 50 000 1 ms 20 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Notch Filter Adjustment Selection 1 0 Do not adjust the first stage notch filter automatically during execution of...

Page 373: ...d 2 Enable forward drive when CN1 8 input signal is ON closed 3 Enable forward drive when CN1 9 input signal is ON closed 4 Enable forward drive when CN1 10 input signal is ON closed 5 Enable forward drive when CN1 11 input signal is ON closed 6 Enable forward drive when CN1 12 input signal is ON closed 7 Set the signal to always prohibit forward drive 8 Set the signal to always enable forward dri...

Page 374: ...when CN1 8 input signal is OFF open C Enable reverse drive when CN1 9 input signal is OFF open D Enable reverse drive when CN1 10 input signal is OFF open E Enable reverse drive when CN1 11 input signal is OFF open F Enable reverse drive when CN1 12 input signal is OFF open n X Reserved parameter Do not change n X P CL Forward External Torque Limit Input Signal Allocation Reference 0 Active when C...

Page 375: ...S RDY Servo Ready Signal Allocation Reference 0 to 6 The allocations are the same as the COIN Positioning Comple tion signal allocations 1 n X CLT Torque Limit Detection Output Signal Allocation Reference 0 Disabled the above signal output is not used 1 1 Output the signal from the CN1 1 or CN1 2 output terminal 2 Output the signal from the CN1 23 or CN1 24 output terminal 3 Output the signal from...

Page 376: ... Active when CN1 13 input signal is OFF open A Active when CN1 7 input signal is OFF open B Active when CN1 8 input signal is OFF open C Active when CN1 9 input signal is OFF open D Active when CN1 10 input signal is OFF open E Active when CN1 11 input signal is OFF open F Active when CN1 12 input signal is OFF open n X EXT1 External Latch Input 1 Signal Allocation 0 to 3 The signal is always inac...

Page 377: ...inverted n X Output Signal Inversion for CN1 23 and CN1 24 Terminals 0 The signal is not inverted 1 The signal is inverted n X Output Signal Inversion for CN1 25 and CN1 26 Terminals 0 The signal is not inverted 1 The signal is inverted n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter Do not change n X PM Preventative Maintenance Output Signal Alloca...

Page 378: ...o 100 1 20 Rotary Immedi ately Tuning 1 Pn52B 2 Overload Warning Level 1 to 100 1 20 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X FSTP Forced Stop Input Signal Allocation Reference 0 Enable drive when CN1 13 input signal is ON closed 1 1 En...

Page 379: ... Setup Pn560 2 Residual Vibration Detection Width 1 to 3 000 0 1 400 All Immedi ately Setup 1 Pn561 2 Overshoot Detection Level 0 to 100 1 100 All Immedi ately Setup 1 Pn600 2 Regenerative Resistor Capacity 5 Depends on model 6 10 W 0 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When...

Page 380: ...nit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Overheat Protection Selection 0 Disable overheat protection 1 Use overheat protection in the Yaskawa Linear Servomotor 8 2 Monitor a negative voltage input from a sensor attached to the machine and use overheat protection 3 Monitor a positive voltage input from a sensor attached to the machine and use overheat protec...

Page 381: ...y 11 Setup 2 Pn80E 2 Second Stage Linear Deceleration Constant 1 to 65 535 10 000 refer ence units s2 100 All Immedi ately 11 Setup 2 Pn80F 2 Deceleration Constant Switching Speed 0 to 65 535 100 ref erence units s 0 All Immedi ately 11 Setup 2 Pn810 2 Exponential Accelera tion Deceleration Bias 0 to 65 535 100 ref erence units s 0 All Immedi ately 12 Setup 2 Pn811 2 Exponential Accelera tion Dece...

Page 382: ...e Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Origin Return Direction 0 Return in forward direction 1 Return in reverse direction n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter Do not change n X IO12 Signal Mapping 0 Do not map 1 Monitor CN1 13 input terminal 2 Moni...

Page 383: ...648 to 2 147 483 647 1 refer ence unit 0 All Immedi ately Setup 2 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Option Field Allocation 0 Disable option field allocation 1 Enable option field allocation n X Position Control Command TFF TLIM Allocation 0 Disable allo...

Page 384: ...der rotation displayed in decimal All 0014h Un004 Rotational Angle 2 deg Electrical angle from polarity origin All 0015h Un005 Input Signal Monitor All 0016h Un006 Output Signal Monitor All 0017h Un007 Input Reference Speed min 1 All 0018h Un008 Position Deviation reference units All 0019h Un009 Accumulated Load Ratio All 001Ah Un00A Regenerative Load Ratio All 001Bh Un00B Dynamic Brake Resistor P...

Page 385: ...as those for the Option Monitor 1 Selection n X ACCFIL Allocation Option 0 Allocate bits 0 and 1 to ACCFIL 1 Allocate bits 1 and 2 to ACCFIL 2 Allocate bits 2 and 3 to ACCFIL 3 Allocate bits 3 and 4 to ACCFIL 4 Allocate bits 4 and 5 to ACCFIL 5 Allocate bits 5 and 6 to ACCFIL 6 Allocate bits 6 and 7 to ACCFIL 7 Allocate bits 7 and 8 to ACCFIL 8 Allocate bits 8 and 9 to ACCFIL 9 Allocate bits 9 and...

Page 386: ...te bit 8 to V_PPI 9 Allocate bit 9 to V_PPI A Allocate bit 10 to V_PPI B Allocate bit 11 to V_PPI C Allocate bit 12 to V_PPI D Allocate bit 13 to V_PPI E Allocate bit 14 to V_PPI F Allocate bit 15 to V_PPI n X V_PPI Allocation Enable Disable Selection 0 Disable V_PPI allocation 1 Enable V_PPI allocation n X P_PI_CLR Allocation Option 0 to F The settings are the same as for the V_PPI allocations n ...

Page 387: ...e bits 3 to 6 to BANK_SEL1 4 Allocate bits 4 to 7 to BANK_SEL1 5 Allocate bits 5 to 8 to BANK_SEL1 6 Allocate bits 6 to 9 to BANK_SEL1 7 Allocate bits 7 to 10 to BANK_SEL1 8 Allocate bits 8 to 11 to BANK_SEL1 9 Allocate bits 9 to 12 to BANK_SEL1 A Allocate bits 10 to 13 to BANK_SEL1 B Allocate bits 11 to 14 to BANK_SEL1 C Allocate bits 12 to 15 to BANK_SEL1 n X BANK_SEL1 Allocation Enable Disable ...

Page 388: ...Classi fication Refer ence n X Reserved parameter Do not change n X Reserved parameter Do not change n X OUT_SIGNAL Allocation Option 0 Allocate bits 0 to 2 to OUT_SIGNAL 1 Allocate bits 1 to 3 to OUT_SIGNAL 2 Allocate bits 2 to 4 to OUT_SIGNAL 3 Allocate bits 3 to 5 to OUT_SIGNAL 4 Allocate bits 4 to 6 to OUT_SIGNAL 5 Allocate bits 5 to 7 to OUT_SIGNAL 6 Allocate bits 6 to 8 to OUT_SIGNAL 7 Alloc...

Page 389: ... Pn850 2 Number of Latch Sequences 0 to 8 0 All Immedi ately Setup 2 Pn851 2 Continuous Latch Sequence Count 0 to 255 0 All Immedi ately Setup 2 Pn852 2 Latch Sequence 1 to 4 Settings 0000h to 3333h 0000h All Immedi ately Setup 2 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer...

Page 390: ...0h to FFFFFFFFh 0h All Immedi ately Setup 2 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Latch Sequence 5 Signal Selection 0 Phase C 1 EXT1 signal 2 EXT2 signal 3 EXT3 signal n X Latch Sequence 6 Signal Selection 0 to 3 The settings are the same as those for the La...

Page 391: ...od uct Manual Manual No SIEP S800001 73 8 The SGLFW2 is the only Yaskawa Linear Servomotor that supports this function 9 Enabled only when Pn61A is set to n 2 or n 3 10 The parameter setting is enabled after SENS_ON command execution is completed 11 Change the setting when the reference is stopped i e while DEN is set to 1 If you change the setting during operation the reference output will be aff...

Page 392: ...rved parameter Do not change n X Motor Stopping Method for Servo OFF and Group 1 Alarms Reference 0 Stop the motor by applying the dynamic brake 1 1 Stop the motor by the applying dynamic brake and then release the dynamic brake 2 Coast the motor to a stop without the dynamic brake n X Overtravel Stopping Method Reference 0 Apply the dynamic brake or coast the motor to a stop use the stopping meth...

Page 393: ... setting Do not use 3 Reserved setting Do not use n X Torque Control Option Applicable Motors Reference 0 Reserved setting Do not use All 2 1 Use the speed limit for torque control VLIM as the speed limit n X Encoder Usage Applicable Motors Reference 0 Use the encoder according to encoder specifica tions All 1 1 Use the encoder as an incremental encoder 2 Use the encoder as a single turn absolute ...

Page 394: ...e unit 04 Position amplifier deviation after electronic gear 0 05 V encoder pulse unit 05 Position reference speed 1 V 1 000 min 1 06 Reserved setting Do not use 07 Load motor position deviation 0 01 V reference unit 08 Positioning completion positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 0A Torque feedforward 1 V 100 rated torque 0B Active gain 1st g...

Page 395: ...ng completion positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 0A Torque feedforward 1 V 100 rated torque 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Completion of position reference distribution completed 5 V not com pleted 0 V 0D External encoder speed 1 V 1 000 min 1 value at the motor shaft 0E Reserved setting Do not use 0F Reserved setting Do not u...

Page 396: ...e the stopping method set in Pn001 n X 1 1 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque Use the setting of Pn001 n X for the status after stopping 2 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then let the motor coast 3 Decelerate the motor to a stop using the deceleration time set in Pn30A Use the setting of Pn001 n ...

Page 397: ...brake or coast the motor to a stop use the stopping method set in Pn001 n X 2 Set the stopping method with Pn00A n X n X Power Input Selection for Three phase SERVOPACK Reference 0 Use a three phase power supply input 1 1 Use a three phase power supply input as a single phase power supply input n X Reserved parameter Do not change n X Function Selection for Test without a Motor Applicable Motors 0...

Page 398: ...All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Preventative Maintenance Warning Selection Reference 0 Do not detect preventative maintenance warnings 1 1 Detect preventative maintenance warnings n X Reserved parameter Do not change n X Reser...

Page 399: ...n Enabled Classi fication Refer ence n X Mode Switching Selection When Enabled Reference 0 Use the internal torque reference as the condition level setting Pn10C Immedi ately 1 1 Use the speed reference as the condition level set ting Pn10D Use the speed reference as the condition level set ting Pn181 2 Use the acceleration reference as the condition level setting Pn10E Use the acceleration refere...

Page 400: ...All Immedi ately Tuning 1 Pn135 2 Gain Switching Waiting Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn136 2 Gain Switching Waiting Time 2 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn139 2 Automatic Gain Switch ing Selections 1 0000h to 0052h 0000h All Immedi ately Tuning 1 Pn13D 2 Current Gain Level 100 to 2 000 1 2000 All Immedi ately Tuning 1 Continued on next page Continued from pre...

Page 401: ...medi ately Tuning 1 Pn14A 2 Vibration Suppression 2 Frequency 10 to 2 000 0 1 Hz 800 All Immedi ately Tuning 1 Pn14B 2 Vibration Suppression 2 Correction 10 to 1 000 1 100 All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Model Following Contro...

Page 402: ... on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Model Following Control Type Selection Reference 0 Use model following control type 1 1 1 Use model following control type 2 n X Tuning less Type Selection Reference 0 Use tuning less type 1 1 1 Use tuning less type 2 2 Use tunin...

Page 403: ...ation Refer ence n X Tuning less Selection When Enabled 0 Disable tuning less function After restart 1 Enable tuning less function n X Speed Control Method When Enabled 0 Use for speed control After restart 1 Use for speed control and use host controller for position control n X Rigidity Level When Enabled 0 to 7 Set the rigidity level Immedi ately n X Tuning less Load Level When Enabled 0 to 2 Se...

Page 404: ...up 2 Pn306 2 Soft Start Deceleration Time 0 to 10 000 1 ms 0 All Immedi ately Setup 2 Pn308 2 Speed Feedback Filter Time Constant 0 to 65 535 0 01 ms 0 All Immedi ately Setup 1 Pn30A 2 Deceleration Time for Servo OFF and Forced Stops 0 to 10 000 1 ms 0 All Immedi ately Setup 1 Pn30C 2 Speed Feedforward Average Movement Time 0 to 5 100 0 1 ms 0 All Immedi ately Setup 1 Continued on next page Contin...

Page 405: ...00 1 3 800 Rotary Immedi ately Setup 1 Pn403 2 Reverse Torque Limit 0 to 800 1 3 800 Rotary Immedi ately Setup 1 Pn404 2 Forward External Torque Limit 0 to 800 1 3 100 All Immedi ately Setup 1 Pn405 2 Reverse External Torque Limit 0 to 800 1 3 100 All Immedi ately Setup 1 Pn406 2 Emergency Stop Torque 0 to 800 1 3 800 All Immedi ately Setup 1 Pn407 2 Speed Limit during Torque Control 0 to 10 000 1...

Page 406: ...2 2 First Stage Second Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Notch Filter Selection 1 When Enabled Reference 0 Disable first stage notch filter Immedi ately 1 1 Enable fi...

Page 407: ... Immedi ately Tuning 1 Pn423 2 Speed Ripple Compen sation Selections 0000h to 1111h 0000h Rotary Setup 1 Pn424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 3 50 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Notch Filter Selection ...

Page 408: ...2 Servo OFF Brake Com mand Waiting Time 10 to 100 10 ms 50 All Immedi ately Setup 1 Pn509 2 Momentary Power Inter ruption Hold Time 20 to 50 000 1 ms 20 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Notch Filter Adjustment Selection 1 0 Do n...

Page 409: ...gnal is ON closed 2 Enable forward drive when CN1 8 input signal is ON closed 3 Enable forward drive when CN1 9 input signal is ON closed 4 Enable forward drive when CN1 10 input signal is ON closed 5 Enable forward drive when CN1 11 input signal is ON closed 6 Enable forward drive when CN1 12 input signal is ON closed 7 Set the signal to always prohibit forward drive 8 Set the signal to always en...

Page 410: ...e reverse drive when CN1 8 input signal is OFF open C Enable reverse drive when CN1 9 input signal is OFF open D Enable reverse drive when CN1 10 input signal is OFF open E Enable reverse drive when CN1 11 input signal is OFF open F Enable reverse drive when CN1 12 input signal is OFF open n X Reserved parameter Do not change n X P CL Forward External Torque Limit Input Signal Allocation Reference...

Page 411: ...ple tion signal allocations 1 n X TGON Rotation Detection Output Signal Allocation Reference 0 to 6 The allocations are the same as the COIN Positioning Comple tion signal allocations 1 n X S RDY Servo Ready Signal Allocation Reference 0 to 6 The allocations are the same as the COIN Positioning Comple tion signal allocations 1 n X CLT Torque Limit Detection Output Signal Allocation Reference 0 Dis...

Page 412: ...t Default Setting Applicable Motors When Enabled Classi fication Refer ence n X NEAR Near Output Signal Allocation Reference 0 Disabled the above signal output is not used 1 1 Output the signal from the CN1 1 or CN1 2 output terminal 2 Output the signal from the CN1 23 or CN1 24 output terminal 3 Output the signal from the CN1 25 or CN1 26 output terminal 4 to 6 Reserved setting Do not use n X Res...

Page 413: ...ctive 9 Active when CN1 13 input signal is OFF open A Active when CN1 7 input signal is OFF open B Active when CN1 8 input signal is OFF open C Active when CN1 9 input signal is OFF open D Active when CN1 10 input signal is OFF open E Active when CN1 11 input signal is OFF open F Active when CN1 12 input signal is OFF open n X EXT1 External Latch Input 1 Signal Allocation 0 to 3 The signal is alwa...

Page 414: ...inverted 1 The signal is inverted n X Output Signal Inversion for CN1 23 and CN1 24 Terminals 0 The signal is not inverted 1 The signal is inverted n X Output Signal Inversion for CN1 25 and CN1 26 Terminals 0 The signal is not inverted 1 The signal is inverted n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter Do not change n X PM Preventative Mainten...

Page 415: ...ion 0 to 100 1 20 Rotary Immedi ately Tuning 1 Pn52B 2 Overload Warning Level 1 to 100 1 20 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X FSTP Forced Stop Input Signal Allocation Reference 0 Enable drive when CN1 13 input signal is ON closed...

Page 416: ... 1 min 1 All Immedi ately Setup Pn560 2 Residual Vibration Detection Width 1 to 3 000 0 1 400 All Immedi ately Setup 1 Pn561 2 Overshoot Detection Level 0 to 100 1 100 All Immedi ately Setup 1 Pn600 2 Regenerative Resistor Capacity 5 Depends on model 6 10 W 0 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setti...

Page 417: ... 100 All Immedi ately Setup 1 Pn61D 9 2 Overheat Alarm Filter Time 0 to 65 535 1 s 0 All Immedi ately Setup 1 Pn621 to Pn628 4 Safety Module Related Parameters All Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Overheat Protection Selection 0 Disable overheat protect...

Page 418: ... 95 warnings 4 Ignore communications warnings A 96 5 Ignore both A 94 and A 96 warnings 6 Ignore both A 95 and A 96 warnings 7 Ignore A 94 A 95 and A 96 warnings 8 Ignore data setting warnings A 97A and A 97b 9 Ignore A 94 A 97A and A 97b warnings A Ignore A 95 A 97A and A 97b warnings B Ignore A 94 A 95 A 97A and A 97b warnings C Ignore A 96 A 97A and A 97b warnings D Ignore A 94 A 96 A 97A and A...

Page 419: ...eed 0 to 65 535 100 ref erence units s 0 All Immedi ately 12 Setup 2 Pn810 2 Exponential Accelera tion Deceleration Bias 0 to 65 535 100 ref erence units s 0 All Immedi ately 13 Setup 2 Pn811 2 Exponential Accelera tion Deceleration Time Constant 0 to 5 100 0 1 ms 0 All Immedi ately 13 Setup 2 Pn812 2 Movement Average Time 0 to 5 100 0 1 ms 0 All Immedi ately 13 Setup 2 Pn814 4 External Positionin...

Page 420: ... Motors When Enabled Classi fication Refer ence M2 15 n X IO12 Signal Mapping 0 Do not map 1 Monitor CN1 13 input terminal 2 Monitor CN1 7 input terminal 3 Monitor CN1 8 input terminal 4 Monitor CN1 9 input terminal 5 Monitor CN1 10 input terminal 6 Monitor CN1 11 input terminal 7 Monitor CN1 12 input terminal n X IO13 Signal Mapping 0 to 7 The mappings are the same as the IO12 signal mappings n X...

Page 421: ...Rotational Angle 2 deg Electrical angle from polarity origin All 0015h Un005 Input Signal Monitor All 0016h Un006 Output Signal Monitor All 0017h Un007 Input Reference Speed min 1 All 0018h Un008 Position Deviation reference units All 0019h Un009 Accumulated Load Ratio All 001Ah Un00A Regenerative Load Ratio All 001Bh Un00B Dynamic Brake Resistor Power Consumption All 001Ch Un00C Input Reference P...

Page 422: ... settings are the same as those for the Option Monitor 1 Selection M2 15 n X ACCFIL Allocation Option 0 Allocate bits 0 and 1 to ACCFIL 1 Allocate bits 1 and 2 to ACCFIL 2 Allocate bits 2 and 3 to ACCFIL 3 Allocate bits 3 and 4 to ACCFIL 4 Allocate bits 4 and 5 to ACCFIL 5 Allocate bits 5 and 6 to ACCFIL 6 Allocate bits 6 and 7 to ACCFIL 7 Allocate bits 7 and 8 to ACCFIL 8 Allocate bits 8 and 9 to...

Page 423: ...8 Allocate bit 8 to V_PPI 9 Allocate bit 9 to V_PPI A Allocate bit 10 to V_PPI B Allocate bit 11 to V_PPI C Allocate bit 12 to V_PPI D Allocate bit 13 to V_PPI E Allocate bit 14 to V_PPI F Allocate bit 15 to V_PPI n X V_PPI Allocation Enable Disable Selection 0 Disable V_PPI allocation 1 Enable V_PPI allocation n X P_PI_CLR Allocation Option 0 to F The settings are the same as for the V_PPI alloca...

Page 424: ...2 to 5 to BANK_SEL1 3 Allocate bits 3 to 6 to BANK_SEL1 4 Allocate bits 4 to 7 to BANK_SEL1 5 Allocate bits 5 to 8 to BANK_SEL1 6 Allocate bits 6 to 9 to BANK_SEL1 7 Allocate bits 7 to 10 to BANK_SEL1 8 Allocate bits 8 to 11 to BANK_SEL1 9 Allocate bits 9 to 12 to BANK_SEL1 A Allocate bits 10 to 13 to BANK_SEL1 B Allocate bits 11 to 14 to BANK_SEL1 C Allocate bits 12 to 15 to BANK_SEL1 n X BANK_SE...

Page 425: ...bled Classi fication Refer ence M2 15 n X Reserved parameter Do not change n X Reserved parameter Do not change n X OUT_SIGNAL Allocation Option 0 Allocate bits 0 to 2 to OUT_SIGNAL 1 Allocate bits 1 to 3 to OUT_SIGNAL 2 Allocate bits 2 to 4 to OUT_SIGNAL 3 Allocate bits 3 to 5 to OUT_SIGNAL 4 Allocate bits 4 to 6 to OUT_SIGNAL 5 Allocate bits 5 to 7 to OUT_SIGNAL 6 Allocate bits 6 to 8 to OUT_SIG...

Page 426: ...Scurve Acceleration Deceleration Rate 0 to 50 1 0 All Immedi ately 12 Setup Pn850 2 Number of Latch Sequences 0 to 8 0 All Immedi ately Setup 2 Pn851 2 Continuous Latch Sequence Count 0 to 255 0 All Immedi ately Setup 2 Pn852 2 Latch Sequence 1 to 4 Settings 0000h to 3333h 0000h All Immedi ately Setup 2 Continued on next page Continued from previous page Parameter No Size Name Setting Range Settin...

Page 427: ... 0 to 3 The settings are the same as those for the Latch Sequence 5 Signal Selec tion M3 10 n X Input Signal Monitor Allocation for CN1 13 SVCMD_IO 0 Allocate bit 24 IO_STS1 to CN1 13 input signal monitor 1 Allocate bit 25 IO_STS2 to CN1 13 input signal monitor 2 Allocate bit 26 IO_STS3 to CN1 13 input signal monitor 3 Allocate bit 27 IO_STS4 to CN1 13 input signal monitor 4 Allocate bit 28 IO_STS...

Page 428: ...o 7 The settings are the same as the CN1 13 allocations n X CN1 9 Input Signal Monitor Enable Disable Selection 0 Disable allocation for CN1 9 input signal monitor 1 Enable allocation for CN1 9 input signal monitor M3 10 n X Input Signal Monitor Allocation for CN1 10 SVCMD_IO 0 to 7 The settings are the same as the CN1 13 allocations n X CN1 10 Input Signal Monitor Enable Disable Selection 0 Disab...

Page 429: ...locate bit 26 IO_STS3 to CN1 1 CN1 2 output signal monitor 3 Allocate bit 27 IO_STS4 to CN1 1 CN1 2 output signal monitor 4 Allocate bit 28 IO_STS5 to CN1 1 CN1 2 output signal monitor 5 Allocate bit 29 IO_STS6 to CN1 1 CN1 2 output signal monitor 6 Allocate bit 30 IO_STS7 to CN1 1 CN1 2 output signal monitor 7 Allocate bit 31 IO_STS8 to CN1 1 CN1 2 output signal monitor n X CN1 1 CN1 2 Output Sig...

Page 430: ...ence output will be affected 13 The settings are updated only if the reference is stopped i e only if DEN is set to 1 14 Refer to the following manual for details Σ 7 Series AC Servo Drive MECHATROLINK II Communications Command Manual Manual No SIEP S800001 30 15 This parameter is valid only when the MECHATROLINK II compatible profile is used 16 The setting of Pn842 is valid while Pn817 is set to ...

Page 431: ... or 1h All Device information 02 PnA04 4 Motor Type Selection read only 0h or 1h All 03 PnA06 4 Semi closed Fully closed Selection read only 0h or 1h All 04 PnA08 4 Rated Motor Speed read only 0h to FFFFFFFFh 1 min 1 All 05 PnA0A 4 Maximum Output Speed read only 0h to FFFFFFFFh 1 min 1 All 06 PnA0C 4 Speed Multiplier read only 1 073 741 823 to 1 073 741 823 All 07 PnA0E 4 Rated Torque read only 0h...

Page 432: ...4 Reverse Software Limit 1 073 741 823 to 1 073 741 823 1 reference unit 1073741 823 All Immedi ately 29 PnA52 4 Reserved parameter Do not change 0 All Immedi ately 41 PnA82 4 Speed Unit Selection 2 0h to 4h 0h All After restart Unit settings 42 PnA84 4 Speed Base Unit Selection 3 4 Set the value of n from the following formula Speed unit selection 41 PnA82 10n 3 to 3 0 All After restart 43 PnA86 ...

Page 433: ...Supported Unit Sys tems read only 0601011F h All Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting Applicable Motors When Enabled Classi fication 0000h Reference units s2 0001h Percentage of rated torque 0002h Maximum torque 40000000h 5 Speed Units Bit 0 Reference units s 1 Enabled Bit 1 Reference units min 1 Enabled Bi...

Page 434: ...e Movement Time 0 to 510 000 1 μs 0 1 ms 0 All Immedi ately 6 83 PnB06 4 External Positioning Final Travel Distance 1 073 741 823 to 1 073 741 823 1 reference unit 100 All Immedi ately 84 PnB08 4 Origin Approach Speed 0h to 3FFFFFFFh 10 3 min 1 5 000h reference units s con verted to 10 3 min 1 All Immedi ately 85 PnB0A 4 Origin Return Creep Speed 0h to 3FFFFFFFh 10 3 min 1 500h reference units s c...

Page 435: ...urrent communications phase 00h Phase 0 01h Phase 1 02h Phase 2 03h Phase 3 Byte 2 Current control mode 00h Position control mode 01h Speed control mode 02h Torque control mode Byte 3 Reserved Byte 4 Expansion signal monitor 0007h Reserved 0008h INIT_PGPOS Low Lower 32 bits of initial encoder position con verted to 64 bit position reference data 0009h INIT_PGPOS High Upper 32 bits of initial encod...

Page 436: ... 3 min 1 10000 All Immedi ately 90 PnB20 4 Servo Command Control Field Enable Disable Selections read only 0FFF3F3F h All Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting Applicable Motors When Enabled Classi fication 0000h to 0009h The settings are the same as those for SEL_MON Monitor Selection 1 Bit 0 CMD_PAUSE 1 En...

Page 437: ...led Bit 2 and 3 Reserved 0 Disabled Bits 4 and 5 ACCFIL 1 Enabled Bits 6 and 7 Reserved 0 Disabled Bit 8 L_CMP1 1 Enabled Bit 9 L_CMP2 1 Enabled Bit 10 POS_RDY 1 Enabled Bit 11 PON 1 Enabled Bit 12 M_RDY 1 Enabled Bit 13 SV_ON 1 Enabled Bits 14 and 15 Reserved 0 Disabled Bits 16 to 19 SEL_MON1 1 Enabled Bits 20 to 23 SEL_MON2 1 Enabled Bits 24 to 27 SEL_MON3 1 Enabled Bits 28 to 31 Reserved 0 Disa...

Page 438: ...ence is stopped i e while DEN is set to 1 If you change the setting during operation the reference output will be affected 93 PnB26 4 Input Bit Enable Dis able Selections read only FF0FFEFE h All Command related parameters Continued from previous page Parameter No Size Name Setting Range Setting Unit Resolution Default Setting Applicable Motors When Enabled Classi fication Bit 0 Reserved 0 Disable...

Page 439: ...tart Setup Pn001 2 Application Function Selections 1 0000h to 1142h 0000h All After restart Setup Continued on next page Note n X Rotation Direction Selection Reference 0 Use CCW as the forward direction 1 1 Use CW as the forward direction Reverse Rotation Mode n X Reserved parameter Do not change n X Reserved parameter Do not change n X Reserved parameter Do not change n X Motor Stopping Method f...

Page 440: ...tation 2 Reserved setting Do not use 3 The external encoder moves in the reverse direc tion for CCW motor rotation 4 Reserved setting Do not use n XX Analog Monitor 1 Signal Selection 00 Motor speed 1 V 1 000 min 1 01 Speed reference 1 V 1 000 min 1 02 Torque reference 1 V 100 rated torque 03 Position deviation 0 05 V reference unit 04 Position amplifier deviation after electronic gear 0 05 V enco...

Page 441: ... positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 0A Torque feedforward 1 V 100 rated torque 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Completion of position reference distribution completed 5 V not com pleted 0 V 0D External encoder speed 1 V 1 000 min 1 value at the motor shaft 0E Reserved setting Do not use 0F Reserved setting Do not use 10 Main ci...

Page 442: ...rol mode 2 1 2 Use current control mode 2 n X Speed Detection Method Selection Reference 0 Use speed detection 1 1 1 Use speed detection 2 n X Reserved parameter Do not change n X Motor Stopping Method for Group 2 Alarms Reference 0 Apply the dynamic brake or coast the motor to a stop use the stopping method set in Pn001 n X 1 1 Decelerate the motor to a stop using the torque set in Pn406 as the m...

Page 443: ...ing the speed reference to 0 1 1 Apply the dynamic brake or coast the motor to a stop use the stopping method set in Pn001 n X 2 Set the stopping method with Pn00A n X n X Power Input Selection for Three phase SERVOPACK Reference 0 Use a three phase power supply input 1 1 Use a three phase power supply input and as a single phase power supply input n X Reserved parameter Do not change n X Function...

Page 444: ...Mode Test Operation Selection 0 Enable connection with the Command Option Module 1 Disable connection with the Command Option Module n X Reserved parameter Do not change n X Reserved parameter Do not change n X Overtravel Warning Detection Selection 0 Do not detect overtravel warnings 1 Detect overtravel warnings n X Preventative Maintenance Warning Selection Reference 0 Do not detect preventative...

Page 445: ... All Setup Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Phase C Pulse Output Selection 0 Output phase C pulses only in the forward direction 1 Output phase C pulses in both the forward and reverse directions n X Reserved parameter Do not change n X Reserved paramet...

Page 446: ... Immedi ately Tuning 1 Pn131 2 Gain Switching Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn132 2 Gain Switching Time 2 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn135 2 Gain Switching Waiting Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn136 2 Gain Switching Waiting Time 2 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn139 2 Automatic Gain Switch ing Selections 1 0000h to 0052h...

Page 447: ...econd Model Follow ing Control Gain Correc tion 500 to 2 000 0 1 1000 All Immedi ately Tuning 1 Pn14A 2 Vibration Suppression 2 Frequency 10 to 2 000 0 1 Hz 800 All Immedi ately Tuning 1 Pn14B 2 Vibration Suppression 2 Correction 10 to 1 000 1 100 All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicab...

Page 448: ...e Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Model Following Control Type Selection Reference 0 Use model following control type 1 1 1 Use model following control type 2 n X Tuning less Type Selection Reference 0 Use tuning less type 1 1 1 Use tuning less type 2 2 Use tuning less type ...

Page 449: ... 2 Fully closed Control Selections 0000h to 1003h 0000h Rotary After restart Setup 1 Pn230 2 Reserved parameter Do not change 0000h All Pn231 2 Reserved parameter Do not change 0 All Pn233 2 Reserved parameter Do not change 0 All Pn281 2 Encoder Output Resolu tion 1 to 4 096 1 edge pitch 20 All After restart Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting...

Page 450: ...0 to 65 535 1 min 1 10000 Rotary After restart Setup 1 Pn324 2 Moment of Inertia Cal culation Starting Level 0 to 20 000 1 300 All Immedi ately Setup 1 Pn401 2 First Stage First Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Pn402 2 Forward Torque Limit 0 to 800 1 4 800 Rotary Immedi ately Setup 1 Pn403 2 Reverse Torque Limit 0 to 800 1 4 800 Rotary Immedi ...

Page 451: ...ms 100 All Immedi ately Tuning 1 Pn416 2 Torque Related Func tion Selections 2 0000h to 1111h 0000h All Immedi ately Setup 1 Pn417 2 Third Stage Notch Filter Frequency 50 to 5 000 1 Hz 5000 All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Notc...

Page 452: ...Pn424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 4 50 All Immedi ately Setup 1 Pn425 2 Release Time for Torque Limit at Main Circuit Voltage Drop 0 to 1 000 1 ms 100 All Immedi ately Setup 1 Pn426 2 Reserved parameter Do not change 0 All Pn427 2 Speed Ripple Compen sation Enable Speed 0 to 10 000 1 min 1 0 Rotary Ser vomotor Immedi ately Tuning 1 Pn456 2 Sweep Torque Refer ence Amplit...

Page 453: ...parameter Do not change 0000h 1 All Pn511 2 Reserved parameter Do not change 6543h 7 All Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Notch Filter Adjustment Selection 1 0 Do not adjust the first stage notch filter automatically during execution of auto tuning with...

Page 454: ...g 1 Pn52B 2 Overload Warning Level 1 to 100 1 20 All Immedi ately Setup 1 Pn52C 2 Base Current Derating at Motor Overload Detection 10 to 100 1 100 All After restart Setup 1 Pn530 2 Program Jogging Related Selections 0000h to 0005h 0000h All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors W...

Page 455: ...on Level 0 to 100 1 100 All Immedi ately Setup 1 Pn600 2 Regenerative Resistor Capacity 11 Depends on model 12 10 W 0 All Immedi ately Setup 1 Pn601 2 Dynamic Brake Resis tor Allowable Energy Consumption 0 to 65 535 10 J 0 All After restart Setup 13 Pn603 2 Regenerative Resis tance 0 to 65 535 10 mΩ 0 All Immedi ately Setup 1 Pn604 2 Dynamic Brake Resis tance 0 to 65 535 10 mΩ 0 All After restart ...

Page 456: ...mmunications method CRLF is used as delimiter 0006h Half duplex wiring is used for communications method CRLF is used as delimiter Echo back is performed for each character 0007h Half duplex wiring is used for communications method CRLF is used as delimiter Echo back is performed for each command 0008h 0009h Reserved parameter 0000h Sets bit rate at 9600 bps 0001h Sets bit rate at 19200 bps 0002h ...

Page 457: ...n mode 1 Jog in reverse while the JOGN signal is OFF open 0002h When MODE signal is ON closed mode 0 The SEL0 signal is always active When MODE signal is OFF open mode 1 Do not perform jogging 0003h When MODE signal is ON closed mode 0 The SEL0 signal is always inactive When MODE signal is OFF open mode 1 Do not perform jogging 0000h When MODE signal is ON closed mode 0 SEL1 signal is active when ...

Page 458: ...E signal is ON closed mode 0 SEL4 signal is active when ON closed When MODE signal is OFF open mode 1 JOG3 signal is active when ON closed 0001h When MODE signal is ON closed mode 0 The SEL4 signal is active when OFF open When MODE signal is OFF open mode 1 The JOG3 signal is active when OFF open 0002h When MODE signal is ON closed mode 0 The SEL4 signal is always active When MODE signal is OFF op...

Page 459: ...vertravel 0001h When input signal is ON closed reverse run is prohibited reverse overtravel 0002h Reverse run is always prohibited reverse overtravel 0003h Reverse run is always enabled N OT signal is not used 0000h Starts deceleration in an origin return when input signal is ON closed 0001h Starts deceleration in an origin return when input signal is OFF open 0002h Sets the origin return limit sw...

Page 460: ...l turns OFF closes when programmable output 4 is active 0000h The POUT5 signal turns ON opens when programmable output 5 is active 0001h The POUT5 signal turns OFF closes when programmable output 5 is active 0000h The POUT6 signal turns ON opens when programmable output 6 is active 0001h The POUT6 signal turns OFF closes when programmable output 6 is active 0000h The POUT7 signal turns ON opens wh...

Page 461: ...ration rate 1 to 99999999 16 1000 Refer ence units min ms 1000 All Immedi ately Setup 1 PnB2D 4 INPOSITION Width 1 to 99999 1 refer ence unit 1 All Immedi ately Setup 1 PnB2F 4 NEAR Width 1 to 99999 1 refer ence unit 1 All Immedi ately Setup 1 PnB31 2 Origin Return Method 0000h to 0003h 0000h All After restart Setup 1 PnB32 2 Origin Return Direction 0000h 0001h 0000h All Immedi ately Setup 1 Conti...

Page 462: ...r No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence 0000h When the control power supply is turned ON or the SERVOPACK is reset the POUT0 to POUT7 signals are disabled 0001h When control power is turned ON or SERVOPACK is reset the POUT0 to POUT7 signals are the ZONE signals 0 Does not output ALO1 to ALO3 WARN BK and S RDY are output 1...

Page 463: ...9 999 according to the setting of PnB2D Do not change the setting 11 Normally set this parameter to 0 If you use an External Regenerative Resistor set the capacity W of the Exter nal Regenerative Resistor 12 The upper limit is the maximum output capacity W of the SERVOPACK 13 These parameters are for SERVOPACKs with the Dynamic Brake Hardware Option Refer to the following man ual for details Σ 7 S...

Page 464: ...n control with pulse train references 2 Torque control with analog references 3 Internal set speed control with contact commands 4 Switching between internal set speed control with contact refer ences and speed control with analog references 5 Switching between internal set speed control with contact refer ences and position control with pulse train references 6 Switching between internal set spee...

Page 465: ...e maximum torque and then servo lock the motor 2 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then let the motor coast 3 Decelerate the motor to a stop using the deceleration time set in Pn30A and then servo lock the motor 4 Decelerate the motor to a stop using the deceleration time set in Pn30A and then let the motor coast n X Main Circuit Power Supply AC...

Page 466: ...1 3 Use T REF as an external torque limit input when P CL or N CL is ON 1 n X Torque Control Option V REF Input Allocation Applicable Motors Reference 0 Do not use V REF All 1 1 Use V REF as an external speed limit input n X Encoder Usage Applicable Motors Reference 0 Use the encoder according to encoder specifica tions All 1 1 Use the encoder as an incremental encoder 2 Use the encoder as a singl...

Page 467: ...er deviation after electronic gear 0 05 V encoder pulse unit 05 Position reference speed 1 V 1 000 min 1 06 Reserved setting Do not use 07 Load motor position deviation 0 01 V reference unit 08 Positioning completion positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 0A Torque feedforward 1 V 100 rated torque 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Co...

Page 468: ...etion positioning completed 5 V positioning not com pleted 0 V 09 Speed feedforward 1 V 1 000 min 1 0A Torque feedforward 1 V 100 rated torque 0B Active gain 1st gain 1 V 2nd gain 2 V 0C Completion of position reference distribution completed 5 V not com pleted 0 V 0D External encoder speed 1 V 1 000 min 1 value at the motor shaft 0E Reserved setting Do not use 0F Reserved setting Do not use 10 Ma...

Page 469: ...in Pn001 n X 1 1 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque Use the setting of Pn001 n X for the status after stopping 2 Decelerate the motor to a stop using the torque set in Pn406 as the maximum torque and then let the motor coast 3 Decelerate the motor to a stop using the deceleration time set in Pn30A Use the setting of Pn001 n X for the status after sto...

Page 470: ... coast the motor to a stop use the stopping method set in Pn001 n X 2 Set the stopping method with Pn00A n X n X Power Input Selection for Three phase SERVOPACK Reference 0 Use a three phase power supply input 1 1 Use a three phase power supply input as a single phase power supply input n X Reserved parameter Do not change n X Function Selection for Test without a Motor Applicable Motors 0 Disable...

Page 471: ...nstant 15 to 51 200 0 01 ms 2000 All Immedi ately Tuning 1 Pn106 2 Second Position Loop Gain 10 to 20 000 0 1 s 400 All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Preventative Maintenance Warning Selection Reference 0 Do not detect preventat...

Page 472: ...0 All Immedi ately Tuning 1 Pn125 2 Friction Compensation Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning 1 Pn131 2 Gain Switching Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn132 2 Gain Switching Time 2 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn135 2 Gain Switching Waiting Time 1 0 to 65 535 1 ms 0 All Immedi ately Tuning 1 Pn136 2 Gain Switching Waiting Time 2 0 to 65 535 ...

Page 473: ...n to the first gain when switching condition A is not satisfied n X Gain Switching Condition A 0 COIN Positioning Completion Output signal turns ON 1 COIN Positioning Completion Output signal turns OFF 2 NEAR Near Output signal turns ON 3 NEAR Near Output signal turns OFF 4 Position reference filter output is 0 and reference pulse input is OFF 5 Position reference pulse input is ON n X Reserved pa...

Page 474: ... quency 10 to 20 000 0 1 Hz 1000 All Immedi ately Tuning 1 Pn162 2 Anti Resonance Gain Correction 1 to 1 000 1 100 All Immedi ately Tuning 1 Pn163 2 Anti Resonance Damp ing Gain 0 to 300 1 0 All Immedi ately Tuning 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Mod...

Page 475: ...01h All Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Tuning less Selection When Enabled 0 Disable tuning less function After restart 1 Enable tuning less function n X Speed Control Method When Enabled 0 Use for speed control After restart 1 Use for speed co...

Page 476: ... signal 2 Clear position deviation when the signal is at low level 3 Clear position deviation on the falling edge of the signal n X Clear Operation Reference 0 Clear position deviation at a base block at servo OFF or when alarm occurs 1 1 Do not clear position error cleared only with CLR Clear Position Deviation signal 2 Clear position deviation when an alarm occurs n X Filter Selection Reference ...

Page 477: ... 4 096 1 edge pitch 20 All After restart Setup 1 Pn300 2 Speed Reference Input Gain 150 to 3 000 0 01 V Rated motor speed 600 All Immedi ately Setup 1 Pn301 2 Internal Set Speed 1 0 to 10 000 Rotary 1 min 1 Direct Drive 0 1 min 1 100 Rotary Immedi ately Setup 1 Pn302 2 Internal Set Speed 2 0 to 10 000 Rotary 1 min 1 Direct Drive 0 1 min 1 200 Rotary Immedi ately Setup 1 Pn303 2 Internal Set Speed ...

Page 478: ... Reference Input Gain 10 to 100 0 1 V rated torque 30 All Immedi ately Setup 1 Pn401 2 First Stage First Torque Reference Filter Time Constant 0 to 65 535 0 01 ms 100 All Immedi ately Tuning 1 Pn402 2 Forward Torque Limit 0 to 800 1 2 800 Rotary Immedi ately Setup 1 Pn403 2 Reverse Torque Limit 0 to 800 1 2 800 Rotary Immedi ately Setup 1 Pn404 2 Forward External Torque Limit 0 to 800 1 2 100 All ...

Page 479: ... 535 0 01 ms 100 All Immedi ately Tuning 1 Pn415 2 T REF Filter Time Con stant 0 to 65 535 0 01 ms 0 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Notch Filter Selection 1 When Enabled Reference 0 Disable first stage notch filter Immedi atel...

Page 480: ...ately Tuning 1 Pn423 2 Speed Ripple Compen sation Selections 0000h to 1111h 0000h Rotary Setup 1 Pn424 2 Torque Limit at Main Cir cuit Voltage Drop 0 to 100 1 1 50 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Notch Filter Selection 3 0 Disa...

Page 481: ...etup 1 Pn508 2 Servo OFF Brake Com mand Waiting Time 10 to 100 10 ms 50 All Immedi ately Setup 1 Pn509 2 Momentary Power Inter ruption Hold Time 20 to 50 000 1 ms 20 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Notch Filter Adjustment Selec...

Page 482: ...e when CN1 43 input signal is OFF open D Active when CN1 44 input signal is OFF open E Active when CN1 45 input signal is OFF open F Active when CN1 46 input signal is OFF open n X P CON Proportional Control Signal Allocation Reference 0 to F The allocations are the same as the S ON Servo ON signal allo cations 1 n X P OT Forward Drive Prohibit Signal Allocation Reference 0 Enable forward drive wh...

Page 483: ... Allocation Reference 0 Active on signal edge when CN1 40 input signal changes from OFF open to ON closed 1 1 Active on signal edge when CN1 41 input signal changes from OFF open to ON closed 2 Active on signal edge when CN1 42 input signal changes from OFF open to ON closed 3 Active on signal edge when CN1 43 input signal changes from OFF open to ON closed 4 Active on signal edge when CN1 44 inpu...

Page 484: ...when CN1 46 input signal is ON closed 7 The signal is always active 8 The signal is always inactive 9 Active when CN1 40 input signal is OFF open A Active when CN1 41 input signal is OFF open B Active when CN1 42 input signal is OFF open C Active when CN1 43 input signal is OFF open D Active when CN1 44 input signal is OFF open E Active when CN1 45 input signal is OFF open F Active when CN1 46 inp...

Page 485: ...tive when CN1 46 input signal is OFF open n X INHIBIT Reference Pulse Inhibit Input Signal Allocation Applicable Motors Reference 0 to F The allocations are the same as the ZCLAMP Zero Clamping Input signal allocations All 1 n X G SEL Gain Selection Input Signal Allocation Applicable Motors Reference 0 to F The allocations are the same as the ZCLAMP Zero Clamping Input signal allocations All 1 n X...

Page 486: ... Limit Detection Signal Allocation Reference 0 to 6 The allocations are the same as the CLT Torque Limit Detection Output signal allocations 1 n X BK Brake Output Signal Allocation Reference 0 to 6 The allocations are the same as the CLT Torque Limit Detection Output signal allocations 1 n X WARN Warning Output Signal Allocation Reference 0 to 6 The allocations are the same as the CLT Torque Limit...

Page 487: ...ls 0 The signal is not inverted 1 The signal is inverted n X Output Signal Inversion for CN1 37 Terminal 0 The signal is not inverted 1 The signal is inverted n X Output Signal Inversion for CN1 38 Terminal 0 The signal is not inverted 1 The signal is inverted n X Output Signal Inversion for CN1 39 Terminal 0 The signal is not inverted 1 The signal is inverted n X Reserved parameter Do not change ...

Page 488: ...e when CN1 42 input signal is OFF open C Active when CN1 43 input signal is OFF open D Active when CN1 44 input signal is OFF open E Active when CN1 45 input signal is OFF open F Active when CN1 46 input signal is OFF open n X PSEL Reference Pulse Input Multiplication Switching Input Signal Allo cation Reference 0 Active when CN1 40 input signal is ON closed 1 1 Active when CN1 41 input signal is ...

Page 489: ...motor to stop 9 Enable drive when CN1 40 input signal is OFF open A Enable drive when CN1 41 input signal is OFF open B Enable drive when CN1 42 input signal is OFF open C Enable drive when CN1 43 input signal is OFF open D Enable drive when CN1 44 input signal is OFF open E Enable drive when CN1 45 input signal is OFF open F Enable drive when CN1 46 input signal is OFF open n X Reserved parameter...

Page 490: ...2F 2 Monitor Display at Startup 0000h to 0FFFh 0FFFh All Immedi ately Setup 1 Pn530 2 Program Jogging Related Selections 0000h to 0005h 0000h All Immedi ately Setup 1 Pn531 4 Program Jogging Travel Distance 1 to 1 073 741 824 1 refer ence unit 32768 All Immedi ately Setup 1 Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applica...

Page 491: ...pacity 4 Depends on model 5 10 W 0 All Immedi ately Setup Pn601 2 Dynamic Brake Resis tor Allowable Energy Consumption 0 to 65 535 10 J 0 All After restart Setup 6 Pn603 2 Regenerative Resis tance 0 to 65 535 10 mΩ 0 All Immedi ately Setup Pn604 2 Dynamic Brake Resis tance 0 to 65 535 10 mΩ 0 All After restart Setup 6 Pn61A 2 Overheat Protection Selections 0000h to 0003h 0000h Linear After restart...

Page 492: ...hen CN1 44 input signal is OFF open E Mode 0 is used when CN1 45 input signal is OFF open F Mode 0 is used when CN1 46 input signal is OFF open n X START STOP Program Table Operation Start Stop Input Signal Alloca tion Reference 0 Active when CN1 40 input signal is ON closed 1 1 Active when CN1 41 input signal is ON closed 2 Active when CN1 42 input signal is ON closed 3 Active when CN1 43 input s...

Page 493: ...nput signal is ON closed 7 The signal is always active 8 The signal is always inactive 9 Active when CN1 40 input signal is OFF open A Active when CN1 41 input signal is OFF open B Active when CN1 42 input signal is OFF open C Active when CN1 43 input signal is OFF open D Active when CN1 44 input signal is OFF open E Active when CN1 45 input signal is OFF open F Active when CN1 46 input signal is ...

Page 494: ... Active when CN1 46 input signal is ON closed 7 The signal is always active 8 The signal is always inactive 9 Active when CN1 40 input signal is OFF open A Active when CN1 41 input signal is OFF open B Active when CN1 42 input signal is OFF open C Active when CN1 43 input signal is OFF open D Active when CN1 44 input signal is OFF open E Active when CN1 45 input signal is OFF open F Active when CN...

Page 495: ...en CN1 40 input signal is OFF open A Active when CN1 41 input signal is OFF open B Active when CN1 42 input signal is OFF open C Active when CN1 43 input signal is OFF open D Active when CN1 44 input signal is OFF open E Active when CN1 45 input signal is OFF open F Active when CN1 46 input signal is OFF open n X JOG2 Jog Speed Table Selection Input 2 Signal Allocation Reference 0 to F The setting...

Page 496: ...same as for POUT0 Programmable Output 0 Signal Allocation 1 n X POUT2 Programmable Output 2 Signal Allocation Reference 0 to 6 The settings are the same as for POUT0 Programmable Output 0 Signal Allocation 1 n X POUT3 Programmable Output 3 Signal Allocation Reference 0 to 6 The settings are the same as for POUT0 Programmable Output 0 Signal Allocation 1 n X POUT4 Programmable Output 4 Signal Alloc...

Page 497: ...00 refer ence units min 1 ms 1000 All Immedi ately Setup 1 Pn642 2 Origin Return Method 0000h to 0003h 0000h All After restart Continued on next page Continued from previous page Parameter No Size Name Setting Range Setting Unit Default Setting Applicable Motors When Enabled Classi fication Refer ence n X Moving Mode Reference 0 Use linear coordinates 1 1 Use rotational coordinates Use the shortes...

Page 498: ...tion 0000h to 0001h 0000h All Immedi ately Pn644 4 Origin Return Movement Speed 1 to 199 999 999 1 000 refer ence units min 1 1000 All Immedi ately Setup 1 Pn646 4 Origin Approach Speed 1 to 199 999 999 1 000 refer ence units min 1 1000 All Immedi ately Setup 1 Pn648 4 Origin Return Creep Speed 1 to 199 999 999 1 000 refer ence units min 1 1000 All Immedi ately Setup 1 Pn64A 4 Origin Return Final ...

Page 499: ... Communications References 3 98 FT82 SERVOPACKs with Analog Voltage Pulse Train References 3 3 FT83 SERVOPACKs with Analog Voltage Pulse Train References 3 205 list of MECHATROLINK III common parameters 4 106 list of parameters Command Option Attachable type FT82 SERVOPACKs with INDEXER Modules 4 114 FT82 SERVOPACK with MECHATROLINK II Communications References 4 32 FT82 SERVOPACK with MECHATROLIN...

Page 500: ...emperature Command Option Attachable type FT82 SERVOPACKs with INDEXER Modules 2 15 FT82 SERVOPACK with MECHATROLINK II Communications References 2 9 FT82 SERVOPACK with MECHATROLINK III Communications References 2 12 FT82 SERVOPACKs with Analog Voltage Pulse Train References 2 5 FT83 SERVOPACKs with Analog Voltage Pulse Train References 2 19 T troubleshooting alarms Command Option Attachable type...

Page 501: ...t of control power supply 2 3 Addition Information on overheat protection input Chapter 3 Addition A 862 and A 93B Chapter 4 Addition Pn022 Pn475 Pn476 Pn61A Pn61B Pn61C and Pn61D Deletion Pn52D Back cover Revision Address February 2016 1 1 3 1 3 3 2 3 3 3 3 3 4 3 3 5 3 Revision A 860 November 2015 0 All chapters Addition Information on SERVOPACKs with a single phase 100 VAC power supply input Cha...

Page 502: ... co th YASKAWA ELECTRIC CHINA CO LTD 22F One Corporate Avenue No 222 Hubin Road Shanghai 200021 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http www yaskawa com cn YASKAWA ELECTRIC CHINA CO LTD BEIJING OFFICE Room 1011 Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRIC TAIWAN CORPORATION 12F No 207 ...

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