YASKAWA SGM7D-24G, SGM7D-1AF, SGM7D-18G, SGM7D-34G, SGM7D-45G Product Manual

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-7-Series AC Servo Drive

-7S SERVOPACK with

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

Product Manual

Model: SGD7S-AF82, -00AF83

MANUAL NO. SIEP S800001 91D

Basic Information on

SERVOPACKs

SERVOPACK Ratings and

Specifications

Maintenance

Parameter Lists

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

About this Manual

This manual describes the SGM7D motor drive application option for the Σ-7-Series AC Servo Drive Σ-7S SERVOPACKs for special motors.

Read and understand this manual to ensure correct usage of the Σ-7-Series AC Servo Drives.

Keep this manual in a safe place so that it can be referred to whenever necessary.

Outline of Manual

The contents of the chapters of this manual are described in the following table.

When you drive an SGM7D motor with a Σ-7-Series AC Servo Drive Σ-7S SERVOPACK for application with special motors, use this manual together with the relevant Σ-7-Series product manual.

 FT82 SERVOPACKs

Σ-7S SERVO-

PAC K wi th A nal og

This

Voltage/Pulse Train

Item

The Σ-7 Series – 1.1 1.1 1.1 1.1

Product Introduction 1.1––––

Interpreting the Nameplates

Part Names – 1.3 1.3 1.3 1.4

Basic Information on SERVOPAC Ks

Selecting a SERVOPAC K

SERVOPACK Installation – Chapter 3 Chapter 3 Chapter 3 Chapter 3

Wiring and Connecting SERVOPACKs

Model Designations 1.2––––

Combinations of SERVOPACKs and Servomotors

Functions – 1.6 1.6 1.6 1.8

SigmaWin+ 1.5––––

Combining the SERVOPACKs with MP-Series Machine Controllers and the MPE720 Engineering Tool

Ratings 2.1––––

SERVOPACK Overload Protection Characteristics

Specifications 2.3.1––––

Block Diagrams – 2.2 2.2 2.2 2.2

External Dimensions – 2.3 2.3 2.3 2.3

Examples of Standard Connections between SERVOPACKs and Peripheral Devices

Man-

References Prod-

ual

uct Manual (Man-

ual No.: SIEP

S800001 26)

– 1.2 1.2 1.2 1.3

1.3––––

1.6––––

– 2.1.2 2.1.2 2.1.2 2.1.2

– 2.4 2.4 2.4 2.4

– Chapter 4 Chapter 4 Chapter 4 Chapter 4

Σ-7S SERVO-

PAC K wit h

MECHATROLINK-

II Communica-

tions References

Product Manual

(Manual No.: SIEP

S800001 27)

Σ-7S SERVO-

PAC K wit h

MECHATROLINK-

III Communica-

tions References

Product Manual

(Manual No.: SIEP

S800001 28)

Continued on next page.

Σ-7S SERVO-

PACK Command

Option Attachable

Type w i t h

INDEXER Module

Product Manual

(Manual No.: SIEP

S800001 64)

iii

Continued from previous page.

Σ-7S SERVO-

PAC K wi t h An alo g

This

Voltage/Pulse Train

Item

Basic Functions That Require Setting before Operation

Application Functions – Chapter 6 Chapter 6 Chapter 6 Chapter 6

Trial Operation and Actual Operation

Tuning – Chapter 8 Chapter 8 Chapter 8 Chapter 8

Monitoring – Chapter 9 Chapter 9 Chapter 9 Chapter 9

Fully-Closed Loop Control – Chapter 10 Chapter 10 Chapter 10 Chapter 10

Safety Function – Chapter 11 Chapter 11 Chapter 11 Chapter 11

Settings for the INDEXER Module ––––Chapter 12

Operation with Digital I/O ––––Chapter 13

Operations with Serial Command Communications

Inspections and Part Replacement

Alarm Displays

List of Alarms

Troubleshooting Alarms

INDEXER Module Alarm Displays and Troubleshooting

Resetting Alarms – 12.2.3 12.2.3 12.2.3 15.2.4

Displaying the

Maintenance

Alarm History

Clearing the Alarm History

Resetting Alarms Detected in Option Modules

Resetting Motor Type Alar m s

Warning Displays

List of Warnings

Troubleshooting Warnings

INDEXER Module Error Displays and Troubleshooting

Man-

3.1.1,

3.2.1,

3.3.1,

3.4.1

3.1.2,

3.2.2,

3.3.2,

3.4.2

3.1.3,

3.2.3,

3.3.3,

3.4.3

3.4.4––––

3.1.4,

3.2.4,

3.3.4,

3.4.5

3.1.5,

3.2.5,

3.3.5,

3.4.6

3.1.6,

3.2.6,

3.3.6,

3.4.7

3.4.8––––

References Prod-

ual

uct Manual (Man-

ual No.: SIEP

S800001 26)

– Chapter 5 Chapter 5 Chapter 5 Chapter 5

– Chapter 7 Chapter 7 Chapter 7 Chapter 7

––––Chapter 14

– 12.1 12.1 12.1 15.1

––––

– 12.2.4 12.2.4 12.2.4 15.2.5

– 12.2.5 12.2.5 12.2.5 15.2.6

– 12.2.6 12.2.6 12.2.6 15.2.7

– 12.2.7 12.2.7 12.2.7 15.2.8

––––

Σ-7S SERVO-

PAC K wi t h

MECHATROLINK-

II Communica-

tions References

Product Manual

(Manual No.: SIEP

S800001 27)

Σ-7S SERVO-

PAC K wi t h

MECHATROLINK-

III Communica-

tions References

Product Manual

(Manual No.: SIEP

S800001 28)

Continued on next page.

Σ-7S SERVO-

PACK Command

Option Attachable

Type with

INDEXER Module

Product Manual

(Manual No.: SIEP

S800001 64)

Continued from previous page.

Σ-7S SERVO-

PAC K wi th A nal og

This

Voltage/Pulse Train

Item

Monitoring Communications Data during Alarms or

Maintenance

Panel Displays and Panel Operator Procedures

List of Parameters

Appendix – Chapter 15 Chapter 14 Chapter 14 Chapter 17

Warnings

Troubleshooting Based on the Operation and Conditions of the Servomotor

Parameter Configuration

Parameter Lists

List of MECHATROLINK-III Common Parameters

Parameter Recording Table

Man-

3.1.7,

3.2.7,

3.3.7,

3.4.9

4.3.1,

4.3.2––––

References Prod-

ual

uct Manual (Man-

ual No.: SIEP

S800001 26)

– – 12.4 12.4 –

––––

–Chapter 13–––

––––16.1

4.1,

4.2,

4.4

– 14.2 13.2 13.3 16.3

––––

Σ-7S SERVO-

PAC K wit h

MECHATROLINK-

II Communica-

tions References

Product Manual

(Manual No.: SIEP

S800001 27)

Σ-7S SERVO-

PAC K wit h

MECHATROLINK-

III Communica-

tions References

Product Manual

(Manual No.: SIEP

S800001 28)

Σ-7S SERVO-

PACK Command

Option Attachable

Type w i t h

INDEXER Module

Product Manual

(Manual No.: SIEP

S800001 64)

 FT83 SERVOPACKs

This

Item

The Σ-7 Series –1.1 –

Product Introduction 1.1 – –

Interpreting the Nameplates –1.2 –

Part Names –1.3 –

Basic Information on SERVOPACKs

Selecting a SERVOPACK

SERVOPACK Installation –Chapter 3 –

Wiring and Connecting SERVOPACKs

Basic Functions That Require Setting before Operation –Chapter 5 –

Application Functions –Chapter 6 –

Trial Operation and Actual Operation

Tuning –Chapter 8 –

Monitoring

Fully-Closed Loop Control –Chapter 10 –

Safety Function –Chapter 11 –

Model Designations 1.2 – –

Combinations of SERVOPACKs and Servomotors

Functions –1.6 –

SigmaWin+ 1.5 – –

Combining the SERVOPACKs with MP-Series Machine Controllers and the MPE720 Engineering Tool

Ratings 2.1 – –

SERVOPACK Overload Protection Characteristics

Specifications 2.3.2 – –

Block Diagrams –2.2 –

External Dimensions –2.3 –

Examples of Standard Connections between SERVOPACKs and Peripheral Devices

Wiring Precautions –4.1 –

Basic Wiring Diagrams –– 3.1

Wiring the Power Supply to the SERVOPACK

Wiring Servomotors –4.4 –

I/O Signal Connections –– 3.2

Connecting Safety Function Signals –4.6 –

Connecting the Other Connectors –4.7 –

Flow of Trial Operation –7.1 –

Inspections and Confirmations before Trial Operation

Trial Operation of Servomotor without a Load

Trial Operation Example –– 4.1

Trial Operation from the Host Controller for the Servomotor without a Load

Trial Operation with the Servomotor Connected to the Machine

Convenient Function to Use during Trial Operation

Monitoring Product Information –9.1 –

Monitoring SERVOPACK Status –– 5.1

Monitoring Machine Operation Status and Signal Waveforms

Monitori

ng Product Life –9.4 –

Man-

ual

1.3 – –

1.6 – –

–– 2.2

–2.4 –

–4.3 –

–7.2 –

–7.3 –

–7.4 –

–7.5 –

–7.6 –

––

Σ-7S SERVOPACK with

Analog Voltage/Pulse Train

References Product Manual

(Manual No.: SIEP S800001 26)

Σ-7S SERVOPACK with

FT/EX Specification for Indexing

Applications Product Manual

(Manual No.: SIEP S800001 84)

5.2

Continued on next page.

Continued from previous page.

This

Item

Control Method Selection –– 6.1

I/O Signal Allocations –– 6.2

Setting

Operation with Digital I/O

Maintenance

Panel Displays and Panel Operator Procedures –Chapter 13 –

List of Parameters

Appendix

Moving Mode and Coordinate Settings

Settings for References –– 6.4

Origin Settings –– 6.5

Operation Functions –– 7.1

Origin Return –– 7.2

Program Table Operation –– 7.3

Jog Speed Table Operation –– 7.4

ZONE Outputs –– 7.5

Inspections and Part Replacement – 12.1 –

Alarm Displays 3.5.1 – –

List of Alarms 3.5.2 – –

Troubleshooting Alarms 3.5.3 – –

INDEXER Module Alarm Displays and Troubleshooting

Resetting Alarms –12.2.3 –

Displaying the Alarm History –12.2.4 –

Clearing the Alarm History –12.2.5 –

Resetting Alarms Detected in Option Modules

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

Troubleshooting Based on the Operation and Conditions of the Servomotor

Parameter Configurations –– 9.1

List of Parameters 4.5 – –

Parameter Recording Table – 14.2 –

Examples of Connections to Host Controllers

Corresponding SERVOPACK and SigmaWin+ Function Names

Operation of Digital Operator –– 10.2

Man-

ual

–– 6.3

3.5.4 – –

–12.2.6 –

3.5.8 – –

3.5.9 – –

– 15.1 –

–– 10.1

Σ-7S SERVOPACK with

Analog Voltage/Pulse Train

References Product Manual

(Manual No.: SIEP S800001 26)

Σ-7S SERVOPACK with

FT/EX Specification for Indexing

Applications Product Manual

(Manual No.: SIEP S800001 84)

vii

Manuals Catalogs

Σ-7-Series Operation Interface

Operating Manuals

System Components



Machine Controller and Servo Drive

General Catalog



MP3300

Catalog

Machine Controllers



Σ-7-Series

Catalog

Servo Drives

Machine Controllers

SERVOPACKs:

Σ-7S and Σ-7W

SERVOPACKs with Built-in Controllers:

Σ-7C

Servomotors

Using This Manual

 Technical Terms Used in This Manual

The following terms are used in this manual.

Ter m Meaning

Servomotor A Σ-7-Series Direct Drive Servomotor.

SERVOPACK

Servo Drive

Servo System

servo ON

servo OFF

base block (BB)

servo lock

Main Circuit Cable

SigmaWin+

A Σ-7-Series Σ-7S SERVOPACK

The combination of a Servomotor and SERVOPACK.

A servo control system that includes the combination of a Servo Drive with a host controller and peripheral devices.

Supplying power to the motor.

Not supplying power to the motor.

Shutting OFF the power supply to the motor by shutting OFF the base current to the power transistor in the SERVOPACK.

A state in which the motor is stopped and is in a position loop with a position reference of 0.

One of the cables that connect to the main circuit terminals, including the Main Circuit Power Supply Cable, Control Power Supply Cable, and Servomotor Main Circuit Cable.

The Engineering Tool for setting up and tuning Servo Drives or a computer in which the Engineering Tool is installed.

Pn100

Speed Loop Gain

Setting Range

10 to 20,000 0.1 Hz 400 Immediately

Setting Unit Default Setting When Enabled

Classication

Tuning

(default setting)

Use the encoder according to encoder specications.

Use the encoder as an incremental encoder.

Use the encoder as a single-turn absolute encoder.

This is the setting range for the parameter.

Parameter number

This column explains the selections for the function.

Position

Torque

The control methods for which the parameters apply are given.

Speed

: 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 classication.

This is the minimum unit (setting increment) that you can set for the parameter.

Position

Speed

Parameter Meaning When Enabled Classication

Pn002

0

After restart Setup

n.1

n.2

Parameter number

The notation “n.” indicates a parameter for selecting functions. Each

 indicates the setting for one digit.

The notation shown here means that the third digit from the right is set to 2.

•

Parameters for Selecting Functions

 Notation Used in this Manual

 Notation for Reverse Signals

The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the signal abbreviation.

Notation Example

is written as /BK.

 Notation for Parameters

The notation depends on whether the parameter requires a numeric setting (parameter for numeric setting) or requires the selection of a function (parameter for selecting functions).

•

Parameters for Numeric Settings

Notation Example

n.0 0 0 0

 Engineering Tools Used in This Manual

This manual uses the interfaces of the SigmaWin+ for descriptions.

xvi

Notation Examples for Pn002

Notation

Pn002 =

X

n. Pn002 =

X

n. Pn002 =

X

n. Pn002 =



n.X

Indicates the rst digit from the right in Pn002.

Indicates the second digit from the right in Pn002.

Indicates the third digit from the right in Pn002.

Indicates the fourth digit from the right in Pn002.

Digit Notation Numeric Value Notation

Meaning Notation Meaning

Pn002 =

1

n. Pn002 =

1

n. Pn002 =

1

n. Pn002 =



n.1

Indicates that the rst digit from the right in Pn002 is set to 1.

Indicates that the second digit from the right in Pn002 is set to 1.

Indicates that the third digit from the right in Pn002 is set to 1.

Indicates that the fourth digit from the right in Pn002 is set to 1.

 Trademarks

Important

Term

Example

Information

• QR code is a trademark of Denso Wave Inc.

• Other product names and company names are the trademarks or registered trademarks of the

respective company. “TM” and the

® mark do not appear with product or company names in this

manual.

 Visual Aids

The following aids are used 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 deepen understanding or useful information.

xvii

DANGER

WARNING

CAUTION

NOTICE

Safety Precautions

 Safety Information

To prevent personal injury and equipment damage in advance, the following signal words are used to indicate safety precautions in this document. The signal words are used to classify the hazards and the degree of damage or injury that may occur if a product is used incorrectly. Information marked as shown below is important for safety. Always read this information and heed the precautions that are provided.

 Indicates precautions that, if not heeded, are likely to result in loss of life, serious injury, or fire.

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

 Indicates precautions that, if not heeded, could result in relatively serious or minor injury, or in

fire.

 Indicates precautions that, if not heeded, could result in property damage.

xviii

 Safety Precautions That Must Always Be Observed

DANGER

WARNING

CAUTION

 General Precautions

 Read and understand this manual to ensure the safe usage of the product.  Keep this manual in a safe, convenient place so that it can be referred to whenever necessary.

Make sure that it is delivered to the final user of the product.

 Do not remove covers, cables, connectors, or optional devices while power is being supplied to

the SERVOPACK.

There is a risk of electric shock, operational failure of the product, or burning.

 Use a power supply with specifications (number of phases, voltage, frequency, and AC/DC

type) that are appropriate for the product.

There is a risk of burning, electric shock, or fire.

 Connect the ground terminals on the SERVOPACK and Servomotor to ground poles according

to local electrical codes (100 Ω or less for a SERVOPACK with a 100-VAC or 200-VAC power supply, and 10 Ω or less for a SERVOPACK with a 400-VAC power supply).

There is a risk of electric shock or fire.

 Do not attempt to disassemble, repair, or modify the product.

There is a risk of fire or failure. The warranty is void for the product if you disassemble, repair, or modify it.

 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 such as cables do not come into contact with hot components.

There is a risk of burn injury.

 For a 24-VDC power supply, use a power supply device with double insulation or reinforced

insulation.

There is a risk of electric shock.

 Do not damage, pull on, apply excessive force to, place heavy objects on, or pinch cables.

There is a risk of failure, damage, or electric shock.

 The person who designs the system that uses the hard wire base block safety function must

have a complete knowledge of the related safety standards and a complete understanding of the instructions in this document.

There is a risk of injury, product damage, or machine damage.

 Do not use the product in an environment that is subject to water, corrosive gases, or flamma-

ble gases, or near flammable materials.

There is a risk of electric shock or fire.

xix

NOTICE

CAUTION

NOTICE

CAUTION

 Do not attempt to use a SERVOPACK or Servomotor that is damaged or that has missing parts.  Install external emergency stop circuits that shut OFF the power supply and stops operation

immediately when an error occurs.

 In locations with poor power supply conditions, install the necessary protective devices (such as

AC reactors) to ensure that the input power is supplied within the specified voltage range.

There is a risk of damage to the SERVOPACK.

 Use a Noise Filter to minimize the effects of electromagnetic interference.

Electronic devices used near the SERVOPACK may be affected by electromagnetic interference.

 Always use a Servomotor and SERVOPACK in one of the specified combinations.  Do not touch a SERVOPACK or Servomotor with wet hands.

There is a risk of product failure.

 Storage Precautions

 Do not place an excessive load on the product during storage. (Follow all instructions on the

packages.)

There is a risk of injury or damage.

 Do not install or store the product in any of the following locations.

• Locations that are subject to direct sunlight

• Locations that are subject to ambient temperatures that exceed product specifications

• Locations that are subject to relative humidities that exceed product specifications

• Locations that are subject to condensation as the result of extreme changes in temperature

• Locations that are subject to corrosive or flammable gases

• Locations that are near flammable materials

• Locations that are subject to dust, salts, or iron powder

• Locations that are subject to water, oil, or chemicals

• Locations that are subject to vibration or shock that exceeds product specifications

• Locations that are subject to radiation

If you store or install the product in any of the above locations, the product may fail or be damaged.

 Transportation Precautions

 Transport the product in a way that is suitable to the mass of the product.  Do not use the eyebolts on a SERVOPACK or Servomotor to move the machine.

There is a risk of damage or injury.

 When you handle a SERVOPACK or Servomotor, be careful of sharp parts, such as the corners.

There is a risk of injury.

 Do not place an excessive load on the product during transportation. (Follow all instructions on

the packages.)

There is a risk of injury or damage.

NOTICE

 Do not hold onto the front cover or connectors when you move a SERVOPACK.

CAUTION

There is a risk of the SERVOPACK falling.

 A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock.

There is a risk of failure or damage.

 Do not subject connectors to shock.

There is a risk of faulty connections or damage.

 If disinfectants or insecticides must be used to treat packing materials such as wooden frames,

plywood, or pallets, the packing materials must be treated before the product is packaged, and methods other than fumigation must be used. Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30

minutes or more.

If the electronic products, which include stand-alone products and products installed in machines, are packed with fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process. In particular, disinfectants containing halogen, which includes 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.

 Installation Precautions

 Install the Servomotor or SERVOPACK in a way that will support the mass given in technical

documents.

 Install SERVOPACKs, Servomotors, regenerative resistors, and External Dynamic Brake Resis-

tors on nonflammable materials.

Installation directly onto or near flammable materials may result in fire.

 Provide the specified clearances between the SERVOPACK and the control panel as well as

with other devices.

There is a risk of fire or failure.

 Install the SERVOPACK in the specified orientation.

There is a risk of fire or failure.

 Do not step on or place a heavy object on the product.

There is a risk of failure, damage, or injury.

 Do not allow any foreign matter to enter the SERVOPACK or Servomotor.

There is a risk of failure or fire.

xxi

NOTICE

DANGER

WARNING

 Do not install or store the product in any of the following locations.

• Locations that are subject to direct sunlight

• Locations that are subject to ambient temperatures that exceed product specifications

• Locations that are subject to relative humidities that exceed product specifications

• Locations that are subject to condensation as the result of extreme changes in temperature

• Locations that are subject to corrosive or flammable gases

• Locations that are near flammable materials

• Locations that are subject to dust, salts, or iron powder

• Locations that are subject to water, oil, or chemicals

• Locations that are subject to vibration or shock that exceeds product specifications

• Locations that are subject to radiation

If you store or install the product in any of the above locations, the product may fail or be damaged.

 Use the product in an environment that is appropriate for the product specifications.

If you use the product in an environment that exceeds product specifications, the product may fail or be damaged.

 A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock.

There is a risk of failure or damage.

 Always install a SERVOPACK 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.

 Wiring Precautions

 Do not change any wiring while power is being supplied.

There is a risk of electric shock or injury.

 Wiring and inspections must be performed only by qualified engineers.

There is a risk of electric shock or product failure.

 Check all wiring and power supplies carefully.

Incorrect wiring or incorrect voltage application to the output circuits may cause short-circuit failures. If a short-circuit failure occurs as a result of any of these causes, the holding brake will not work. This could damage the machine or cause an accident that may result in death or injury.

 Connect the AC and DC power supplies to the specified SERVOPACK terminals.

• Connect an AC power supply to the L1, L2, and L3 terminals and the L1C and L2C terminals on the SERVOPACK.

• Connect a DC power supply to the B1/ and 2 terminals and the L1C and L2C terminals on the SERVOPACK.

There is a risk of failure or fire.

 If you use a SERVOPACK that supports a Dynamic Brake Option, connect an External Dynamic

Brake Resistor that is suitable for the machine and equipment specifications to the specified terminals.

There is a risk of unexpected operation, machine damage, burning, or injury when an emergency stop is performed.

xxii

CAUTION

 Wait for six minutes after turning OFF the power supply and then make sure that the CHARGE

NOTICE

indicator is not lit before starting wiring or inspection work. Do not touch the power supply terminals while the CHARGE lamp is lit after turning OFF the power supply because high voltage may still remain in the SERVOPACK.

There is a risk of electric shock.

 Observe the precautions and instructions for wiring and trial operation precisely as described in

this document.

Failures caused by incorrect wiring or incorrect voltage application in the brake circuit may cause the SERVOPACK to fail, damage the equipment, or cause an accident resulting in death or injury.

 Check the wiring to be sure it has been performed correctly.

Connectors and pin layouts are sometimes different for different models. Always confirm the pin layouts in technical documents for your model before operation.

There is a risk of failure or malfunction.

 Connect wires to power supply terminals and motor connection terminals securely with the

specified methods and tightening torque.

Insufficient tightening may cause wires and terminal blocks to generate heat due to faulty contact, possibly resulting in fire.

 Use shielded twisted-pair cables or screened unshielded multi-twisted-pair cables for I/O Sig-

nal Cables and Encoder Cables.

 Observe the following precautions when wiring the SERVOPACK’s main circuit terminals.

• Turn ON the power supply to the SERVOPACK only after all wiring, including the main circuit terminals, has been completed.

• If a connector is used for the main circuit terminals, remove the main circuit connector from the SERVOPACK 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 breakers and other safety measures to provide protection against

short circuits in external wiring.

There is a risk of fire or failure.

 Whenever possible, use the Cables specified by Yaskawa.

If you use any other cables, confirm the rated current and application environment of your model and use the wiring materials specified by Yaskawa or equivalent materials.

 Securely tighten cable connector screws and lock mechanisms.

Insufficient tightening may result in cable connectors falling off during operation.

 Do not bundle power lines (e.g., the Main Circuit Cable) and low-current lines (e.g., the I/O Sig-

nal Cables or Encoder Cables) together or run them through the same duct. If you do not place power lines and low-current lines in separate ducts, separate them by at least 30 cm.

If the cables are too close to each other, malfunctions may occur due to noise affecting the low-current lines.

 Install a battery at either the host controller or on the Encoder Cable.

If you install batteries both at the host controller and on the Encoder Cable at the same time, you will create a loop circuit between the batteries, resulting in a risk of damage or burning.

 When connecting a battery, connect the polarity correctly.

There is a risk of battery rupture or encoder failure.

xxiii

WARNING

CAUTION

 Operation Precautions

 Before starting operation with a machine connected, change the settings of the switches and

parameters to match the machine.

Unexpected machine operation, failure, or personal injury may occur if operation is started before appropriate settings are made.

 Do not radically change the settings of the parameters.

There is a risk of unstable operation, machine damage, or injury.

 Install limit switches or stoppers at the ends of the moving parts of the machine to prevent

unexpected accidents.

There is a risk of machine damage or injury.

 For trial operation, securely mount the Servomotor and disconnect it from the machine.

There is a risk of injury.

 Forcing the motor to stop for overtravel is disabled when the Jog (Fn002), Origin Search

(Fn003), or Easy FFT (Fn206) utility function is executed. Take necessary precautions.

There is a risk of machine damage or injury.

 When an alarm occurs, the Servomotor will coast to a stop or stop with the dynamic brake

according to the SERVOPACK Option specifications and settings. The coasting distance will change with the moment of inertia of the load and the resistance of the External Dynamic Brake Resistor. Check the coasting distance during trial operation and implement suitable safety measures on the machine.

 Do not enter the machine’s range of motion during operation.

There is a risk of injury.

 Do not touch the moving parts of the Servomotor or machine during operation.

There is a risk of injury.

 Design the system to ensure safety even when 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-clamped state after the Servomotor stops. Also, install safety devices (such as an external brake or counterweight) to prevent the moving parts of the machine from falling.

 Always turn OFF the servo before you turn OFF the power supply. If you turn OFF the main cir-

cuit power supply or control power supply during operation before you turn OFF the servo, the Servomotor will stop as follows:

• If you turn OFF the main circuit power supply during operation without turning OFF the servo, the Servomotor will stop abruptly with the dynamic brake.

• If you turn OFF the control power supply without turning OFF the servo, the stopping method that is used by the Servomotor depends on the model of the SERVOPACK. For details, refer to the manual for the SERVOPACK.

• If you use a SERVOPACK that supports a Dynamic Brake Option, the Servomotor stopping methods will be different from the stopping methods used without the Option or for other Hardware Option specifications. For details, refer to the Hardware Option Specifications Dynamic Brake Product Manual.

 Do not use the dynamic brake for any application other than an emergency stop.

There is a risk of failure due to rapid deterioration of elements in the SERVOPACK and the risk of unexpected operation, machine damage, burning, or injury.

-7-Series AC Servo Drive Σ-7S/Σ-7W SERVOPACK with

xxiv

NOTICE

 When you adjust the gain during system commissioning, use a measuring instrument to monitor

DANGER

WARNING

CAUTION

NOTICE

the torque waveform and speed waveform and confirm that there is no vibration.

If a high gain causes vibration, the Servomotor will be damaged quickly.

 Do not frequently turn the power supply ON and OFF. After you have started actual operation,

allow at least one hour between turning the power supply ON and OFF (as a guideline). Do not use the product in applications that require the power supply to be turned ON and OFF frequently.

The elements in the SERVOPACK will deteriorate quickly.

 An alarm or warning may occur if communications are performed with the host controller while

the SigmaWin+ or Digital Operator is operating.

If an alarm or warning occurs, it may interrupt the current process and stop the system.

 After you complete trial operation of the machine and facilities, use the SigmaWin+ to back up

the settings of the SERVOPACK parameters. You can use them to reset the parameters after SERVOPACK replacement.

If you do not copy backed up parameter settings, normal operation may not be possible after a faulty SERVOPACK is replaced, possibly resulting in machine or equipment damage.

 Maintenance and Inspection Precautions

 Do not change any wiring while power is being supplied.

There is a risk of electric shock or injury.

 Wiring and inspections must be performed only by qualified engineers.

There is a risk of electric shock or product failure.

 Wait for six minutes after turning OFF the power supply and then make sure that the CHARGE

There is a risk of electric shock.

 Before you replace a SERVOPACK, back up the settings of the SERVOPACK parameters. Copy

the backed up parameter settings to the new SERVOPACK and confirm that they were copied correctly.

If you do not copy backed up parameter settings or if the copy operation is not completed normally, normal operation may not be possible, possibly resulting in machine or equipment damage.

 Discharge all static electricity from your body before you operate any of the buttons or switches

inside the front cover of the SERVOPACK.

There is a risk of equipment damage.

xxv

DANGER

WARNING

CAUTION

 Troubleshooting Precautions

 If the safety device (molded-case circuit breaker or fuse) installed in the power supply line oper-

ates, remove the cause before you supply power to the SERVOPACK again. If necessary, repair or replace the SERVOPACK, check the wiring, and remove the factor that caused the safety device to operate.

There is a risk of fire, electric shock, or injury.

 The product may suddenly start to operate when the power supply is recovered after a momen-

tary power interruption. Design the machine to ensure human safety when operation restarts.

There is a risk of injury.

 When an alarm occurs, remove the cause of the alarm and ensure safety. Then reset the alarm

or turn the power supply OFF and ON again to restart operation.

There is a risk of injury or machine damage.

 If the Servo ON signal is input to the SERVOPACK and an alarm is reset, the Servomotor may

suddenly restart operation. Confirm that the servo is OFF and ensure safety before you reset an alarm.

There is a risk of injury or machine damage.

 Always 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 is a risk of fire due to a regenerative resistor overheating as the result of regenerative transistor failure.

 Install a ground fault detector against overloads and short-circuiting or install a molded-case

circuit breaker combined with a ground fault detector.

There is a risk of SERVOPACK failure or fire if a ground fault occurs.

 The holding brake on a Servomotor will not ensure safety if there is the possibility that an exter-

nal force (including gravity) may move the current position and create a hazardous situation when power is interrupted or an error occurs. If an external force may cause movement, install an external braking mechanism that ensures safety.

xxvi

 Disposal Precautions

 When disposing of the product, treat it as ordinary industrial waste. However, local ordinances

and national laws must be observed. Implement all labeling and warnings as a final product as required.

 General Precautions

 Figures provided in this document are typical examples or conceptual representations. There

may be differences between them and actual wiring, circuits, and products.

 The products shown in illustrations in this document are sometimes shown without covers or

protective guards. Always replace all covers and protective guards before you use the product.

 If you need a new copy 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 quality guarantees provided by Yaskawa are null and void if the customer modifies

the product in any way. Yaskawa disavows any responsibility for damages or losses that are caused by modified products.

xxvii

Warranty

 Details of Warranty

 Warranty Period

The warranty period for a product that was purchased (hereinafter called the “delivered product”) is one year from the time of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory, whichever is sooner.

 Warranty Scope

Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs during the above warranty period. This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life.

This warranty does not cover failures that result from any of the following causes.

• Improper handling, abuse, or use in unsuitable conditions or in environments not described in product catalogs or manuals, or in any separately agreed-upon specifications

• Causes not attributable to the delivered product itself

• Modifications or repairs not performed by Yaskawa

• Use of the delivered 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 arises due to failure of the delivered product.

• Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products.

• The information described in product catalogs or manuals is provided for the purpose of the customer purchasing the appropriate product for the intended application. The use thereof does not guarantee that there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties, nor does it construe a license.

• Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third parties as a result of using the information described in catalogs or manuals.

xxviii

 Suitability for Use

• It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products.

• The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.

• Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure.

• Outdoor use, use involving potential chemical contamination or electrical interference, or use in conditions or environments not described in product catalogs or manuals

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle systems, medical equipment, amusement machines, and installations subject to separate industry or government regulations

• Systems, machines, and equipment that may present a risk to life or property

• Systems that require a high degree of reliability, such as systems that supply gas, water, or

electricity, or systems that operate continuously 24 hours a day

• Other systems that require a similar high degree of safety

• Never use the product for an application involving serious risk to life or property without first

ensuring that the system is designed to secure the required level of safety with risk warnings and redundancy, and that the Yaskawa product is properly rated and installed.

• The circuit examples and other application examples described in product catalogs and manuals are for reference. Check the functionality and safety of the actual devices and equipment to be used before using the product.

• Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent accidental harm to third parties.

 Specifications Change

The names, specifications, appearance, and accessories of products in product catalogs and manuals may be changed at any time based on improvements and other reasons. The next editions of the revised catalogs or manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product.

xxix

Compliance with UL Standards, EU Directives, and Other Safety Standards

Certification marks for the standards for which the product has been certified by certification bodies are shown on nameplate. Products that do not have the marks are not certified for the standards.

 North American Safety Standards (UL)

Product Model North American Safety Standards (UL File No.)

SERVOPACKs SGD7S

 European Directives

UL 61800-5-1 (E147823), CSA C22.2 No.274

Product Model EU Directive Harmonized Standards

Machinery Directive 2006/42/EC

EMC Directive

SERVOPACKs SGD7S

Direct Drive Servomotors

Note: We declared the CE Marking based on the harmonized standards in the above table.

SGM7D

2014/30/EU

Low Voltage Directive 2014/35/EU

RoHS Directive 2011/65/EU

EMC Directive 2014/30/EU

Low Voltage Directive 2014/35/EU

RoHS Directive 2011/65/EU

EN ISO13849-1: 2015

EN 55011 group 1, class A EN 61000-6-2 EN 61000-6-4 EN 61800-3 (Category C2, Second environment)

EN 50178 EN 61800-5-1

EN 50581

EN 55011 group 1, class A EN 61000-6-2 EN 61000-6-4 EN 61800-3 (Category C2, Second environment)

EN 60034-1 EN 60034-5

EN 50581

 Safety Standards

xxx

Product Model Safety Standards Standards

EN ISO13849-1:2015 IEC 60204-1

IEC 61508 series IEC 62061 IEC 61800-5-2

SERVOPACKs SGD7S

Safety of Machinery

Functional Safety

EMC IEC 61326-3-1

 Safety Parameters

Item Standards Performance Level

Safety Integrity Level

Mission Time IEC 61508 10 years 20 years

Probability of Dangerous Failure per Hour

Performance Level EN ISO 13849-1 PLe (Category 3)

Mean Time to Dangerous Failure of Each Channel

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

IEC 61508 SIL3

IEC 62061 SILCL3

IEC 61508 IEC 62061

PFH = 4.04 × 10 (4.04% of SIL3)

EN ISO 13849-1 MTTFd: High

-9

[1/h]

PFH = 4.05 × 10 (4.05% of SIL3)

-9

[1/h]

xxxi

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

Outline of Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Related Documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii

Using This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .xv

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .xviii

Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .xxviii

Compliance with UL Standards, EU Directives, and Other Safety Standards. . . xxx

Basic Information on SERVOPACKs

1.1

1.2

1.3

1.4

1.5

1.6

Product Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Model Designations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.2.1 Interpreting 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

Combinations of SERVOPACKs and Servomotors. . . . . . . . . . . 1-6

Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1.4.1 SERVOPACK Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-7

1.4.2 Function Application Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-10

SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11

Combining the SERVOPACKs with MP-Series Machine Controllers and the MPE720 Engineering Tool . . 1-12

SERVOPACK Ratings and Specifications

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

xxxii

2.2

2.3

SERVOPACK Overload Protection Characteristics . . . . . . . . . . 2-4

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

Maintenance

3.1

3.2

3.3

FT82 SERVOPACKs with Analog Voltage/Pulse Train References3-3

3.1.1 Alarm Displays. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.1.2 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.1.3 Troubleshooting Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

3.1.4 Warning Displays. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34

3.1.5 List of Warnings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34

3.1.6 Troubleshooting Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-35

3.1.7 Troubleshooting Based on the Operation and Conditions

of the Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-41

FT82 SERVOPACK with MECHATROLINK-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

FT82 SERVOPACK with MECHATROLINK-III Communications References . .3-98

3.3.1 Alarm Displays. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-98

3.3.2 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-98

3.3.3 Troubleshooting Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-103

3.3.4 Warning Displays. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-128

3.3.5 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

3.5

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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-181

3.4.6 List of Warnings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-181

3.4.7 Troubleshooting Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-183

3.4.8 INDEXER Module Error Displays and Troubleshooting . . . . . . . . . . . . . . . 3-189

3.4.9 Troubleshooting Based on the Operation and Conditions

of the Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-197

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 Troubleshooting Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-239

3.5.8 INDEXER Warning Displays and Troubleshooting . . . . . . . . . . . . . . . . . . 3-245

3.5.9 Troubleshooting Based on the Operation and Conditions

of the Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-249

xxxiii

Parameter Lists

4.1

4.2

4.3

4.4

4.5

FT82 SERVOPACKs with Analog Voltage/Pulse Train References . . 4-2

FT82 SERVOPACK with MECHATROLINK-II Communications References. . 4-32

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

Command Option Attachable-type FT82 SERVOPACKs with INDEXER Modules . .4-114

FT83 SERVOPACKs with Analog Voltage/Pulse Train References . . 4-139

Index

Revision History

xxxiv

Basic Information on SERVOPACKs

This chapter provides basic information, including an introduction to the product, and describes how to interpret model numbers and combinations with Servomotors.

1.1

1.2

1.3

1.4

1.5

1.6

Product Introduction . . . . . . . . . . . . . . . . . . 1-2

Model Designations . . . . . . . . . . . . . . . . . . 1-3

1.2.1 Interpreting 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

Combinations of SERVOPACKs and Servomotors . . . . 1-6

Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1.4.1 SERVOPACK Functions . . . . . . . . . . . . . . . . . . . . 1-7

1.4.2 Function Application Restrictions . . . . . . . . . . . 1-10

SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11

Combining the SERVOPACKs with MP-Series Machine Controllers and the MPE720 Engineering Tool . .1-12

1.1 Product Introduction

1.1

Product Introduction

The SERVOPACKs described in this 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 shortest time possible, thus contributing to improving productivity.

1-2

1.2 Model Designations

Basic Information on SERVOPACKs

FT/EX Specification

None

BTO

specification

Specification

Code

BTO Specification

001

SGD7S-2R8A and -2R8F

SGD7S-120A

020

000

002

SGD7S-120A

008

Single-phase, 200-VAC power supply input

No dynamic brake

External dynamic brake resistor

MECHATROLINK-II communications references

MECHATROLINK-III communications reference

Command option attachable

type

A 200 VAC

SGD7S

2R8

A 00 A

001

Maximum Applicable Motor Capacity

Voltage

Interface

Code

Specication

Analog voltage/pulse train reference

Design Revision Order

Hardware Options Specication

1st+2nd+3rd digits

4th digit

5th+6th digits

7th digit

8th+9th+10th digits

Σ-7-Series Σ-7S

SERVOPACKs

4th

digit

1st+2nd+3rd

digits

5th+6th

digits

8th+9th+10th

digits

7th

digit

F82

11th+12th+13th

digits

14th digit

11th+12th+13th digits

14th digit

Voltage

2R8

120

0.4 kW

1.5 kW

Code

ThreePhase, 200 VAC

Specication

None

Without options All models

Var ni shed

Rack-mounted

Code

Specication

Applicable

Models

All models

F82

Application function option for special motors,

SGM7D motor drive

Specification

Code

SinglePhase, 100 VAC

2R8 0.4 kW

F 100 VAC

1.2.1 Interpreting FT82 SERVOPACK Model Numbers

1.2

1.2.1

Model Designations

Interpreting FT82 SERVOPACK Model Numbers

*1. You can use these models with either a single-phase or three-phase input. *2. A model with a single-phase, 200-VAC power supply input is available as a hardware option (model: SGD7S-

*3. This interface is supported only by an INDEXER Module. Refer to the following catalog for details.

*4. Refer to the following manual for details.

*5. The BTO specification indicates if the SEVOPACK is customized by using the MechatroCloud BTO service. You

120A00A008).

AC Servo Drives Σ-7 Series (Manual No.: KAEP S800001 23)

Σ-7-Series Σ-7S/Σ-7W SERVOPACK with Dynamic Brake Hardware Option Specifications Product Manual (Man-

ual No.: SIEP S800001 73)

need a BTO number to order SERVOPACKs with customized specifications. Refer to the following catalog for details on the BTO specification.

AC Servo Drives Σ-7 Series (Manual No.: KAEP S800001 23)

1-3

1.2 Model Designations

1.2.2 Interpreting FT83 SERVOPACK Model Numbers

1.2.2

Interpreting FT83 SERVOPACK Model Numbers

SGD7S

Σ-7-Series Σ-7S

SERVOPACKs

1st+2nd+3rd digits

Voltage

ThreePhase, 200 VAC

SinglePhase, 100 VAC

Code

2R8

120

2R8 0.4 kW

2R8

1st+2nd+3rd

digits

Maximum Applicable Motor Capacity

Specication

0.4 kW

1.5 kW

4th

digit

4th digit

Code Specication

5th+6th digits

Code Specication

7th digit

5th+6th

digits

Voltage

A 200 VAC

F 100 VAC

Analog voltage/pulse train reference

Design Revision Order

digit

Interface

7th

001

8th+9th+10th

digits

8th+9th+10th digits

Code

None

000

001 002

008

020

11th+12th+13th digits

Code

F83

11th+12th+13th

digits

Hardware Options

Specication

Without options All models

Rack-mounted

Var ni shed

Single-phase, 200-VAC power supply input

No dynamic brake

External dynamic brake resistor

Specification

Application function option for special motors, SGM7D motor drive, indexing

14th digit

Applicable

Models

All models

SGD7S-120A

SGD7S-2R8A

and -2R8F

SGD7S-120A

FT/EX Specification

14th digit

Code

None

*1. You can use these models with either a single-phase or three-phase input. *2. A model with a single-phase, 200-VAC power supply input is available as a hardware option (model: SGD7S-

120A00A008).

*3. Refer to the following manual for details.

Σ-7-Series AC Servo Drive Σ-7S/Σ-7W SERVOPACK with Hardware Option Specifications Dynamic Brake Prod-

uct Manual (Manual No.: SIEP S800001 73)

*4. The BTO specification indicates if the SEVOPACK is customized by using the MechatroCloud BTO service. You

need a BTO number to order SERVOPACKs with customized specifications.

AC Servo Drives Σ-7 Series (Manual No.: KAEP S800001 23)

BTO Specification

Specification

None

specification

BTO

1-4

1.2 Model Designations

Basic Information on SERVOPACKs

Code Specication

7 24-bit multiturn absolute encoder

24-bit incremental encoderF

SGM7D

F 7 C

Code Mounting

Servomotor Outer

Diameter Code (3rd Digit)



*



With cable on side

With cable on bottom

Standard mechanical precision



: Applicable models.

Specication

High mechanical precision*



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

digit

Code

* SGM7D-01G and -05G are not available with a cable

extending from the bottom.

* The SGM7D-01G, -05G, and -03H are available only with

high mechanical precision.

Note: 1. Direct Drive Servomotors are not available

with holding brakes.

2. This information is provided to explain model numbers. It is not meant to imply that models are available for all combinations of codes.

Code

264-mm dia.

116-mm dia.

160-mm dia.

L 224 mm × 224 mm

107-mm dia.

150-mm dia.

Specication

Code

Specication

Code

Specication

Code

Specication

Code

Specication

01 1.30 Nm

02 2.06 Nm

03 3.00 Nm

05 5.00 Nm

06 6.00 Nm

08 8.00 Nm

09 9.00 Nm

12 12.0 Nm

18 18.0 Nm

20 20.0 Nm

24 24.0 Nm

28 28.0 Nm

30 30.0 Nm

34 34.0 Nm

38 38.0 Nm

45 45.0 Nm

1Z 100 Nm

1A 110 Nm

1C 130 Nm

2B 220

Nm

2D 240

Nm

58 58.0 Nm

70 70.0 Nm

90 90.0 Nm

1.2.3 Interpreting Direct Drive Servomotor Model Numbers

1.2.3

Interpreting Direct Drive Servomotor Model Numbers

 Manufactured Models

Rated

To rq ue

Nm

(264-mm dia.)G (160-mm dia.)H (116-mm dia.)I (264-mm dia.)J (150-mm dia.)K (107-mm dia.)

1.30 – SGM7D-01G – – – – –

Note: The above table shows combinations of the rated torque and outer diameter. The fourth through seventh dig-

2.06 – – – – – SGM7D-02K –

3.00 – – SGM7D-03H – – – –

5.00 – SGM7D-05G – – – – –

6.00 – – – – SGM7D-06J SGM7D-06K SGM7D-06L

8.00 – SGM7D-08G – – – SGM7D-08K –

9.00 – – – – SGM7D-09J – –

12.0––––––SGM7D-12L

18.0 – SGM7D-18G – – SGM7D-18J – –

20.0 – – – – SGM7D-20J – –

24.0 – SGM7D-24G – – – – –

28.0 – – – SGM7D-28I – – –

30.0 SGM7D-30F – – – – – SGM7D-30L

34.0 – SGM7D-34G – – – – –

38.0 – – – – SGM7D-38J – –

45.0 – SGM7D-45G – – – – –

58.0 SGM7D-58F – – – – – –

70.0 – – – SGM7D-70I – – –

90.0 SGM7D-90F – – – – – –

100 – – – SGM7D-1ZI – – –

110SGM7D-1AF––––––

130 – – – SGM7D-1CI – – –

220 – – – SGM7D-2BI – – –

240 – – – SGM7D-2DI – – –

its have been omitted.

Servomotor Outer Diameter

L (224 mm ×

224 mm)

1-5

1.3 Combinations of SERVOPACKs and Servomotors

1.3

Combinations of SERVOPACKs and Servomotors

Direct Drive Servomotor Model

SGM7D-30F 188 W

SGM7D-58F 364 W

SGM7D-90F 565 W

SGM7D-1AF 691 W

SGM7D-01G 16 W

SGM7D-05G 63 W

SGM7D-08G 101 W

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

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

SGM7D-06K 151 W

SGM7D-08K 201 W

SGM7D-06L 113 W

SGM7D-12L 226 W

SGM7D-30L 565 W 120A

Capacity

SERVOPACK Model

SGD7S-

120A

2R8A and 2R8F

120A

2R8A and 2R8F

1-6

1.4 Functions

Basic Information on SERVOPACKs

1.4.1 SERVOPACK Functions

1.4

1.4.1

Functions

This section lists the functions provided by SERVOPACKs. Refer to the following manuals for details on the functions.

• FT82 SERVOPACKs

-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual (Manual No.: SIEP S800001 26)

-7-Series Σ-7S SERVOPACK with MECHATROLINK-II Communications References Product Manual (Manual No.: SIEP S800001 27)

-7-Series Σ-7S SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual No.: SIEP S800001 28)

-7-Series Σ-7S Command Option Attachable-type SERVOPACK with INDEXER Module Product Manual (Manual No.: SIEP S800001 64)

• FT83 SERVOPACKs

-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual (Manual No.: SIEP S800001 26)

Σ-7-Series Σ-7S SERVOPACK with FT/EX Specification for Indexing Applications Product Manual

(Manual No. SIEP S800001 84)

Functions in bold boxes in the functions tables are restricted if the above SERVOPACKs are used. Refer to the following section for details on restrictions to these functions.

Function Application Restrictions

1.4.2

SERVOPACK Functions

• Functions Related to the Machine

Power Supply Type Settings for the Main Circuit and Control Circuit

Automatic Detection of Connected Motor

Motor Direction Setting

Setting the Linear Encoder Pitch

Writing Linear Servomotor Parameters

Selecting the Phase Sequence for a Linear Servomotor

Polarity Sensor Setting

Polarity Detection

Overtravel Function and Settings

Holding Brake

Motor Stopping Method for Servo OFF and Alarms

Resetting the Absolute Encoder

Setting the Origin of the Absolute Encoder

Setting the Regenerative Resistor Capacity

Operation for Momentary Power Interruptions

SEMI F47 Function

Motor Maximum Speed Setting

Software Limits and Settings*

Multiturn Limit Setting

Adjustment of Motor Current Detection Signal Offset

Forcing the Motor to Stop

Overheat Protection

Speed Ripple Compensation

Current Control Mode Selection

Current Gain Level Setting

Speed Detection Method Selection

Fully-closed Loop Control

Safety Function

External Latches*

* These functions can be used with SERVOPACKs with MECHATROLINK-II Communications References and

SERVOPACKs with MECHATROLINK-III Communications References.

on page 1-10

Functions

1-7

1.4 Functions

1.4.1 SERVOPACK Functions

• Functions Related to the Host Controller

Electronic Gear Setting

I/O Signal Allocations

ALM (Servo Alarm) Signal

ALO1 to ALO3 (Alarm Code) Signals*

/WARN (Warning) Signal

/TGON (Rotation Detection) Signal

Servo Ready Output (/S-RDY) Signal

Speed Control*

Basic Settings for Speed Control*

Speed Reference Filter*

Zero Clamping*

/V-CMP (Speed Coincidence Detection) Signal

Position Control*

Reference Pulse Form*

CLR (Position Deviation Clear) Signal Function and Settings*

Reference Pulse Input Multiplication Switching*

/COIN (Positioning Completion) Signal

/NEAR (Near) Signal

Reference Pulse Inhibition Function and Settings*

Torqu e C o n t rol*

Basic Settings for Torque Control*

Torque Reference Filter Settings*

Speed Limit during Torque Control

/VLT (Speed Limit Detection) Signal

Encoder Divided Pulse Outputs

Selecting Torque Limits

Initializing the Vibration Detection Level

Resetting Alarms

Replacing the Battery

Setting the Position Deviation Overflow Alarm Level

* These functions can be used with SERVOPACKs with Analog Voltage/Pulse Train References.

Functions

1-8

1.4 Functions

Basic Information on SERVOPACKs

1.4.1 SERVOPACK Functions

• Functions to Achieve Optimum Motions

Functions

Speed Control

Soft Start Settings

Position Control

Smoothing Settings

Torque Control

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

Model Following Control

Compatible Adjustment Functions

Mechanical Analysis

Easy FFT

*1. These functions can be used with SERVOPACKs with Analog Voltage/Pulse Train References. *2. These functions can be used with SERVOPACKs with MECHATROLINK-II Communications References and

SERVOPACKs with MECHATROLINK-III Communications References.

• Functions for Trial Operation during Setup

Functions

Software Reset

Trial Operation for the Servomotor without a Load

Program Jogging

Origin Searches

Test without a Motor

Monitoring Machine Operation Status and Signal Waveforms

• Functions for Inspection and Maintenance

Functions

Write Prohibition Setting for Parameters

Initializing Parameter Settings

Automatic Detection of Connected Motor

Monitoring Product Information

Monitoring Product Life

Displaying the Alarm History

Alarm Tracing

1-9

1.4 Functions

1.4.2 Function Application Restrictions

1.4.2

Function Application Restrictions

The following functional restrictions apply when you use the FT82/FT83 SERVOPACKs.

Function Restriction

Setting the Linear Encoder Pitch Cannot be used.

Writing Linear Servomotor Parameters

Selecting the Phase Sequence for a Linear Servomotor

Polarity Sensor Setting Cannot be used.

Polarity Detection Cannot be used.

Speed Ripple Compensation

Tuning-less Function Cannot be used if the load moment of inertia ratio is 10 or greater.

Cannot be used.

Cannot be used. Do not change the following default setting: Pn423 = n.0.

1-10

1.5 SigmaWin+

Basic Information on SERVOPACKs

1.5

SigmaWin+

To use the SigmaWin+, a model information file for the SERVOPACK must be added to SigmaWin+ 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+.

1-11

1.6 Combining the SERVOPACKs with MP-Series Machine Controllers and the MPE720 Engineering Tool

1.6

Combining the SERVOPACKs with MP-Series Machine Controllers and the MPE720 Engineering Tool

If you combine the SERVOPACK with an MP-Series Machine Controller or the MPE720 Engineering 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+.

1-12

SERVOPACK Ratings and Specifications

This chapter provides information required to select SERVOPACKs, such as specifications.

2.1

2.2

2.3

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

SERVOPACK Overload Protection Characteristics . . 2-4

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

2.1 Ratings

2.1.1 Three-Phase, 200 VAC

2.1

2.1.1

Ratings

The ratings of the FT82 and FT83 SERVOPACKs are the same. This section gives the ratings of SERVOPACKs.

Three-Phase, 200 VAC

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

Main Circuit

Control

Power Supply Capacity [kVA]* 1.0 3.2

Power Loss*

Regenerative Resistor

Overvoltage Category III

* This is the net value at the rated load.

Power Supply

Input Current [Arms]* 2.5 7.3

Power Supply

Input Current [Arms]* 0.2 0.2

Main Circuit Power Loss [W] 22.5 72.6

Control Circuit Power Loss [W] 12 15

Built-in Regenerative Resistor Power Loss [W] − 10

Total Power Loss [W] 34.5 97.6

Built-In Regenerative Resistor

Minimum Allowable External Resistance [Ω]40 20

Resistance [Ω] − 20

Capacity [W] − 60

200 VAC to 240 VAC, -15% to +10%, 50

Hz/60 Hz

200 VAC to 240 VAC, -15% to +10%, 50

Hz/60 Hz

2.1.2

Single-Phase, 200 VAC

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

Main Circuit

Control

Power Supply Capacity [kVA]* 1.2 4.0

Power Loss*

Regenerative Resistor

Overvoltage Category III

* This is the net value at the rated load.

Power Supply

Input Current [Arms]* 5.0 16

Power Supply

Input Current [Arms]* 0.2 0.25

Main Circuit Power Loss [W] 23.7 71.8

Control Circuit Power Loss [W] 12 16

Built-in Regenerative Resistor Power Loss [W] − 16

Total Power Loss [W] 35.7 103.8

Built-In Regenerative Resistor

Minimum Allowable External Resistance [Ω]40 12

Resistance [Ω] − 12

Capacity [W] − 60

200 VAC to 240 VAC, -15% to +10%, 50

Hz/60 Hz

200 VAC to 240 VAC, -15% to +10%, 50

Hz/60 Hz

2-2

2.1 Ratings

SERVOPACK Ratings and Specications

2.1.3 Single-Phase, 100 VAC

2.1.3

Single-Phase, 100 VAC

SGD7S- 2R8F

Maximum Applicable Motor Capacity [kW] 0.4

Continuous Output Current [Arms] 2.8

Instantaneous Maximum Output Current [Arms] 9.3

Main Circuit

Control

Power Supply Capacity [kVA]* 1.4

Power Loss*

Regenerative Resistor

Overvoltage Category III

* This is the net value at the rated load.

Power Supply 100 VAC to 120 VAC, -15% to +10%, 50 Hz/60 Hz

Input Current [Arms]* 10

Power Supply 100 VAC to 120 VAC, -15% to +10%, 50 Hz/60 Hz

Input Current [Arms]* 0.38

Main Circuit Power Loss [W] 26.2

Control Circuit Power Loss [W] 12

Total Power Loss [W] 38.2

Minimum Allowable Resistance [Ω]

2-3

2.2 SERVOPACK Overload Protection Characteristics

The overload protection characteristics of the FT82/FT83 SERVOPACKs are the same as the standard Σ-7-Series SERVOPACKs. Refer to the following manual for details.

• FT82 SERVOPACKs

Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse 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 S800001 64)

• FT83 SERVOPACKs

Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual (Manual No.: SIEP S800001 26)

2-4

2.3 Specifications

SERVOPACK Ratings and Specications

Degree

SERVOPACK Models

IP20

SGD7S-2R8A, -120A (three-phase, 200-VAC input), and -2R8F

IP10

SGD7S-120A00A008 (single-phase, 200-VAC input)

2.3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

2.3

2.3.1

Specifications

FT82 SERVOPACKs with Analog Voltage/Pulse Train References

Item Specification

Control Method IGBT-based PWM control, sine wave current drive

Feedback Serial encoder: 24 bits (incremental encoder/absolute encoder)

-5°C to 55°C

Surrounding Air Temperature

Storage Temperature

Surrounding Air Humidity

Storage Humidity

Vibration Resistance

Shock Resistance

(With derating, usage is possible between 55°C and 60°C.) Refer to the following manual for derating specifications.

-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References

Product Manual (Manual No.: SIEP S800001 26)

-20°C to 85°C

95% relative humidity max. (with no freezing or condensation)

4.9 m/s

19.6 m/s

Environmental Conditions

Applicable Standards

Mounting Base-mounted or rack-mounted

Performance

Degree of Protection

Pollution Degree

Altitude

Others

Speed Control Range

Coefficient of Speed Fluctuation

Torqu e C o n t rol Pre c i sion (Repeatability)

Soft Start Time Setting

• Must be no corrosive or flammable gases.

• Must be no exposure to water, oil, or chemicals.

• Must be no dust, salts, or iron dust.

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.

-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References

Product Manual (Manual No.: SIEP S800001 26)

Do not use the SERVOPACK in the following locations: Locations subject to static electricity noise, strong electromagnetic/magnetic fields, or radioactivity

Refer to the following section for details.

Compliance with UL Standards, EU Directives, and Other Safety Stan-

dards on page xxx

1:5000 (At the rated torque, the lower limit of the speed control range must not cause the Servomotor to stop.)

±0.01% of rated speed max. (for a load fluctuation of 0% to 100%)

0% of rated speed max. (for a load fluctuation of ±10%)

±0.1% of rated speed max. (for a temperature fluctuation of 25°C ±25°C)

±1%

0 s to 10 s (Can be set separately for acceleration and deceleration.)

Continued on next page.

2-5

2.3 Specifications

2.3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

Item Specification

I/O Signals

Encoder Divided Pulse Output

Overheat Protection Input

Fixed Input

Sequence Input Signals

Sequence Output Signals

Input Signals That Can Be Allocated

Fixed Output

Output Signals That Can Be Allocated

Phase A, phase B, phase C: Line-driver output Number of divided output pulses: Any setting is allowed.

Number of input points: 1 Input voltage range: 0 V to +5 V

Allowable voltage range: 5 VDC ±5% Number of input points: 1 SEN (Absolute Data Request) signal

Allowable voltage range: 24 VDC ±20% Number of input points: 7

Input method: Sink inputs or source inputs Input Signals

• /S-ON (Servo ON) signal

• /P-CON (Proportional Control) signal

• P-OT (Forward Drive Prohibit) and N-OT (Reverse Drive Prohibit) sig-

nals

• /ALM-RST (Alarm Reset) signal

• /P-CL (Forward External Torque Limit) and /N-CL (Reverse External

Torqu e L i m i t) s i g n a l s

• /SPD-D (Motor Direction) signal

• /SPD-A and /SPD-B (Internal 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

A signal can be allocated and the positive and negative logic can be changed.

Allowable voltage range: 5 VDC to 30 VDC Number of output points: 1 Output signal: ALM (Servo Alarm) signal

Allowable voltage range: 5 VDC to 30 VDC Number of output points: 6 (A photocoupler output (isolated) is used for three of the outputs.) (An open-collector output (non-isolated) is used for the other three outputs.)

Output signals

• /COIN (Positioning Completion) signal

• /V-CMP (Speed Coincidence Detection) signal

• /TGON (Rotation Detection) signal

• /S-RDY (Servo Ready) signal

• /CLT (Torque Limit Detection) signal

• /VLT (Speed Limit Detection) signal

• /BK (Brake) signal

• /WARN (Warning) signal

• /NEAR (Near) signal

• /PSELA (Reference Pulse Input Multiplication Switching Output) sig-

• ALO1, ALO2, and ALO3 (Alarm Code) signals A signal can be allocated and the positive and negative logic can be changed.

Continued from previous page.

Continued on next page.

2-6

2.3 Specifications

SERVOPACK Ratings and Specications

2.3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

Continued from previous page.

Item Specification

Interfaces

RS-422A Communications

Communications

Displays/Indicators CHARGE indicator and five-digit seven-segment display

Panel Operator Four push switches

Analog Monitor (CN5)

Dynamic Brake (DB)

Regenerative Processing

Overtravel (OT) Prevention

Protective Functions

Utility Functions

Safety Functions

Applicable Option Modules

(CN3)

USB Communications (CN7)

Inputs /HWBB1 and /HWBB2: Base block signals for Power Modules

Output EDM1: Monitors the status of built-in safety circuit (fixed output).

Applicable Standards

1:N Communications

Axis Address Setting

Interface Personal computer (with SigmaWin+)

Communications Standard

Digital Operator (JUSP-OP05A-1-E) and personal computer (with SigmaWin+)

Up to N = 15 stations possible for RS-422A port

Set with parameters.

Conforms to USB2.0 standard (12 Mbps).

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)

Activated when a servo alarm or overtravel (OT) occurs, or when the power supply to the main circuit or servo is OFF.

Built-in Refer to the following catalog for details.

AC Servo Drives Σ-7 Series (Manual No.: KAEP S800001 23)

Stopping with dynamic brake, deceleration to a stop, or coasting to a stop for the P-OT (Forward Drive Prohibit) or N-OT (Reverse Drive Prohibit) signal

Overcurrent, overvoltage, low voltage, overload, regeneration error, etc.

Gain adjustment, alarm history, jogging, origin search, etc.

ISO13849-1 PLe (Category 3) and IEC61508 SIL3

Fully-closed Modules and Safety Modules

Note: You cannot use a Fully-closed Module and a Safety Module together.

Continued on next page.

2-7

2.3 Specifications

2.3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

Item Specification

Soft Start Time Setting

Reference Voltage

Input Signal

Input Impedance

0 s to 10 s (Can be set separately for acceleration and deceleration.)

• Maximum input voltage: ±12 V (forward motor rotation for positive ref- erence).

• 6 VDC at rated speed (default setting). Input gain setting can be changed.

Approx. 14 kΩ

Circuit

Speed

Con-

trol

Time Constant

30 μs

Rotation

Internal Set Speed Control

Feedforward Compensation

Direction Selection

Speed Selection

With Proportional Control signal

With Forward/Reverse External Torque Limit signals (speed 1 to 3 selection). Servomotor stops or another control method is used when both signals are OFF.

0% to 100%

Output Signal Positioning Completed

0 to 1,073,741,824 reference units

Width Setting

Controls

Reference Pulse Form

Posi-

tion

Con-

trol

Input Signals

Referen

puls

Input Form

Maximum Input Frequency

One of the following is selected: Sign + pulse train, CW + CCW pulse trains, and two-phase pulse trains with 90° phase differential

Line driver or open collector

• 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 Two-phase pulse trains with 90° phase differential: 200 kpps

Input Multiplication

1 to 100 times

Switching

Position deviation clear Line driver or open collector

• Maximum input voltage: ±12 V (forward torque output for positive ref- erence).

• 3 VDC at rated torque (default setting). Input gain setting can be changed.

Approx. 14 kΩ

Torqu e

Con-

trol

Input Signal

Clear Signal

Reference Voltage

Input Impedance

Circuit Time

16 μs

Constant

Continued from previous page.

2-8

*1. If you combine a Σ-7-Series SERVOPACK with a Σ-V-Series Option Module, the following Σ-V-Series SERVO-

PACKs specifications must be used: a surrounding air temperature of 0°C to 55°C and an altitude of 1,000 m max. Also, the applicable surrounding range cannot be increased by derating.

2.3.2 FT82 SERVOPACK with MECHATROLINK-II Communications References

SERVOPACK Ratings and Specications

Degree

SERVOPACK Models

IP20

SGD7S-2R8A, -120A (three-phase, 200-VAC input), and -2R8F

IP10

SGD7S-120A10A008 (single-phase, 200-VAC input)

*2. The coefficient of speed fluctuation for load fluctuation is defined as follows:

Coefcient of speed uctuation =

*3. Always perform risk assessment for the system and confirm that the safety requirements are met.

No-load motor speed - Total-load motor speed

Rated motor speed

× 100%

2.3 Specifications

2.3.2

FT82 SERVOPACK with MECHATROLINK-II Communications References

Item Specification

Control Method IGBT-based PWM control, sine wave current drive

Feedback Serial encoder: 24 bits (incremental encoder/absolute encoder)

-5°C to 55°C (With derating, usage is possible between 55°C and 60°C.) 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)

-20°C to 85°C

95% relative humidity max. (with no freezing or condensation)

4.9 m/s

19.6 m/s

Environmental Conditions

Surrounding Air Temperature

Storage Temperature

Surrounding Air Humidity

Storage Humidity

Vibration Resistance

Shock Resistance

Degree of Protection

Pollution Degree

• Must be no corrosive or flammable gases.

• Must be no exposure to water, oil, or chemicals.

• Must be no dust, salts, or iron dust.

1,000 m max. (With derating, usage is possible between 1,000 m and

Altitude

2,000 m.) Refer to the following manual for derating specifications.

-7-Series Σ-7S SERVOPACK with MECHATROLINK-II Communications

References Product Manual (Manual No.: SIEP S800001 27)

Do not use the SERVOPACK in the following locations: Locations sub-

Others

ject to static electricity noise, strong electromagnetic/magnetic fields, or radioactivity

Refer to the following section for details.

Applicable Standards

Compliance with UL Standards, EU Directives, and Other Safety Stan-

dards on page xxx

Mounting Base-mounted or rack-mounted

Speed Control Range

1:5000 (At the rated torque, the lower limit of the speed control range must not cause the Servomotor to stop.)

±0.01% of rated speed max. (for a load fluctuation of 0% to 100%)

Performance

Coefficient of Speed Fluctuation

Torqu e C o n t rol Pre c i sion (Repeatability)

Soft Start Time Setting

0% of rated speed max. (for a voltage fluctuation of ±10%)

±0.1% of rated speed max. (for a temperature fluctuation of 25°C ±25°C)

±1%

0 s to 10 s (Can be set separately for acceleration and deceleration.)

Continued on next page.

2-9

2.3 Specifications

2.3.2 FT82 SERVOPACK with MECHATROLINK-II Communications References

Item Specification

Encoder Divided Pulse Output

Overheat Protection Input

Sequence Input Signals

I/O Signals

Sequence Output Signals

RS-422A Communications (CN3)

Communications

USB Communications (CN7)

Displays/Indicators

Input Signals That Can Be Allocated

Fixed Output

Output Signals That Can Be Allocated

Interfaces

1:N Communications

Axis Address Setting

Interface

Communications Standar

Phase A, phase B, phase C: Line-driver output Number of divided output pulses: Any setting is allowed.

Number of input points: 1 Input voltage range: 0 V to +5 V

Allowable voltage range: 24 VDC ±20% Number of input points: 7

Input method: Sink inputs or source inputs Input Signals

• /DEC (Origin Return Deceleration Switch) signal

• /EXT1 to /EXT3 (External Latch Input 1 to 3) signals

• P-OT (Forward Drive Prohibit) and N-OT (Reverse Drive Prohibit) sig-

nals

• /P-CL (Forward External Torque Limit) and /N-CL (Reverse External Torqu e L i m i t) s i g n a l s

• /P-DET (Polarity Detection) signal

A signal can be allocated and the positive and negative logic can be changed.

Allowable voltage range: 5 VDC to 30 VDC Number of output points: 1 Output signal: ALM (Servo Alarm) signal

Allowable voltage range: 5 VDC to 30 VDC Number of output points: 3 (A photocoupler output (isolated) is used.)

Output Signals

• /COIN (Positioning Completion) signal

• /V-CMP (Speed Coincidence Detection) signal

• /TGON (Rotation Detection) signal

• /S-RDY (Servo Ready) signal

• /CLT (Torque Limit Detection) signal

• /VLT (Speed Limit Detection) signal

• /BK (Brake) signal

• /WARN (Warning) signal

• /NEAR (Near) signal

A signal can be allocated and the positive and negative logic can be changed.

Personal computer (with SigmaWin+)

Up to N = 15 stations possible for RS-422A port

Set with parameters.

Digital Operator (JUSP-OP07A-E) and personal computer (with SigmaWin+)

Confor

ms to USB2.0 standard (12 Mbps).

CHARGE, PWR, and COM indicators, and one-digit seven-segment display

Continued from previous page.

Continued on next page.

2-10

2.3 Specifications

SERVOPACK Ratings and Specications

2.3.2 FT82 SERVOPACK with MECHATROLINK-II Communications References

Continued from previous page.

Item Specification

MECHATROLINK-II Communications

Communications Protocol

Station Address Settings

Baud Rate

MECHATROLINK-II

41h to 5Fh (maximum number of slaves: 30) Selected with the combination of a rotary switch (S2) and DIP switch (S3).

10 Mbps, 4 Mbps A DIP switch (S3) is used to select the baud rate.

Transmission Cycle 250 μs or 0.5 ms to 4.0 ms (multiples of 0.5 ms)

Number of Transmission Bytes

Reference Method

Performance

Reference Input

MECHATROLINK-II Communications Setting Switches

17 or 32 bytes/station A DIP switch (S3) is used to select the number of transmission bytes.

Position, speed, or torque control with MECHATROLINK-II communications

MECHATROLINK-I or MECHATROLINK-II commands (sequence, motion, data setting, data access, monitoring, adjustment, etc.)

Rotary switch (S2) positions: 16

Number of DIP switch (S3) pins: 4

Number of points: 2 Output voltage range: ±10 VDC (effective linearity range: ±8 V)

Analog Monitor (CN5)

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.

Built-in

Regenerative Processing

Refer to the following catalog for details.

AC Servo Drives Σ-7 Series (Manual No.: KAEP S800001 23)

Stopping with dynamic brake, deceleration to a stop, or coasting to a

Overtravel (OT) Prevention

stop for the P-OT (Forward Drive Prohibit) or N-OT (Reverse Drive Prohibit) signal

Protective Functions Overcurrent, overvoltage, low voltage, overload, regeneration error, etc.

Utility Functions Gain adjustment, alarm history, jogging, origin search, etc.

Inputs /HWBB1 and /HWBB2: Base block signals for Power Modules

Safety Functions

Applicable Option Modules

*1. If you combine a Σ-7-Series SERVOPACK with a Σ-V-Series Option Module, the following Σ-V-Series SERVO-

PACKs specifications must be used: a surrounding air temperature of 0°C to 55°C and an altitude of 1,000 m max. Also, the applicable surrounding range cannot be increased by derating.

*2. The coefficient of speed fluctuation for load fluctuation is defined as follows:

Coefcient of speed uctuation =

*3. Always perform risk assessment for the system and confirm that the safety requirements are met.

Output EDM1: Monitors the status of built-in safety circuit (fixed output).

Applicable Standards

ISO13849-1 PLe (Category 3), IEC61508 SIL3

Fully-closed Modules and Safety Modules

Note: You cannot use a Fully-closed Module and a Safety Module together.

No-load motor speed - Total-load motor speed

Rated motor speed

× 100%

2-11

2.3 Specifications

Degree

SERVOPACK Models

IP20

SGD7S-2R8A, -120A (three-phase, 200-VAC input), and -2R8F

IP10

SGD7S-120A20A008 (single-phase, 200-VAC input)

2.3.3 FT82 SERVOPACK with MECHATROLINK-III Communications References

2.3.3

FT82 SERVOPACK with MECHATROLINK-III Communications References

Item Specification

Drive Method IGBT-based PWM control, sine wave current drive

Feedback Serial encoder: 24 bits (incremental encoder/absolute encoder)

-5°C to 55°C (With derating, usage is possible between 55°C and 60°C.) Refer to the following manual for derating specifications.

-7-Series Σ-7S SERVOPACK with MECHATROLINK-III Communications

References Product Manual (Manual No.: SIEP S800001 28)

-20°C to 85°C

95% relative humidity max. (with no freezing or condensation)

4.9 m/s

19.6 m/s

Environmental Conditions

Surrounding Air Temperature

Storage Temperature

Surrounding Air Humidity

Storage Humidity

Vibration Resistance

Shock Resistance

Degree of Protection

Pollution Degree

• Must be no corrosive or flammable gases.

• Must be no exposure to water, oil, or chemicals.

• Must be no dust, salts, or iron dust.

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.

-7-Series Σ-7S SERVOPACK with MECHATROLINK-III Communications

References Product Manual (Manual No.: SIEP S800001 28)

Altitude

Do not use the SERVOPACK in the following locations: Locations sub-

Others

ject to static electricity noise, strong electromagnetic/magnetic fields, or radioactivity

Refer to the following section for details.

Applicable Standards

Compliance with UL Standards, EU Directives, and Other Safety Stan-

dards on page xxx

Mounting Base-mounted or rack-mounted

Speed Control Range

1:5000 (At the rated torque, the lower limit of the speed control range must not cause the Servomotor to stop.)

±0.01% of rated speed max. (for a load fluctuation of 0% to 100%)

Performance

Coefficient of Speed Fluctuation

Torque Control Precision (Repeatability)

Soft Start Time Setting

0% of rated speed max. (for a load fluctuation of ±10%)

±0.1% of rated speed max. (for a temperature fluctuation of 25°C ±25°C)

±1%

0 s to 10 s (Can be set separately for acceleration and deceleration.)

Continued on next page.

2-12

SERVOPACK Ratings and Specications

Item Specification

Encoder Divided Pulse Output

Overheat Protection Input

Sequence Input Signals

I/O Signals

Sequence Output Signals

RS-422A Communications

Communications

Displays/Indicators

(CN3)

USB Communications (CN7

2.3 Specifications

2.3.3 FT82 SERVOPACK with MECHATROLINK-III Communications References

Continued from previous page.

Phase A, phase B, phase C: Line-driver output Number of divided output pulses: Any setting is allowed.

Number of input points: 1 Input voltage range: 0 V to +5 V

Allowable voltage range: 24 VDC ±20%

Number of input points: 7

Input method: Sink inputs or source inputs Input Signals

Input Signals That Can Be Allocated

Fixed Output

Output Signals That Can Be Allocated

Interfaces

1:N Communications

Axis Address Setting

Interface Personal computer (with SigmaWin+)

Commu-

)

nications Standard

• /DEC (Origin Return Deceleration Switch) signal

• /EXT1 to /EXT3 (External Latch Input 1 to 3) signals

• P-OT (Forward Drive Prohibit) and N-OT (Reverse Drive Prohibit) sig-

nals

• /P-CL (Forward External Torque Limit) and /N-CL (Reverse External Torque Limit) signals

• /P-DET (Polarity Detection) signal

A signal can be allocated and the positive and negative logic can be changed.

Allowable voltage range: 5 VDC to 30 VDC Number of output points: 1 Output signal: ALM (Servo Alarm) signal

Allowable voltage range: 5 VDC to 30 VDC Number of output points: 3 (A photocoupler output (isolated) is used.)

Output Signals

• /COIN (Positioning Completion) signal

• /V-CMP (Speed Coincidence Detection) signal

• /TGON (Rotation Detection) signal

• /S-RDY (Servo Ready) signal

• /CLT (Torque Limit Detection) signal

• /VLT (Speed Limit Detection) signal

• /BK (Brake) signal

• /WARN (Warning) signal

• /NEAR (Near) signal

A signal can be allocated and the positive and negative logic can be changed.

Digital Operator (JUSP-OP05A-1-E) and personal computer (with SigmaWin+)

Up to N = 15 stations possible for RS-422A port

Set with parameters.

Conforms to USB2.0 standard (12 Mbps).

CHARGE, PWR, CN, L1, and L2 indicators, and one-digit seven-segment display

Continued on next page.

2-13

2.3 Specifications

× 100%

Coefcient of speed uctuation =

No-load motor speed - Total-load motor speed

Rated motor speed

2.3.3 FT82 SERVOPACK with MECHATROLINK-III Communications References

Item Specification

Communications Protocol

Station Address MECHATROLINK-III Communications

Settings

Baud Rate 100 Mbps

Transmission Cycle

Number of Transmis-

sion Bytes

Performance

Reference Method

Reference Input

Profile

MECHATROLINK-III Communications Setting Switches

MECHATROLINK-III

03h to EFh (maximum number of slaves: 62) The rotary switches (S1 and S2) are used to set the station address.

125 μs, 250 μs, 500 μs, 750 μs,

1.0 ms to 4.0 ms (multiples of 0.5 ms)

32 or 48 bytes/station A DIP switch (S3) is used to select the number of transmission bytes.

Position, speed, or torque control with MECHATROLINK-III communications

MECHATROLINK-III commands (sequence, motion, data setting, data access, monitoring, adjustment, etc.)

MECHATROLINK-III standard servo profile

Rotary switch (S1 and S2) positions: 16

Number of DIP switch (S3) pins: 4

Number of points: 2 Output voltage range: ±10 VDC (effective linearity range: ±8 V)

Analog Monitor (CN5)

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.

Built-in

Regenerative Processing

Refer to the following catalog for details.

AC Servo Drives Σ-7 Series (Manual No.: KAEP S800001 23)

Stopping with dynamic brake, deceleration to a stop, or coasting to a

Overtravel (OT) Prevention

stop for the P-OT (Forward Drive Prohibit) or N-OT (Reverse Drive Prohibit) signal

Protective Functions Overcurrent, overvoltage, low voltage, overload, regeneration error, etc.

Utility Functions Gain adjustment, alarm history, jogging, origin search, etc.

Inputs /HWBB1 and /HWBB2: Base block signals for Power Modules

Safety Functions

Applicable Option Modules

*1. If you combine a Σ-7-Series SERVOPACK with a Σ-V-Series Option Module, the following Σ-V-Series SERVO-

PACKs specifications must be used: a surrounding air temperature of 0°C to 55°C and an altitude of 1,000 m max. Also, the applicable surrounding range cannot be increased by derating.

*2. The coefficient of speed fluctuation for load fluctuation is defined as follows:

Output EDM1: Monitors the status of built-in safety circuit (fixed output).

Applicable

Standards

ISO13849-1 PLe (Category 3), IEC61508 SIL3

Fully-closed Modules and Safety Modules

Note: You cannot use a Fully-closed Module and a Safety Module together.

Continued from previous page.

*3. Always perform risk assessment for the system and confirm that the safety requirements are met.

2-14

2.3 Specifications

SERVOPACK Ratings and Specications

2.3.4 Command Option Attachable-type FT82 SERVOPACKs with INDEXER Modules

2.3.4

Command Option Attachable-type FT82 SERVOPACKs with INDEXER Modules

The specifications when the INDEXER Module is combined with a Command Option Attachable-type SERVOPACK are given in the following table

Item Specification

Control Method IGBT-based PWM control, sine wave current drive

Feedback Serial encoder: 24 bits (incremental encoder/absolute encoder)

Surrounding Air Temperature

Storage Temperature

Surrounding Air Humidity

Storage Humidity

Vibration Resistance

Environmental Conditions

Applicable Standards

Mounting Base-mounted or rack-mounted

Performance

Shock Resistance

Degree of Protection IP10

Pollution Degree

Altitude 1,000 m or less.

Others

Speed Control Range

Coefficient of Speed Fluctuation

Torque Control Precision (Repeatability)

Soft Start Time Setting

0°C to 55°C

-20°C to 85°C

90% relative humidity max. (with no freezing or condensation)

4.9 m/s

19.6 m/s

Do not use the SERVOPACK in the following locations: Locations subject to static electricity noise, strong electromagnetic/magnetic fields, or radioactivity

±0.01% of rated speed max. (for a load fluctuation of 0% to 100%)

0% of rated speed max. (for a voltage fluctuation of ±10%)

±0.1% of rated speed max. (for a temperature fluctuation of 25°C ±25°C)

±1%

0 s to 10 s (Can be set separately for acceleration and deceleration.)

• Must be no corrosive or flammable gases.

• Must be no exposure to water, oil, or chemicals.

• Must be no dust, salts, or iron dust.

Refer to the following section for details.

Compliance with UL Standards, EU Directives, and Other Safety Stan-

dards on page xxx

1:5000 (At the rated torque, the lower limit of the speed control range must not cause the Servomotor to stop.)

Continued on next page.

2-15

2.3 Specifications

2.3.4 Command Option Attachable-type FT82 SERVOPACKs with INDEXER Modules

Item Specification

Phase A, phase B, phase C: Line-driver output Number of divided output pulses: Any setting is allowed.

Number of input points: 1 Input voltage range: 0 V to +5 V

Allowable voltage range: 24 VDC ±20% Number of input points: 6

Input method: Sink inputs or source inputs Input signals:

• /ALM-RST (Alarm Reset) signal

• P-OT (Forward Drive Prohibit) signal

• N-OT (Reverse Drive Prohibit) signal

• /DEC (Origin Return Deceleration) switch

• /RGRT (Registration Input) signal

• /S-ON (Servo ON) signal

Positive or negative logic can be changed in the parameters.

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) signal

• /PGMRES (Program Table Operation 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) signal

• /SEL4 (Program Step Selection Input 4) signal

• /SEL5 (Program Step Selection Input 5) signal

• /SEL6 (Program Step Selection Input 6) signal

• /SEL7 (Program Step Selection Input 7) signal

I/O Signals

Encoder Divided Pulse Output

Overheat Protection Input

SERVOPACK

Sequence Input Signals

Fixed

Inputs

INDEXER Module

Continued from previous page.

• /HOME (Origin Return Input) signal

• /JOGP (Forward Jog Input) signal

• /JOGN (Reverse Jog Input) signal

• /JOG0 (Jog Speed Table Selection Input 0) signal

• /JOG1 (Jog Speed Table Selection Input 1) signal

• /JOG2 (Jog Speed Table Selection Input 2) signal

• /JOG3 (Jog Speed Table Selection Input 3) signal

Continued on next page.

2-16

SERVOPACK Ratings and Specications

I/O Signals

Communications

Displays/ Indicators

2.3 Specifications

2.3.4 Command Option Attachable-type FT82 SERVOPACKs with INDEXER Modules

Continued from previous page.

Item Specification

Fixed

Allowable voltage range: 5 VDC to 30 VDC

Out-

Number of output points: 1

puts

Output signal: ALM (Servo Alarm Output) signal

Allowable voltage range: 5 VDC to 30 VDC Number of output points: 3 (A photocoupler output (isolated) is used.)

Output signals:

• /WARN (Warning Output) signal

SERVOPACK

Sequence Output Signals

INDEXER Module

Interfaces

RS-422A Communications (CN3)

USB Communications (CN7)

SERVOPACK CHARGE and PWR indicators, and one-digit seven-segment display

INDEXER Module

1:N Communications

Axis Address Setting

Interface

Communications Standard

• /BK (Brake Output) signal

• /S-RDY (Servo Ready Output) signal

• ALO1, ALO2, and ALO3 (Alarm Code Output) signals

Signal allocations and positive or negative logic can be changed in the parameters.

Output Signals for Which

Allocations Can Be Changed

Allowable voltage range: 5 VDC to 30 VDC Number of output points: 9 Output signals:

• /INPOSITION (Positioning Completion Output) signal

• /POUT0 (Programmable Output 0) signal

Fixed

• /POUT1 (Programmable Output 1) signal

Out-

• /POUT2 (Programmable Output 2) signal

puts

• /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

Digital Operator (JUSP-OP05A-1-E), Personal computer (with SigmaWin+)

Up to N = 15 stations possible for RS-422A port

Set with parameters.

Digital Operator (JUSP-OP07A-E) and personal computer (with SigmaWin+)

Conforms to USB2.0 standard (12 Mbps).

Refer to the following manual for details.

Σ-7-Series Σ-7S Command Option Attachable-type SERVOPACK with INDEXER Module Product Manual (Manual No.: SIEP S800001 64)

Continued on next page.

2-17

2.3 Specifications

× 100%

Coefcient of speed uctuation =

No-load motor speed - Total-load motor speed

Rated motor speed

2.3.4 Command Option Attachable-type FT82 SERVOPACKs with INDEXER Modules

Item Specification

• Program table positioning in which steps are executed sequentially by Program Table Method

commands given through contact input or serial communications

• Positioning in which station numbers are specified by commands

given through contact input or serial communications

Continued from previous page.

Max. Number of

256

Steps

Max.

Operating Methods

Number of Ta bl e s

Max. Number of

256

Stations

Serial command by 1-channel ASCII code Serial Communications Method

Communications specifications: RS-422/485 (50 m max.) Connection topology: Multi-drop connection

(16 axes max.)

Baud rate: 9600, 19200, 38400 bps

Other Functions Registration (positioning by external signals), origin return

Number of points: 2 Output voltage range: ±10 VDC (effective linearity range: ±8 V)

Analog Monitor (CN5)

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.

Built-in

Regenerative Processing

Refer to the following manual for details.

Σ-7-Series Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)

Stopping with dynamic brake, deceleration to a stop, or coasting to a

Overtravel (OT) Prevention

stop for the P-OT (Forward Drive Prohibit) or N-OT (Reverse Drive Prohibit) signal

Protective Functions Overcurrent, overvoltage, low voltage, overload, regeneration error, etc.

Utility Functions Gain adjustment, alarm history, jogging, origin search, etc.

Inputs /HWBB1 and /HWBB2: Base block signals for Power Modules

Safety Functions

Applicable Option Modules

*1. The coefficient of speed fluctuation for load fluctuation is defined as follows:

Output EDM1: Monitors the status of built-in safety circuit (fixed output).

Applicable Standards

ISO13849-1 PLe (Category 3), IEC61508 SIL3

Fully-Closed Module

Note: You cannot use a Safety Module if you are using an INDEXER Module.

*2. Always perform risk assessment for the system and confirm that the safety requirements are met.

2-18

2.3 Specifications

SERVOPACK Ratings and Specications

2.3.5 FT83 SERVOPACKs with Analog Voltage/Pulse Train References

2.3.5

FT83 SERVOPACKs with Analog Voltage/Pulse Train References

The product specifications are given below.

Item Specification

Control Method IGBT-based PWM control, sine wave current drive

Feedback

Surrounding Air Temperature

Storage Temperature

Surrounding Air Humidity

Storage Humidity

Environmental Conditions

Applicable Standards

Mounting Base-mounted or rack-mounted

Performance

I/O Signals

Vibration Resistance

Shock Resistance

Degree of Protection IP10

Pollution Degree

Altitude

Others

Speed Control Range

Coefficient of Speed Fluctua-

tion

Torque Control Precision (Repeatability)

Soft Start Time Setting

Encoder Divided Pulse Output

Overheat Protection Input

Serial encoder: 24 bits (incremental encoder/absolute encoder)

0°C to 55°C

-20°C to 85°C

90% relative humidity max. (with no freezing or condensation)

4.9 m/s

19.6 m/s

• Must be no corrosive or flammable gases.

• Must be no exposure to water, oil, or chemicals.

• Must be no dust, salts, or iron dust.

1,000 m max.

Do not use the SERVOPACK in the following locations: Locations subject to static electricity noise, strong electromagnetic/magnetic fields, or radioactivity

Refer to the following section for details.

1:5000 (At the rated torque, the lower limit of the speed control range must not cause the Servomotor to stop.)

±0.01% of rated speed max. (for a load fluctuation of 0% to 100%)

0% of rated speed max. (for a load fluctuation of ±10%)

±0.1% of rated speed max. (for a temperature fluctuation of 25°C ±25°C)

±1%

0 s to 10 s (Can be set separately for acceleration and deceleration.)

Phase A, phase B, phase C: Line-driver output Number of divided output pulses: Any setting is allowed.

Number of input points: 1 Input voltage range: 0 V to +5 V

Compliance with UL Standards, EU Directives, and Other

Safety Standards on page xxx

Continued on next page.

2-19

2.3 Specifications

2.3.5 FT83 SERVOPACKs with Analog Voltage/Pulse Train References

Item Specification

Allowable voltage range: 5 VDC ±5% Number of input points: 1 SEN (Absolute Data Request) signal

Number of input points: 1 Input method: Line driver or open collector

Input Signals

• /DEC (Origin Return Deceleration Switch) signal

• /RGRT (Registration Input) signal

• CLR (Clear) signal

Allowable voltage range: 24 VDC ±20% Number of input points: 7

Input method: Sink inputs or source inputs Input Signals

• /S-ON (Servo ON) signal

• /P-CON (Proportional Control) Signal

• P-OT (Forward Drive Prohibit) and N-OT (Reverse Drive

Prohibit) signals

• /ALM-RST (Alarm Reset) signal

• /P-CL (Forward External Torque Limit) and /N-CL (Reverse

External Torque Limit) signals

• /SPD-D (Motor Direction) signal

• /SPD-A and /SPD-B (Internal 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-Stop Input)

signal

• /JOGP (Forward Jog Input) signal

• /JOGN (Reverse Jog Input) signal

• /HOME (Origin Return Input) signal

• /PGMRES (Program Table Operation 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) signal

• /SEL4 (Program Step Selection Input 4) signal

• /JOG0 (Jog Speed Table Selection Input 0) signal

• /JOG1 (Jog Speed Table Selection Input 1) signal

• /JOG2 (Jog Speed Table Selection Input 2) signal

A signal can be allocated and the positive and negative logic

n be changed.

I/O Signals

Sequence Input Signals

SERVOPAC Ks

Fixed Input

Input Signals for Which Allocations Can Be Changed

Continued from previous page.

Continued on next page.

2-20

2.3.5 FT83 SERVOPACKs with Analog Voltage/Pulse Train References

SERVOPACK Ratings and Specications

Item Specification

Fixed Output

Sequence

I/O Signals

Communications

Displays/ Indicators

Panel Operator Four push switches

Operating Methods

Analog Monitor (CN5)

Output Signals

Digital Operator Communications (CN3)

USB Communications (CN7)

SERVOPACK CHARGE indicator and five-digit seven-segment display

Program Table

Other Functions

SERVOPAC Ks

Interfaces

1:N Communications

Axis Address Setting

Interface Personal computer (with SigmaWin+)

Communications Standard

Maximum Number of Steps

Output Signals That Can Be Allocated

Allowable voltage range: 5 VDC to 30 VDC Number of output points: 1 Output signal: ALM (Servo Alarm) signal

• /COIN (Positioning Completion) Signal

• /V-CMP (Speed Coincidence Detection) Signal

• /TGON (Rotation Detection) Signal

• /S-RDY (Servo Ready) signal

• /CLT (Torque Limit Detection) Signal

• /VLT (Speed Limit Detection) Signal

• /BK (Brake) signal

• /WARN (Warning) Signal

• /NEAR (Near) signal

• /PSELA (Reference Pulse Input Multiplication Switching

Output) signal

• ALO1, ALO2, and ALO3 (Alarm Code) signals

• /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

• /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.

Digital Operator (JUSP-OP05A-1-E)

Up to N = 15 stations possible for RS-422A port

Set with parameters.

Conforms to USB2.0 standard (12 Mbps).

• Program table positioning in which steps are executed in sequence with commands from contact inputs

• Positioning by specifying station numbers with commands from contact inputs

steps

256 (32 steps max. i

Registration (positioning with external signals) and origin returns.

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)

2.3 Specifications

Continued from previous page.

f input signals are used)

Continued on next page.

2-21

2.3 Specifications

2.3.5 FT83 SERVOPACKs with Analog Voltage/Pulse Train References

Item Specification

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.

Built-in (An external resistor must be connected to the SGD7S-470A to -780A.)

Regenerative Processing

Refer to the following catalog for details.

Σ-7 Series AC Servo Drive Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)

Stopping with dynamic brake, deceleration to a stop, or

Overtravel (OT) Prevention

coasting to a stop for the P-OT (Forward Drive Prohibit) or N-OT (Reverse Drive Prohibit) signal

Protective Functions

Utility Functions

Inputs

Safety Functions

Output

Applicable Standards

Overcurrent, overvoltage, low voltage, overload, regeneration error, etc.

Gain adjustment, alarm history, jogging, origin search, etc.

/HWBB1 and /HWBB2: Base block signals for Power Modules

EDM1: Monitors the status of built-in safety circuit (fixed output).

ISO13849-1 PLe (Category 3) and IEC61508 SIL3

Fully-closed Modules and Safety Modules

Applicable Option Modules

Soft Start Time Setting

Reference Voltage

Note: You cannot use a Fully-closed Module and a Safety Module

0 s to 10 s (Can be set separately for acceleration and deceleration.)

• Maximum input voltage: ±12 V (forward motor rotation for positive reference).

• 6 VDC at rated speed (default setting). Input gain setting can be changed.

Input

Input Signal

Imped-

Approx. 14 kΩ

ance

Circuit Time Constant

30 μs

Controls

Speed

Con-

trol

Rotation

Internal Set Speed Control

Direction Selection

Speed Selection

With Proportional Control signal

With Forward/Reverse External Torque Limit signals (speed 1 to 3 selection). Servomotor stops or another control method is used when both signals are OFF.

Continued from previous page.

together.

Continued on next page.

2-22

2.3 Specifications

SERVOPACK Ratings and Specications

2.3.5 FT83 SERVOPACKs with Analog Voltage/Pulse Train References

Continued from previous page.

Item Specification

Posi-

tion

Con-

trol

Feedforward Compensation

Output Signal Positioning Completed Width Setting

Reference Pulse Form

Input Form

Input Signals

Refer-

ence

pulses

Maximum Input Frequency

0% to 100%

0 to 1,073,741,824 reference units

One of the following is selected: Sign + pulse train, CW + CCW pulse trains, and two-phase pulse trains with 90° phase differential

Line driver or open collector

• 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 Two-phase pulse trains with 90° phase differential: 200 kpps

Controls

Input Multiplication

1 to 100 times

Switching

Position deviation clear Line driver or open collector

• Maximum input voltage: ±12 V (forward torque output for positive reference).

• 3 VDC at rated torque (default setting). Input gain setting can be changed.

Approx. 14 kΩ

Torqu e

Con-

trol

Input Signal

Clear Signal

Reference Voltage

Input Impedance

Circuit Time

16 μs

Constant

*1. If you combine a Σ-7-Series SERVOPACK with a Σ-V-Series Option Module, the following Σ-V-Series SERVO-

PACKs specifications must be used: a surrounding air temperature of 0°C to 55°C and an altitude of 1,000 m max. Also, the applicable surrounding range cannot be increased by derating.

*2. The coefficient of speed fluctuation for load fluctuation is defined as follows:

Coefcient of speed uctuation =

*3. Always perform risk assessment for the system and confirm that the safety requirements are met.

No-load motor speed - Total-load motor speed

Rated motor speed

× 100%

2-23

Maintenance

This chapter provides information on the meaning of, causes of, and corrections for alarms and warnings.

3.1

3.2

3.3

FT82 SERVOPACKs with Analog Voltage/Pulse Train References . . 3-3

3.1.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.1.2 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.1.3 Troubleshooting Alarms . . . . . . . . . . . . . . . . . . . . 3-9

3.1.4 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . 3-34

3.1.5 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . 3-34

3.1.6 Troubleshooting Warnings . . . . . . . . . . . . . . . . . 3-35

3.1.7 Troubleshooting Based on the Operation and

Conditions of the Servomotor . . . . . . . . . . . . . . 3-41

FT82 SERVOPACK with MECHATROLINK-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

FT82 SERVOPACK with MECHATROLINK-III Communications References . . 3-98

3.3.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . 3-98

3.3.2 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . 3-98

3.3.3 Troubleshooting Alarms . . . . . . . . . . . . . . . . . . 3-103

3.3.4 Warning Displays . . . . . . . . . . . . . . . . . . . . . . 3-128

3.3.5 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 . . . . . . . . . . . . . . . . . . . . . . . 3-181

3.4.6 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . .3-181

3.4.7 Troubleshooting Warnings . . . . . . . . . . . . . . . . 3-183

3.4.8 INDEXER Module Error Displays 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 Troubleshooting Warnings . . . . . . . . . . . . . . . . 3-239

3.5.8 INDEXER Warning Displays and

Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . .3-245

3.5.9 Troubleshooting Based on the Operation and

Conditions of the Servomotor . . . . . . . . . . . . .3-249

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

Maintenance

Example: If an A.020 alarm occurs,

“020” will ash on the display.

3.1.1 Alarm Displays

3.1

3.1.1

3.1.2

FT82 SERVOPACKs with Analog Voltage/Pulse Train References

Alarm Displays

If an error occurs in the SERVOPACK, an alarm number will be displayed on the panel display. However, if - appears on the panel display, the display will indicate a SERVOPACK communications error. Replace the SERVOPACK.

List of Alarms

The list of alarms gives the alarm name, alarm meaning, alarm stopping method, alarm reset possibility, and alarm code output in order of the alarm numbers.

Servomotor Stopping Method for Alarms

Refer to the following manual for information on the stopping method for alarms.

Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual (Manual No.: SIEP S800001 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

Alarm Number

A.020

A.021 Parameter Format Error

A.022 System Checksum Error

A.024 System Alarm

A.025 System Alarm

A.030

Parameter Checksum Error

Main Circuit Detector Error

Alarm Name Alarm Meaning

There is an error in the parameter data in the SERVOPACK.

There is an error in the parameter data format in the SERVOPACK.

There is an error in the parameter data in the SERVOPACK.

An internal program error occurred in the SERVOPAC K.

There is an error in the detection data for the main circuit.

Servo-

motor

Stop-

ping

Method

Gr.1 No H H H

Gr.1 Yes H H H

Alarm Reset

Possi-

ble?

Continued on next page.

Alarm Code

Output

ALO1 ALO2 ALO3

3-3

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.2 List of Alarms

Alarm Number

A.040 Parameter Setting Error

A.041

A.042

A.044

A.050 Combination Error

A.051

A.0b0

A.100 Overcurrent Detected

A.101

A.300 Regeneration Error

A.320 Regenerative Overload

A.330

A.400 Overvoltage

A.410 Undervoltage

A.510 Overspeed

A.511

A.520 Vibration Alarm

A.521 Autotuning Alarm

Encoder Output Pulse Setting Error

Parameter Combination Error

Semi-Closed/Fully-Closed Loop Control Parameter Setting Error

Unsupported Device Alarm

Invalid Servo ON Command Alarm

Motor Overcurrent Detected

Main Circuit Power Supply Wiring Error

Encoder Output Pulse Overspeed

Alarm Name Alarm Meaning

A parameter setting is outside of the setting range.

The setting of Pn212 (Encoder Output Pulses) or Pn281 (Encoder Output Resolution) is outside of the setting range or does not satisfy the setting conditions.

The combination of some parameters exceeds the setting range.

The settings of the Option Module and Pn002 = n.X (External Encoder Usage) do not match.

The capacities of the SERVOPACK and Servomotor do not match.

An unsupported device was connected.

The /S-ON (Servo ON) signal was input from the host controller after a utility function that turns ON the Servomotor was executed.

An overcurrent flowed through the power transformer or the heat sink overheated.

The current to the motor exceeded the allowable current.

There is an error related to regeneration.

A regenerative overload occurred.

• The AC power supply input setting or DC power supply input setting is not correct.

• The power supply wiring is not correct.

The main circuit DC voltage is too high.

The main circuit DC voltage is too low.

The motor exceeded the maximum speed.

The pulse output speed for the setting of Pn212 (Encoder Output Pulses) was exceeded.

Abnormal oscillation was detected in the motor speed.

Vibration was detected during autotuning for the tuning-less function.

Continued from previous page.

Servo-

motor Stop-

ping

Method

Gr.1 No HHH

Gr.1 Yes HHH

Gr.1 No HHH

Gr.1 Yes HHH

Gr.1 No L H H

Gr.1 Yes L L H

Gr.2 Yes L L H

Gr.1 Yes L L H

Gr.1 Yes H H L

Gr.2 Yes H H L

Gr.1 Yes L H L

Alarm Reset

Possi-

ble?

Continued on next page.

Alarm Code

Output

ALO1 ALO2 ALO3

3-4

Maintenance

Alarm Number

A.550

A.710 Instantaneous Overload

A.720 Continuous Overload

A.730

A.731

A.740

A.7A1

A.7A2

A.7A3

A.7Ab

A.810 Encoder Backup Alarm

A.820 Encoder Checksum Alarm

A.830 Encoder Battery Alarm

A.840 Encoder Data Alarm

A.850 Encoder Overspeed

A.860 Encoder Overheated

A.861 Motor Overheated

Maximum Speed Setting Error

Dynamic Brake Overload

Inrush Current Limiting Resistor Overload

Internal Temperature Error 1 (Control Board Temperature Error)

Internal Temperature Error 2 (Power Board Temperature Error)

Internal Temperature Sensor Error

SERVOPACK Built-in Fan Stopped

Alarm Name Alarm Meaning

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.2 List of Alarms

Continued from previous page.

The setting of Pn385 (Maximum Motor Speed) is greater than the maximum motor speed.

The Servomotor was operating for several seconds to several tens of seconds under a torque that largely exceeded the rating.

The Servomotor was operating continuously under a torque that exceeded the rating.

When the dynamic brake was applied, the rotational or linear kinetic energy exceeded the capacity of the dynamic brake resistor.

The main circuit power supply was frequently turned ON and OFF.

The surrounding temperature of the control PCB is abnormal.

The surrounding temperature of the power PCB is abnormal.

An error occurred in the temperature sensor circuit.

The fan inside the SERVOPACK stopped.

The power supplies to the encoder all failed and the position data was lost.

There is an error in the checksum results for encoder memory.

The battery voltage was lower than the specified level after the control power supply was turned ON.

There is an internal data error in the encoder.

The encoder was operating at high speed when the power was turned ON.

The internal temperature of the rotary encoder or linear encoder is too high.

The internal temperature of motor is too high.

Servo-

motor

Stop-

ping

Method

Gr.1 Yes L H L

Gr.2 Yes LLL

Gr.1 Yes LLL

Gr.2 Yes LLL

Gr.2 No LLL

Gr.1 Yes LLL

Gr.1 No H H H

Gr.1 Yes H H H

Gr.1 No H H H

Alarm Reset

Possi-

ble?

Continued on next page.

Alarm Code

Output

ALO1 ALO2 ALO3

3-5

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.2 List of Alarms

Alarm Number

A.862 Overheat Alarm

A.8A0 External Encoder Error

A.8A1

A.8A2

A.8A3

A.8A5

A.8A6

A.b10

A.b11

A.b20

A.b33 Current Detection Error 3

A.bF0 System Alarm 0

A.bF1 System Alarm 1

A.bF2 System Alarm 2

A.bF3 System Alarm 3

A.bF4 System Alarm 4

A.bF5 System Alarm 5

A.bF6 System Alarm 6

A.bF7 System Alarm 7

External Encoder Module Error

External Incremental Encoder Sensor Error

External Absolute Encoder Position Error

External Encoder Overspeed

External Encoder Overheated

Speed Reference A/D Error

Speed Reference A/D Data Error

Torque Reference A/D Error

Alarm Name Alarm Meaning

The input voltage (temperature) for the overheat protection input (TH) signal exceeded the setting of Pn61B (Overheat Alarm Level).

An error occurred in the external encoder.

An error occurred in the Serial Converter Unit.

An error occurred in the external encoder.

An error occurred in the position data of the external encoder.

An overspeed error occurred in the external encoder.

An overheating error occurred in the external encoder.

An error occurred in the A/D converter for the speed reference input.

An error occurred in the A/D conversion data for the speed reference.

An error occurred in the A/D converter for the torque reference input.

An error occurred in the current detection circuit.

Internal program error 0 occurred in the SERVOPACK .

Internal program error 1 occurred in the SERVOPACK .

Internal program error 2 occurred in the SERVOPACK .

Internal program error 3 occurred in the SERVOPACK .

Internal program error 4 occurred in the SERVOPACK .

Internal program error 5 occurred in the SERVOPACK .

Internal program error 6 occurred in the SERVOPACK .

Internal program error 7 occurred in the SERVOPACK .

Continued from previous page.

Servo-

motor Stop-

ping

Method

Gr.1 Yes HHH

Gr.2 Yes HHH

Gr.1 No HHH

Alarm Reset

Possi-

ble?

Continued on next page.

Alarm Code

Output

ALO1 ALO2 ALO3

3-6

Maintenance

Alarm Number

A.bF8 System Alarm 8

A.C10 Servomotor Out of Control

Encoder Clear Error or

A.C80

A.C90

A.C91

A.C92

A.CA0 Encoder Parameter Error

A.Cb0 Encoder Echoback Error

A.CC0

A.CF1

A.CF2

A.d00

A.d01

A.d02

Multiturn Limit Setting Error

Encoder Communications Error

Encoder Communications Position Data Acceleration Rate Error

Encoder Communications Timer Error

Multiturn Limit Disagreement

Reception Failed Error in Feedback Option Module Communications

Timer Stopped Error in Feedback Option Module Communications

Position Deviation Overflow

Position Deviation Overflow Alarm at Servo ON

Position Deviation Overflow Alarm for Speed Limit at Servo ON

Alarm Name Alarm Meaning

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.2 List of Alarms

Continued from previous page.

Internal program error 8 occurred in the SERVOPAC K.

The Servomotor ran out of control.

The multiturn data for the absolute encoder was not correctly cleared or set.

Communications between the encoder and SERVOPACK is not possible.

An error occurred in calculating the position data of the encoder.

An error occurred in the communications timer between the encoder and SERVOPAC K.

The parameters in the encoder are corrupted.

The contents of communications with the encoder are incorrect.

Different multiturn limits have been set in the encoder and the SERVOPACK.

Receiving data from the Feedback Option Module failed.

An error occurred in the timer for communications with the Feedback Option Module.

The setting of Pn520 (Excessive Position Deviation Alarm Level) was exceeded by the position deviation while the servo was ON.

The servo was turned ON after the position deviation exceeded the setting of Pn526 (Excessive Position Deviation Alarm Level at Servo ON) while the servo was OFF.

If position deviation remains in the deviation 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 reference pulses are input and the setting of Pn520 (Excessive Position Deviation Alarm Level) is exceeded before the limit is cleared.

Servo-

motor

Stop-

ping

Method

Gr.1 No H H H

Gr.1 Yes L H L

Gr.1 No L H L

Gr.1 Yes L L H

Gr.2 Yes L L H

Alarm Reset

Possi-

ble?

Continued on next page.

Alarm Code

Output

ALO1 ALO2 ALO3

3-7

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.2 List of Alarms

Alarm Number

Alarm Name Alarm Meaning

There was too much position

A.d10

Motor-Load Position Deviation Overflow

deviation between the motor and load during fully-closed loop control.

A.d30 Position Data Overflow

A.E71

A.E72

A.E74

A.Eb1

Safety Option Module Detection Failure

Feedback Option Module Detection Failure

Unsupported Safety Option Module

Safety Function Signal Input Timing Error

A.EC8 Gate Drive Error 1

A.EC9 Gate Drive Error 2

The position feedback data exceeded ±1,879,048,192.

Detection of the Safety Option Module failed.

Detection of the Feedback Option Module failed.

An unsupported Safety Option Module was connected.

An error occurred in the input timing of the safety function signal.

An error occurred in the gate drive circuit.

The voltage was low for more

A.F10

Power Supply Line Open Phase

than one second for phase R, S, or T when the main power supply was ON.

The Servomotor did not operate or power was not

A.F50

Servomotor Main Circuit Cable Disconnection

supplied to the Servomotor even though the /S-ON (Servo ON) signal was input when the Servomotor was ready to receive it.

FL-1*

FL-2*

FL-3*

FL-4*

System Alarm

An internal program error occurred in the SERVOPACK .

FL-5*

FL-6*

CPF00

Digital Operator Communications Error 1

Communications were not possible between the Digital Operator (model: JUSP-

CPF01

* These alarms are not stored in the alarm history. They are only displayed on the panel display.

Note: The A.Eb0, A.Eb2 to A.Eb9, and A.EC0 to A.EC2 alarms can occur when a Safety Module is connected.

Digital Operator Communications Error 2

Refer to the following manual for details.

-V-Series/Σ-V-Series for Large-Capacity Models/Σ-7-Series User’s Manual Safety Module (Manual No.: SIEP

C720829 06)

OP05A-1-E) and the SERVOPACK (e.g., a CPU error occurred).

Continued from previous page.

Servo-

motor Stop-

ping

Method

Alarm Reset

Possi-

ble?

Alarm Code

Output

ALO1 ALO2 ALO3

Gr.2 Yes L L H

Gr.1 No L L H

Gr.1 No H L L

Gr.2 Yes H L H

Gr.1 Yes H L H

–

No Undefined.

3-8

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

Maintenance

3.1.3 Troubleshooting Alarms

3.1.3

Troubleshooting Alarms

The causes of and corrections for the alarms are given in the following table. Contact your Yaskawa representative if you cannot solve a problem with the correction given in the table.

Alarm Number:

Alarm Name

A.020:

Parameter Checksum Error (There is an error in the parameter data in the SERVOPACK.)

A.021:

Parameter Format Error (There is an error in the parameter data format in the SERVOPACK.)

A.022:

System Checksum Error (There is an error in the parameter data in the SERVOPACK.)

Possible Cause Confirmation Correction Reference

The power supply voltage suddenly dropped.

The power supply was shut OFF while writing parameter settings.

The number of times that parameters were written exceeded the limit.

A malfunction was caused by noise from the AC power supply, ground, static electricity, or other source.

Gas, water drops, or cutting oil entered the SERVOPACK and caused failure of the internal components.

A failure occurred in the SERVOPACK.

The software version of the SERVOPACK that caused the alarm is older than the software version of the parameters specified to write.

A failure occurred in the SERVOPACK.

The power supply voltage suddenly dropped.

The power supply was shut OFF while setting a utility function.

A failure occurred in the SERVOPACK.

Measure the power supply voltage.

Check the timing of shutting OFF the power supply.

Check to see if the parameters were frequently changed from the host controller.

Turn the power supply to the SERVOPACK OFF and ON again. If the alarm still occurs, noise may be the cause.

Check the installation conditions.

Turn the power supply to the SERVOPACK OFF and ON again. If the alarm still occurs, the SERVOPACK may have failed.

Read the product information to see if the software versions are the same. If they are different, it could be the cause of the alarm.

–

Measure the power supply voltage.

Check the timing of shutting OFF the power supply.

Turn the power supply to the SERVOPACK OFF and ON again. If the alarm still occurs, the SERVOPACK may have failed.

Set the power supply voltage within the specified range, and initialize the parameter settings.

Initialize the parameter settings and then set the parameters again.

The SERVOPACK may be faulty. Replace the SERVOPACK. Reconsider the method for writing the parameters.

Implement countermeasures against noise.

The SERVOPACK may be faulty. Replace the SERVOPACK.

Write the parameters from another SERVOPACK with the same model and the same software version, and then turn the power OFF and ON again.

The SERVOPACK may be faulty. Replace the SERVOPACK.

Continued on next page.

–

3-9

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.3 Troubleshooting Alarms

Alarm Number:

Alarm Name

Possible Cause Confirmation Correction Reference

A.024:

System Alarm (An internal program error

A failure occurred in the SERVOPACK.

–

occurred in the SERVOPACK.)

A.025:

System Alarm (An internal program error

A failure occurred in the SERVOPACK.

–

occurred in the SERVOPACK.)

A.030:

Main Circuit Detector Error

A.040:

Parameter Setting Error (A parameter setting is outside of the setting range.)

A failure occurred in the SERVOPACK.

The SERVOPACK and Servomotor capacities do not match each other.

A failure occurred in the SERVOPACK.

A parameter setting is outside of the setting range.

The electronic gear ratio is outside of the setting range.

–

Check the combination of the SERVOPACK and Servomotor capacities.

–

Check the setting ranges of the parameters that have been changed.

Check the electronic gear ratio. The ratio must be within the following range: 0.001 < (Pn20E/Pn210) < 64,000.

The setting of Pn212 (Encoder Output

A.041:

Encoder Output Pulse Setting Error

Pulses) or Pn281 (Encoder Output Resolution) is outside of the setting range or

Check the setting of Pn212 or Pn281.

does not satisfy the setting conditions.

The speed of program jogging went below the setting range when the electronic gear ratio (Pn20E/

Check to see if the detection conditions

are satisfied. Pn210) or the Servomotor was changed.

The speed of program

A.042:

Parameter Combination Error

jogging went below the setting range when Pn533 or Pn585 (Program Jogging

Check to see if the

detection conditions

are satisfied.

Speed) was changed.

The movement speed of advanced autotuning went below the setting range when the electronic gear ratio (Pn20E/ Pn210)

Check to see if the

detection conditions

are satisfied.

or the Servomotor was changed.

Continued from previous page.

The SERVOPACK may be faulty. Replace the SERVOPACK.

Select a proper combination of SERVOPACK and Servomotor capacities.

The SERVOPACK may be faulty. Replace the SERVOPACK.

Set the parameters to values within the setting ranges.

Set the electronic gear ratio in the following range: 0.001 < (Pn20E/ Pn210) < 64,000.

Set Pn212 or Pn281 to an appropriate value.

Decrease the setting of

the electronic gear ratio (Pn20E/Pn210).

Increase the setting of

Pn533 or Pn585.

Decrease the setting of

the electronic gear ratio (Pn20E/Pn210).

–

Continued on next page.

3-10

Maintenance

Alarm Number:

Alarm Name

A.044:

Semi-Closed/ Fully-Closed Loop Control Parameter Setting Error

A.050:

Combination Error (The capacities of the SERVOPACK and Servomotor do not match.)

A.051:

Unsupported Device Alarm

A.0b0:

Invalid Servo ON Command Alarm

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.3 Troubleshooting Alarms

Continued from previous page.

Possible Cause Confirmation Correction Reference

The setting of the Fully-Closed Module does not match the setting of Pn002 = n.X (External

Check the setting of Pn002 = n.X.

Make sure that the setting of the Fully-closed Module agrees with the setting of Pn002 = n.X.

Encoder Usage).

The SERVOPACK and Servomotor capacities do not match each other.

A failure occurred in the encoder.

A failure occurred in the SERVOPACK.

Confirm that the following condition is met: 1/4 ≤ (Servomotor capacity/SERVOPACK capacity) ≤ 4

Replace the encoder and check to see if the alarm still occurs.

–

Select a proper combination of the SERVOPACK and Servomotor capacities.

Replace the Servomotor or encoder.

The SERVOPACK may be faulty. Replace the SERVOPACK.

–

An unsupported Serial Converter Unit or encoder (e.g., an external encoder) is connected to the

Check the product combination specifications.

Change to a correct combination of models.

–

SERVOPACK.

The /S-ON (Servo ON) signal was input from the host controller after a utility function that turns ON the Servomotor was exe-

–

Turn the power supply to the SERVOPACK OFF and ON again. Or, execute a software reset.

cuted.

Continued on next page.

3-11

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.3 Troubleshooting Alarms

Alarm Number:

Alarm Name

Possible Cause Confirmation Correction Reference

The Main Circuit Cable is not wired correctly or there is

Check the wiring. Correct the wiring.

faulty contact.

Check for short-circuits

There is a short-circuit or ground fault in a Main Circuit Cable.

across Servomotor

phases U, V, and W, or

between the ground

and Servomotor phases

U, V, and W.

Check for short-circuits

There is a short-circuit or ground fault inside the Servomotor.

across Servomotor

phases U, V, and W, or

between the ground

and Servomotor phases

U, V, or W.

Check for short-circuits

across the Servomotor

connection terminals U,

V, a n d W o n t h e S E R -

VOPACK, or between

the ground and termi-

nals U, V, or W.

Check the wiring. Correct the wiring.

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

A.100:

Overcurrent Detected (An overcurrent flowed through the power transformer or the heat sink overheated.)

There is a short-circuit or ground fault inside the SERVOPACK.

The regenerative resistor is not wired correctly or there is faulty contact.

The dynamic brake (DB, emergency stop executed from the SERVOPACK) was frequently activated, or a DB overload alarm occurred.

occurred.

Check the regenerative

load ratio in the SigThe regenerative processing capacity was exceeded.

maWin+ Motion Monitor

Tab Page to see how

frequently the regenera-

tive resistor is being

used.

Check the regenerative

load ratio in the SigThe SERVOPACK regenerative resistance is too small.

maWin+ Motion Monitor

Tab Page to see how

frequently the regenera-

tive resistor is being

used.

Continued from previous page.

The cable may be shortcircuited. Replace the cable.

The Servomotor may be faulty. Replace the Servomotor.

The SERVOPACK may be faulty. Replace the SERVOPACK.

Change the SERVOPACK model, operating methods, or the mechanisms so that the dynamic brake does not need to be used so frequently.

Recheck the operating conditions and load.

Change the regenerative resistance to a value larger than the SERVOPACK minimum allowable resistance.

Continued on next page.

–

3-12

Maintenance

Alarm Number:

Alarm Name

A.100:

Overcurrent Detected (An overcurrent flowed through the power transformer or the heat sink overheated.)

A.101:

Motor Overcurrent Detected (The current to the motor exceeded the allowable current.)

A.101:

Motor Overcurrent Detected (The current to the motor exceeded the allowable current.)

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.3 Troubleshooting Alarms

Continued from previous page.

Possible Cause Confirmation Correction Reference

A heavy load was applied while the Servomotor was stopped or running at a low speed.

A malfunction was caused by noise.

Check to see if the operating conditions exceed Servo Drive specifications.

Improve the noise environment, e.g. by improving the wiring or installation conditions, and check to see if the alarm still occurs.

Reduce the load applied to the Servomotor. Or, increase the operating speed.

Implement countermeasures against noise, such as correct wiring of the FG. Use an FG wire size equivalent to the SERVOPACK’s main circuit wire size.

–

Turn the power supply to

the SERVOPACK OFF and A failure occurred in the SERVOPACK.

–

ON again. If an alarm still

occurs, the SERVOPACK

–

may be faulty. Replace the

SERVOPACK.

The Main Circuit Cable is not wired correctly or there is

Check the wiring. Correct the wiring.

faulty contact.

Check for short-circuits There is a short-circuit or ground fault in a Main Circuit Cable.

across cable phases U,

V, and W, or between

the ground and cable

The cable may be shortcircuited. Replace the cable.

phases U, V, and W.

Check for short-circuits

There is a short-circuit or ground fault inside the Servomotor.

across Servomotor

phases U, V, and W, or

between the ground

and Servomotor phases

The Servomotor may be faulty. Replace the Servomotor.

U, V, or W.

Check for short-circuits

across the Servomotor There is a short-circuit or ground fault inside the SERVOPACK.

connection terminals U,

V, and W on the SER-

VOPACK, or between

The SERVOPACK may be faulty. Replace the SER-

VOPACK. the ground and terminals U, V, or W.

A heavy load was applied while the Servomotor was stopped or running at a low speed.

A malfunction was caused by noise.

Check to see if the operating conditions exceed Servo Drive specifications.

Improve the noise environment, e.g. by improving the wiring or installation conditions, and check to see if the alarm still occurs.

Reduce the load applied

to the Servomotor. Or,

increase the operating

speed.

Implement countermea-

sures against noise, such

as correct wiring of the

FG. Use an FG wire size

equivalent to the SERVO-

PACK’s main circuit wire

size.

–

Turn the power supply to

the SERVOPACK OFF and

A failure occurred in the SERVOPACK.

–

ON again. If an alarm still

occurs, the SERVOPACK

–

may be faulty. Replace the

SERVOPACK.

Continued on next page.

3-13

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.3 Troubleshooting Alarms

Alarm Number:

Alarm Name

Possible Cause Confirmation Correction Reference

Pn600 (Regenerative Resistor Capacity) is not set to 0 and an External Regenerative Resistor is not connected to one of the following SERVO-

Check it see if an External Regenerative Resistor is connected and check the setting of

Pn600. PACKs: SGD7S-2R8A or -2R8F.

The jumper between the regenerative resis-

A.300:

Regeneration Error

tor terminals (B2 and B3) was removed from one of the following SERVOPACKs: SGD7S120A.

Check to see if the

jumper is connected

between power supply

terminals B2 and B3.

The External Regenerative Resistor is not wired correctly, or was removed or discon-

Check the wiring of the

External Regenerative

Resistor. nected.

A failure occurred in the SERVOPACK.

–

Continued from previous page.

Connect an External Regenerative Resistor, or set Pn600 (Regenerative Resistor Capacity) to 0 (setting unit: ×10 W) if no Regenerative Resistor is required.

Correctly connect a jumper.

Correct the wiring of the External Regenerative Resistor.

While the main circuit power supply is OFF, turn the control power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPAC K.

Continued on next page.

–

3-14

Maintenance

Alarm Number:

Alarm Name

A.320:

Regenerative Overload

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.3 Troubleshooting Alarms

Continued from previous page.

Possible Cause Confirmation Correction Reference

The power supply voltage exceeded the specified range.

The external regenerative resistance value or regenerative resistor capacity is too small, or there has been a continuous regeneration state.

There was a continuous regeneration state because a negative load was continuously applied.

Measure the power supply voltage.

Check the operating conditions or the capacity using the SigmaJunmaSize+ Capacity Selection Software or other means.

Check the load applied to the Servomotor during operation.

Set the power supply voltage within the specified range.

Change the regenerative resistance value or capacity. Reconsider the operating conditions using the SigmaJunmaSize+ Capacity Selection Software or other means.

Reconsider the system including the servo, machine, and operating conditions.

–

The setting of Pn600 (Regenerative Resistor Capacity) is smaller than the capacity of the External Regenerative

Check it see if a Regenerative Resistor is connected and check the setting of Pn600.

Correct the setting of Pn600.

Resistor.

The setting of Pn603 (Regenerative Resistor Capacity) is smaller than the capacity of the External Regenerative

Check to see if a Regenerative Resistor is connected and check the setting of Pn603.

Correct the setting of Pn603.

Resistor.

Change the regenerative The external regenerative resistance is too high.

Check the regenerative resistance.

resistance to a correct

value or use an External

Regenerative Resistor of

an appropriate capacity.

A failure occurred in the SERVOPACK.

–

The SERVOPACK may be

faulty. Replace the SER-

VOPACK.

–

Continued on next page.

3-15

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.3 Troubleshooting Alarms

Alarm Number:

Alarm Name

Possible Cause Confirmation Correction Reference

The regenerative resistor was disconnected when the SERVOPACK power supply voltage was

Measure the resistance of the regenerative resistor using a measuring instrument.

high.

DC power was sup-

A.330:

Main Circuit Power Supply Wiring Error (Detected when the main circuit power supply is turned ON.)

plied when an AC power supply input was specified in the settings.

AC power was supplied when a DC power supply input was specified in the settings.

Check the power supply to see if it is a DC power supply.

Check the power supply to see if it is an AC power supply.

Pn600 (Regenerative Resistor Capacity) is not set to 0 and an External Regenerative Resistor is not connected to an SGD7S-

Check it see if an External Regenerative Resistor is connected and check the setting of Pn600.

2R8A SERVOPACKs.

A failure occurred in the SERVOPACK.

The power supply voltage exceeded the specified range.

–

Measure the power supply voltage.

The power supply is not stable or was influenced by a light-

Measure the power supply voltage.

ning surge.

A.400:

Overvoltage (Detected in the main circuit power supply section of the SERVOPACK.)

The voltage for AC power supply was too high during acceleration or deceleration.

The external regenerative resistance is too high for the operating conditions.

The moment of inertia ratio or mass ratio exceeded the allowable value.

A failure occurred in the SERVOPACK.

Check the power supply voltage and the speed and torque during operation.

Check the operating conditions and the regenerative resistance.

Check to see if the moment of inertia ratio or mass ratio is within the allowable range.

–

Continued from previous page.

If you are using the regenerative resistor built into the SERVOPACK, replace the SERVOPACK. If you are using an External Regenerative Resistor, replace the External Regenerative Resistor.

Correct the power supply setting to match the actual power supply.

Connect an External Regenerative Resistor, or if an External Regenerative Resistor is not required, set Pn600 to 0.

The SERVOPACK may be faulty. Replace the SERVOPACK.

Set the AC/DC power supply voltage within the specified range.

Improve the power supply conditions, install a surge absorber, and then turn the power supply OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

Set the AC power supply voltage within the specified range.

Select a regenerative resistance value that is appropriate for the operating conditions and load.

Increase the deceleration time, or reduce the load.

While the main circuit power supply is OFF, turn the control power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPAC K.

Continued on next page.

–

3-16

Maintenance

Alarm Number:

Alarm Name

A.410:

Undervoltage (Detected in the main circuit power supply section of the SERVOPACK.)

A.510:

Overspeed (The motor exceeded the maximum speed.)

A.511:

Encoder Output Pulse Overspeed

A.520:

Vibration Alarm

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.3 Troubleshooting Alarms

Continued from previous page.

Possible Cause Confirmation Correction Reference

The power supply voltage went below the specified range.

The power supply voltage dropped during operation.

Measure the power supply voltage.

Set the power supply volt-

age within the specified

range.

Increase the power supply

capacity.

–

If you have changed the

A momentary power interruption occurred.

Measure the power supply voltage.

setting of Pn509 (Momen-

tary Power Interruption

Hold Time), decrease the

setting.

Replace the SERVO-

The SERVOPACK fuse is blown out.

–

PACK and connect a

reactor to the DC reactor

terminals ( 1 and 2) on

–

the SERVOPACK.

A failure occurred in the SERVOPACK.

–

The SERVOPACK may be

faulty. Replace the SER-

VOPACK.

–

The order of phases U, V, and W in the motor wiring is not

Check the wiring of the Servomotor.

Make sure that the Servo-

motor is correctly wired.

–

correct.

A reference value that exceeded the overspeed detection level

Check the input reference.

Reduce the reference

value. Or, adjust the gain. was input.

The motor 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.

–

Decrease the setting of The encoder output pulse frequency exceeded the limit.

Check the encoder output pulse setting.

Pn212 (Encoder Output

Pulses) or Pn281

(Encoder Output Resolu-

tion).

The encoder output pulse frequency exceeded the limit because the motor

Check the encoder output pulse setting and the motor speed.

Reduce the motor speed.

–

speed was too high.

Abnormal oscillation was detected in the motor speed.

Check for abnormal motor noise, and check the speed and torque waveforms during operation.

Reduce the motor speed.

Or, reduce the setting of

Pn100 (Speed Loop

Gain).

The setting of Pn103 (Moment of Inertia Ratio) is greater than the actual moment of inertia or was greatly

Check the moment of inertia ratio or mass ratio.

Set Pn103 (Moment of

Inertia Ratio) to an appro-

priate value.

changed.

The vibration detection level (Pn312 or Pn384) is not suitable.

Check that the vibration detection level (Pn312 or Pn384) is suitable.

Set a suitable vibration

detection level (Pn312 or

Pn384).

Continued on next page.

3-17

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.3 Troubleshooting Alarms

Alarm Number:

Alarm Name

A.521:

Autotuning Alarm (Vibration was detected while

Possible Cause Confirmation Correction Reference

The Servomotor vibrated considerably while performing the

Check the waveform of the motor speed.

tuning-less function.

executing the custom tuning, Easy FFT, or the tuning-less function.)

The Servomotor vibrated considerably while performing custom tuning or Easy

Check the waveform of the motor speed.

FFT.

Check the setting of

A.550:

Maximum Speed Setting Error

The setting of Pn385 (Maximum Motor Speed) is greater than the maximum speed.

Pn385, and the upper limits of the maximum motor speed setting and the encoder output resolution setting.

The wiring is not correct or there is a faulty contact in the motor

Check the wiring.

or encoder wiring.

A.710:

Instantaneous Overload

A.720:

Continuous Overload

Operation was performed that exceeded the overload protection characteristics.

An excessive load was applied during operation because the Servomotor was not driven due to

Check the motor overload characteristics and Run command.

Check the operation reference and motor speed.

mechanical problems.

A failure occurred in the SERVOPACK.

The Servomotor was rotated by an external force.

–

Check the operation status.

A.730 and A.731:

Dynamic Brake Overload (An excessive power consumption by the dynamic brake was detected.)

A.740:

Inrush Current Limiting Resistor Overload (The main circuit power supply was frequently turned ON and OFF.)

When the Servomotor was stopped with the dynamic brake, the rotational or linear kinetic energy exceeded the capacity of the dynamic brake resistor.

A failure occurred in the SERVOPACK.

The allowable frequency of the inrush current limiting resistor was exceeded when the main circuit power supply was turned ON and OFF.

A failure occurred in the SERVOPACK.

Check the power consumed by the DB resistor to see how frequently the DB is being used.

–

Continued from previous page.

Reduce the load so that the moment of inertia ratio is within the allowable value. Or increase the load level or reduce the rigidity level in the tuningless level settings.

Check the operating procedure of corresponding function and implement corrections.

Set Pn385 to a value that does not exceed the maximum motor speed.

Make sure that the Servomotor and encoder are correctly wired.

Reconsider the load and operating conditions. Or, increase the motor capacity.

Correct the mechanical problem.

The SERVOPACK may be faulty. Replace the SERVOPACK.

Implement measures to ensure that the motor will not be rotated by an external force.

Reconsider the following:

• Reduce the Servomotor command speed.

• Decrease the moment of inertia ratio or mass ratio.

• Reduce the frequency of stopping with the dynamic brake.

The SERVOPACK may be faulty. Replace the SERVOPACK.

Reduce the frequency of turning the main circuit power supply ON and OFF.

The SERVOPACK may be faulty. Replace the SERVOPACK.

Continued on next page.

–

3-18

Maintenance

Alarm Number:

Alarm Name

A.7A1:

Internal Temperature Error 1 (Control Board Temperature Error)

A.7A2:

Internal Temperature Error 2 (Power Board Temperature Error)

A.7A3:

Internal Temperature Sensor Error (An error occurred in the temperature sensor circuit.)

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.3 Troubleshooting Alarms

Continued from previous page.

Possible Cause Confirmation Correction Reference

Check the surrounding

The surrounding temperature is too high.

temperature using a thermostat. Or, check the operating status with the SERVOPACK installation environment

Decrease the surrounding temperature by improving the SERVOPACK installation conditions.

monitor.

An overload alarm was reset by turning OFF the power supply too many times.

There was an excessive load or operation was performed that exceeded the regenerative processing capacity.

Check the alarm display to see if there is an overload alarm.

Use the accumulated load ratio to check the load during operation, and use the regenerative load ratio to check the regenerative processing capacity.

Change the method for resetting the alarm.

Reconsider the load and operating conditions.

–

The SERVOPACK installation orientation is not correct or there is insufficient space around the SERVO-

Check the SERVOPACK installation conditions.

Install the SERVOPACK according to specifications.

PACK .

A failure occurred in the SERVOPACK.

–

The SERVOPACK may be faulty. Replace the SERVOPACK.

–

Check the surrounding

The surrounding temperature is too high.

temperature using a thermostat. Or, check the operating status with the SERVOPACK installation environment

Decrease the surrounding temperature by improving the SERVOPACK installation conditions.

monitor.

An overload alarm was reset by turning OFF the power supply too many times.

There was an excessive load or operation was performed that exceeded the regenerative processing capacity.

Check the alarm display to see if there is an overload alarm.

Use the accumulated load ratio to check the load during operation, and use the regenerative load ratio to check the regenerative processing capacity.

Change the method for resetting the alarm.

Reconsider the load and operating conditions.

–

The SERVOPACK installation orientation is not correct or there is insufficient space around the SERVO-

Check the SERVOPACK installation conditions.

Install the SERVOPACK according to specifications.

PACK .

A failure occurred in the SERVOPACK.

–

The SERVOPACK may be faulty. Replace the SERVOPACK.

–

Continued on next page.

3-19

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.3 Troubleshooting Alarms

Alarm Number:

Alarm Name

A.7Ab:

SERVOPACK Built-in Fan Stopped

A.810:

Encoder Backup Alarm (Detected at the encoder, but only when an absolute encoder is used.)

A.820:

Encoder Check-

Possible Cause Confirmation Correction Reference

The fan inside the SERVOPACK stopped.

The power to the absolute encoder was turned ON for the first time.

The Encoder Cable was disconnected and then connected again.

Check for foreign matter inside the SERVOPACK.

Check to see if the power supply was turned ON for the first time.

Power is not being supplied both from the control power supply (+5 V) from the SERVOPACK and

Check the encoder connector battery and

the connector status. from the battery power supply.

A failure occurred in the absolute encoder.

A failure occurred in the SERVOPACK.

A failure occurred in the encoder.

–

sum Alarm (Detected at the encoder.)

A.830:

Encoder Battery Alarm (The absolute encoder battery voltage was lower than the specified level.)

A failure occurred in the SERVOPACK.

The battery connection is faulty or a battery is not connected.

The battery voltage is lower than the specified value (2.7 V).

A failure occurred in the SERVOPACK.

–

Check the battery con-

nection.

Measure the battery

voltage.

–

Continued from previous page.

Remove foreign matter from the SERVOPACK. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

Set up the encoder.

Check the encoder connection and set up the encoder.

Replace the battery or implement similar measures to supply power to the encoder, and set up the encoder.

If the alarm still occurs after setting up the encoder again, replace the Servomotor.

The SERVOPACK may be faulty. Replace the SERVOPACK.

 When Using an Abso-

lute Encoder Set up the encoder again. If the alarm still occurs, the Servomotor may be faulty. Replace the Servomotor.

 When Using a Single-

turn Absolute Encoder

or Incremental Encoder The Servomotor may be faulty. Replace the Servomotor.

The SERVOPACK may be faulty. Replace the SERVOPACK.

Correct the battery connection.

Replace the battery.

The SERVOPACK may be faulty. Replace the SERVOPACK.

Continued on next page.

–

3-20

Maintenance

Alarm Number:

Alarm Name

A.840:

Encoder Data Alarm (Detected at the encoder.)

A.850:

Encoder Overspeed (Detected at the encoder when the control power supply is turned ON.)

A.860:

Encoder Overheated (Detected at the encoder.)

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.3 Troubleshooting Alarms

Continued from previous page.

Possible Cause Confirmation Correction Reference

Turn the power supply to the SERVOPACK OFF and

The encoder malfunctioned.

–

ON again. If an alarm still occurs, the Servomotor or linear encoder may be

–

faulty. Replace the Servomotor or linear encoder.

Correct the wiring around

the encoder by separating The encoder malfunctioned due to noise.

–

the Encoder Cable from

the Servomotor Main Cir-

–

cuit Cable or by ground-

ing the encoder.

The Servomotor speed was 200 min

-1

or higher when the control power supply was turned ON.

Check the motor speed when the power supply is turned ON.

Reduce the Servomotor

speed to a value less than

200 min

-1

, and turn ON

the control power supply.

–

Turn the power supply to

the SERVOPACK OFF and A failure occurred in the encoder.

–

ON again. If an alarm still

occurs, the Servomotor

–

may be faulty. Replace the

Servomotor.

Turn the power supply to

the SERVOPACK OFF and A failure occurred in the SERVOPACK.

–

ON again. If an alarm still

occurs, the SERVOPACK

–

may be faulty. Replace the

SERVOPACK.

The surrounding air temperature around the Servomotor is too high.

The Servomotor load is greater than the rated load.

Measure the surrounding air temperature around the Servomotor.

Use the accumulated load ratio to check the load.

Reduce the surrounding

air temperature of the

Servomotor to 40°C or

less.

Operate the Servo Drive

so that the motor load

remains within the speci-

fied range.

–

Turn the power supply to

the SERVOPACK OFF and A failure occurred in the encoder.

–

ON again. If an alarm still

occurs, the Servomotor

–

may be faulty. Replace the

Servomotor.

Turn the power supply to

the SERVOPACK OFF and A failure occurred in the SERVOPACK.

–

ON again. If an alarm still

occurs, the SERVOPACK

–

may be faulty. Replace the

SERVOPACK.

Continued on next page.

3-21

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.3 Troubleshooting Alarms

Alarm Number:

Alarm Name

Possible Cause Confirmation Correction Reference

The surrounding temperature around the Servomotor is too high.

Measure the surrounding temperature around the Servomotor.

Check the load with the The motor load is greater than the rated load.

accumulated load ratio

on the Motion Monitor

Tab Page on the Sig-

maWin+.

A.861:

Motor Overheated

A failure occurred in the Serial Converter

–

Unit.

A failure occurred in the SERVOPACK.

The surrounding temperature is too high.

–

Check the surrounding

temperature using a

thermostat.

Check the input voltage The overheat protection input signal line is disconnected or short-circuited.

with the overheat pro-

tection input information

on the Motion Monitor

Tab Page on the Sig-

maWin+.

A.862:

Overheat Alarm

An overload alarm was reset by turning OFF the power supply too many times.

Operation was performed under an excessive load.

A failure occurred in the SERVOPACK.

Check the alarm display

to see if there is an

overload alarm.

Use the accumulated

load ratio to check the

load during operation.

–

The sensor attached to the machine is

– faulty.

A.8A0:

External Encoder Error

A.8A1:

External Encoder Module Error

Setting the origin of the absolute linear encoder failed because the motor moved.

A failure occurred in the external encoder.

A failure occurred in the Serial Converter

Before you set the ori-

gin, use the fully-closed

feedback pulse counter

to confirm that the

motor is not moving.

–

– Unit.

Continued from previous page.

Reduce the surrounding air temperature of the Servomotor to 40° or less.

Operate the Servo Drive so that the motor load remains within the specified range.

Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the Serial Converter Unit may be faulty. Replace the Serial Converter Unit.

Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

Lower the surrounding temperature by improving the installation conditions of the machine.

Repair the line for the overheat protection input signal.

Change the method for resetting the alarm.

Reconsider the load and operating conditions.

The SERVOPACK may be faulty. Replace the SERVOPACK.

The sensor attached to the machine may be faulty. Repair the sensor attached to the machine.

The motor must be stopped while setting the origin position.

Replace the external encoder.

Replace the Serial Converter Unit.

Continued on next page.

–

3-22

Maintenance

Alarm Number:

Alarm Name

A.8A2:

External Incremental Encoder Sensor Error

A.8A3:

External Absolute Encoder Position Error

A.8A5:

External Encoder Overspeed

A.8A6:

External Encoder Overheated

A.b10:

Speed Reference A/D Error (Detected when the servo is turned ON.)

A.b11:

Speed Reference A/D Data Error

A.b20:

Torqu e R e f e rence A/D Error (Detected when the servo is turned ON.)

A.b33:

Current Detection Error 3

A.bF0:

System Alarm 0

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.3 Troubleshooting Alarms

Continued from previous page.

Possible Cause Confirmation Correction Reference

A failure occurred in the external encoder.

–

Replace the external encoder.

–

The external absolute

A failure occurred in the external absolute encoder.

–

encoder may be faulty. Refer to the encoder manufacturer’s instruction manual for correc-

–

tions.

An overspeed error was detected in the external encoder.

An overheating error was detected in the external encoder.

Check the maximum speed of the external encoder.

–

Keep the external encoder below its maximum speed.

Replace the external encoder.

–

A malfunction occurred in the speed reference input sec-

–

Reset the alarm and restart operation.

tion.

Turn the power supply to

the SERVOPACK OFF and A failure occurred in the SERVOPACK.

–

ON again. If an alarm still

occurs, the SERVOPACK

–

may be faulty. Replace the

SERVOPACK.

A malfunction occurred in the speed reference input sec-

–

Reset the alarm and

restart operation.

tion.

Turn the power supply to

the SERVOPACK OFF and A failure occurred in the SERVOPACK.

–

ON again. If an alarm still

occurs, the SERVOPACK

–

may be faulty. Replace the

SERVOPACK.

A malfunction occurred in the reading section for the torque reference

–

Reset the alarm and

restart operation.

input.

Turn the power supply to

the SERVOPACK OFF and A failure occurred in the SERVOPACK.

–

ON again. If an alarm still

occurs, the SERVOPACK

–

may be faulty. Replace the

SERVOPACK.

Turn the power supply to

A failure occurred in the current detection circuit.

–

the SERVOPACK OFF and

ON again. If an alarm still

occurs, the SERVOPACK

may be faulty. Replace the

–

SERVOPACK.

Turn the power supply to

the SERVOPACK OFF and A failure occurred in the SERVOPACK.

–

ON again. If an alarm still

occurs, the SERVOPACK

–

may be faulty. Replace the

SERVOPACK.

Continued on next page.

3-23

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.3 Troubleshooting Alarms

Alarm Number:

Alarm Name

A.bF1:

System Alarm 1

A.bF2:

System Alarm 2

A.bF3:

System Alarm 3

A.bF4:

System Alarm 4

A.bF5:

System Alarm 5

A.bF6:

System Alarm 6

A.bF7:

System Alarm 7

A.bF8:

System Alarm 8

Possible Cause Confirmation Correction Reference

A failure occurred in the SERVOPACK.

–

Continued from previous page.

Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

Continued on next page.

–

3-24

Maintenance

Alarm Number:

Alarm Name

A.C10:

Servomotor Out of Control (Detected when the servo is turned ON.)

A.C80:

Encoder Clear Error or Multiturn Limit Setting Error

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.3 Troubleshooting Alarms

Continued from previous page.

Possible Cause Confirmation Correction Reference

The order of phases U, V, and W in the motor wiring is not correct.

A failure occurred in the encoder.

A failure occurred in the SERVOPACK.

A failure occurred in the encoder.

A failure occurred in the SERVOPACK.

Check the Servomotor wiring.

–

Make sure that the Servo-

motor is correctly wired.

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.

Turn the power supply to

the SERVOPACK OFF and

ON again. If an alarm still

occurs, the SERVOPACK

may be faulty. Replace the

SERVOPACK.

Turn the power supply to

the SERVOPACK OFF and

ON again. If an alarm still

occurs, the Servomotor

may be faulty. Replace the

Servomotor.

Turn the power supply to

the SERVOPACK OFF and

ON again. If an alarm still

occurs, the SERVOPACK

may be faulty. Replace the

SERVOPACK.

Continued on next page.

–

3-25

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.3 Troubleshooting Alarms

Alarm Number:

Alarm Name

Possible Cause Confirmation Correction Reference

There is a faulty contact in the connector or the connector is not wired correctly for

Check the condition of the encoder connector.

the encoder.

There is a cable disconnection or shortcircuit in the encoder. Or, the cable imped-

Check the condition of

the Encoder Cable. ance is outside the specified values.

One of the following has occurred: corrosion caused by improper tempera-

A.C90:

Encoder Communications Error

ture, humidity, or gas, a short-circuit caused by entry of water drops or cutting oil, or

Check the operating

environment.

faulty contact in connector caused by vibration.

A malfunction was caused by noise.

A failure occurred in the SERVOPACK.

–

Noise entered on the signal lines because the Encoder Cable is bent or the sheath is

Check the condition of

the Encoder Cable and

connectors. damaged.

A.C91:

Encoder Communications Position Data Acceleration Rate Error

The Encoder Cable is bundled with a highcurrent line or installed near a highcurrent line.

There is variation in the FG potential because of the influence of machines on the Servomotor side,

Check the installation

condition of the

Encoder Cable.

Check the installation

condition of the

Encoder Cable.

such as a welder.

Continued from previous page.

Reconnect the encoder connector and check the encoder wiring.

Use the Encoder Cable within the specified specifications.

Improve the operating environmental, and replace the cable. If the alarm still occurs, replace the SERVOPACK.

Correct the wiring around the encoder by separating the Encoder Cable from the Servomotor Main Circuit Cable or by grounding the encoder.

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.

Check the Encoder Cable to see if it is installed correctly.

Confirm that there is no surge voltage on the Encoder Cable.

Properly ground the machine to separate it from the FG of the encoder.

Continued on next page.

–

3-26

Maintenance

Alarm Number:

Alarm Name

A.C92:

Encoder Communications Timer Error

A.CA0:

Encoder Parameter Error

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.3 Troubleshooting Alarms

Continued from previous page.

Possible Cause Confirmation Correction Reference

Noise entered on the signal line from the encoder.

Excessive vibration or shock was applied to the encoder.

–

Check the operating conditions.

Implement countermeasures against noise for the encoder wiring.

Reduce machine vibration. Correctly install the Servomotor.

–

Turn the power supply to

the SERVOPACK OFF and A failure occurred in the encoder.

–

ON again. If an alarm still

occurs, the Servomotor

–

may be faulty. Replace the

Servomotor.

Turn the power supply to

the SERVOPACK OFF and A failure occurred in the SERVOPACK.

–

ON again. If an alarm still

occurs, the SERVOPACK

–

may be faulty. Replace the

SERVOPACK.

Turn the power supply to

the SERVOPACK OFF and A failure occurred in the encoder.

–

ON again. If an alarm still

occurs, the Servomotor

–

may be faulty. Replace the

Servomotor.

Turn the power supply to

the SERVOPACK OFF and A failure occurred in the SERVOPACK.

–

ON again. If an alarm still

occurs, the SERVOPACK

–

may be faulty. Replace the

SERVOPACK.

Continued on next page.

3-27

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.3 Troubleshooting Alarms

Alarm Number:

Alarm Name

Possible Cause Confirmation Correction Reference

The encoder is wired incorrectly or there is faulty contact.

Check the wiring of the encoder.

The specifications of the Encoder Cable are not correct and noise

–

entered on it.

The Encoder Cable is too long and noise

–

entered on it.

There is variation in

A.Cb0:

Encoder Echo-

the FG potential because of the influence of machines on the Servomotor side, such as a welder.

Check the condition of the Encoder Cable and connectors.

back Error

Excessive vibration or shock was applied to the encoder.

A failure occurred in the encoder.

A failure occurred in the SERVOPACK.

Check the operating conditions.

–

When using a Direct Drive Servomotor, the setting of Pn205 (Multiturn Limit Setting)

Check the setting of

Pn205. does not agree with the encoder.

The multiturn limit of the encoder is differ-

A.CC0:

Multiturn Limit Disagreement

ent from that of the SERVOPACK. Or, the multiturn limit of the

Check the setting of

Pn205 in the SERVO-

PAC K. SERVOPACK has been changed.

A failure occurred in the SERVOPACK.

–

Continued from previous page.

Make sure that the encoder is correctly wired.

Use a shielded twistedpair wire cable or a screened twisted-pair cable with conductors of

at least 0.12 mm

The encoder cable wiring distance must be 50 m max.

Properly ground the machine to separate it from the FG of the encoder.

Reduce machine vibration. Correctly install the Servomotor.

Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the Servomotor may be faulty. Replace the Servomotor.

Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

Correct the setting of Pn205 (0 to 65,535).

Change the setting if the alarm occurs.

Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

Continued on next page.

–

3-28

Maintenance

Alarm Number:

Alarm Name

A.CF1:

Reception Failed Error in Feedback Option Module Communications

A.CF2:

Timer Stopped Error in Feedback Option Module Communications

A.d00:

Position Deviation Overflow (The setting of Pn520 (Excessive Position Deviation Alarm Level) was exceeded by the position deviation while the servo was ON.)

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.3 Troubleshooting Alarms

Continued from previous page.

Possible Cause Confirmation Correction Reference

The cable between the Serial Converter Unit and SERVOPACK is not wired correctly or there is a faulty

Check the wiring of the external encoder.

Correctly wire the cable between the Serial Converter Unit and SERVOPAC K.

contact.

A specified cable is not being used between Serial Converter Unit and SER-

Check the wiring specifications of the external encoder.

Use a specified cable.

–

VOPACK.

The cable between the Serial Converter Unit and SERVOPACK is too long.

The sheath on cable between the Serial Converter Unit and SERVOPACK is broken.

Noise entered the cable between the Serial Converter Unit and SERVOPACK.

A failure occurred in the Serial Converter Unit.

A failure occurred in the SERVOPACK.

The Servomotor U, V, and W wiring is not correct.

The frequency of the position reference pulse is too high.

Measure the length of the cable that connects the Serial Converter Unit.

Check the cable that connects the Serial Converter Unit.

–

Check the wiring of the Servomotor’s Main Circuit Cables.

Reduce the reference pulse frequency and try operating the SERVOPAC K.

The length of the cable between the Serial Converter Unit and SERVOPACK must be 20 m or less.

Replace the cable between the Serial Converter Unit and SERVOPAC K.

Correct the wiring around the Serial Converter Unit, e.g., separate I/O signal lines from the Main Circuit Cables or ground.

Replace the Serial Converter Unit.

Replace the SERVOPAC K.

Make sure that there are no faulty contacts in the wiring for the Servomotor and encoder.

Reduce the position reference pulse frequency or the reference acceleration rate, or reconsider the electronic gear ratio.

–

Apply smoothing, i.e., by

The acceleration of the position reference is too high.

The setting of Pn520 (Excessive Position Deviation Alarm Level) is too low for the operating conditions.

Reduce the reference acceleration and try operating the SERVOPAC K.

Check Pn520 (Excessive Position Deviation Alarm Level) to see if it is set to an appropriate value.

using Pn216 (Position Reference Acceleration/ Deceleration Time Constant).

Optimize the setting of Pn520.

Turn the power supply to

the SERVOPACK OFF and A failure occurred in the SERVOPACK.

–

ON again. If an alarm still

occurs, the SERVOPACK

–

may be faulty. Replace the

SERVOPACK.

Continued on next page.

3-29

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.3 Troubleshooting Alarms

Alarm Number:

Alarm Name

Possible Cause Confirmation Correction Reference

The servo was turned

A.d01:

Position Deviation Overflow Alarm at Servo ON

ON after the position deviation exceeded the setting of Pn526 (Excessive Position Deviation Alarm Level at Servo ON) while the

Check the position deviation while the servo is OFF.

servo was OFF.

If position deviation remains in the deviation counter, the setting of Pn529 or Pn584 (Speed Limit

A.d02:

Position Deviation Overflow Alarm for Speed Limit at Servo ON

Level at Servo ON) limits the speed when the servo is turned ON. This alarm occurs if reference pulses are

–

input and the setting of Pn520 (Excessive Position Deviation Alarm Level) is exceeded.

A.d10:

Motor-Load Posi-

The motor direction and external encoder installation orientation are backward.

Check the motor direction and the external encoder installation orientation.

tion Deviation Overflow

There is an error in the connection between the load (e.g., stage) and external encoder

Check the coupling of the external encoder.

coupling.

A.d30:

Position Data Overflow

A.E71:

Safety Option Module Detec-

The position data exceeded ±1,879,048,192.

There is a faulty connection between the SERVOPACK and the Safety Option Module.

The Safety Option Module was disconnected.

Check the input reference pulse counter.

Check the connection between the SERVOPACK and the Safety Option Module.

–

tion Failure

A failure occurred in the Safety Option

–

Module.

A failure occurred in the SERVOPACK.

–

Continued from previous page.

Set the position deviation to be cleared while the servo is OFF. Optimize the setting of Pn526 (Excessive Position Deviation Alarm Level at Servo ON).

Set the position deviation to be cleared while the servo is OFF. Optimize the setting of Pn520 (Excessive Position Deviation Alarm Level). Or, adjust the setting of Pn529 or Pn584 (Speed Limit Level at Servo ON).

Install the external encoder in the opposite direction, or change the setting of Pn002 = n.X (External Encoder Usage) to reverse the direction.

Check the mechanical coupling.

Reconsider the operating specifications.

Correctly connect the Safety Option Module.

Execute Fn014 (Reset Option Module Configuration Error) from the Digital Operator or SigmaWin+ and then turn the power supply to the SERVOPACK OFF and ON again.

Replace the Safety Option Module.

Replace the SERVOPAC K.

Continued on next page.

–

3-30

Maintenance

Alarm Number:

Alarm Name

A.E72:

Feedback Option Module Detection Failure

A.E74:

Unsupported Safety Option Module

A.Eb1:

Safety Function Signal Input Timing Error

A.EC8:

Gate Drive Error 1 (An error occurred in the gate drive circuit.)

A.EC9:

Gate Drive Error 2 (An error occurred in the gate drive circuit.)

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.3 Troubleshooting Alarms

Continued from previous page.

Possible Cause Confirmation Correction Reference

There is a faulty connection between the SERVOPACK and the Feedback Option Module.

Check the connection between the SERVOPACK and the Feedback Option Module.

Correctly connect the

Feedback Option Module.

–

Reset the Option Module The Feedback Option Module was disconnected.

–

configuration error and

turn the power supply to

the SERVOPACK OFF and

ON again.

A failure occurred in the Feedback Option Module.

A failure occurred in the SERVOPACK.

A failure occurred in the Safety Option Module.

An unsupported Safety Option Module was connected.

–

Refer to the catalog of the connected Safety Option Module.

Replace the Feedback

Option Module.

Replace the SERVO-

PAC K.

Replace the Safety Option

Module.

Connect a compatible

Safety Option Module.

–

The output signal circuits

or devices for /HWBB1 The delay between activation of the /HWBB1 and /HWBB2 input signals for the HWBB was ten second or longer.

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

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.

–

Replace the SERVO-

PAC K.

–

Turn the power supply to

the SERVOPACK OFF and A failure occurred in the SERVOPACK.

–

ON again. If an alarm still

occurs, the SERVOPACK

–

may be faulty. Replace the

SERVOPACK.

Continued on next page.

3-31

YASKAWA SGM7D-24G, SGM7D-1AF, SGM7D-18G, SGM7D-34G, SGM7D-45G Product Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

About this Manual

Outline of Manual

Related Documents

Using This Manual

Safety Precautions

Warranty

Compliance with UL Standards, EU Directives, and Other Safety Standards

Contents

Basic Information on SERVOPACKs

1.1 Product Introduction

1.2 Model Designations

1.2.1 Interpreting FT82 SERVOPACK Model Numbers

1.2.2 Interpreting FT83 SERVOPACK Model Numbers

1.2.3 Interpreting Direct Drive Servomotor Model Numbers

1.3 Combinations of SERVOPACKs and Servomotors

1.4 Functions

1.4.1 SERVOPACK Functions

1.4.2 Function Application Restrictions

1.5 SigmaWin+

1.6 Combining the SERVOPACKs with MP-Series Machine Controllers and the MPE720 Engineering Tool

SERVOPACK Ratings and Specifications

2.1 Ratings

2.1.1 Three-Phase, 200 VAC

Single-Phase, 200 VAC

2.1.3 Single-Phase, 100 VAC

2.2 SERVOPACK Overload Protection Characteristics

2.3 Specifications

2.3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

2.3.2 FT82 SERVOPACK with MECHATROLINK-II Communications References

2.3.3 FT82 SERVOPACK with MECHATROLINK-III Communications References

2.3.4 Command Option Attachable-type FT82 SERVOPACKs with INDEXER Modules

2.3.5 FT83 SERVOPACKs with Analog Voltage/Pulse Train References

Maintenance

3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References

3.1.1 Alarm Displays

List of Alarms

3.1.3 Troubleshooting Alarms