Sieps80000191f 5 0

-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
Basic Information on
SERVOPACKs 1
SERVOPACK Ratings and
Specifications 2
Maintenance 3
Parameter Lists 4
MANUAL NO. SIEP S800001 91F

Copyright © 2015 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a
retrieval system, or transmitted, in any form, or by any means, mechanical, elec-
tronic, photocopying, recording, or otherwise, without the prior written permission
of Yaskawa. No patent liability is assumed with respect to the use of the informa-
tion contained herein. Moreover, because Yaskawa is constantly striving to
improve its high-quality products, the information contained in this manual is sub-
ject to change without notice. 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 applica-
tion with special motors, use this manual together with the relevant Σ-7-Series product manual.
 FT82 SERVOPACKs
Σ-7S SERVO- Σ-7S SERVO- Σ-7S SERVO-
Σ-7S SERVO-
PACK with PACK with PACK Command
PACK with Analog
MECHATROLINK- MECHATROLINK- Option Attachable
This Voltage/Pulse Train
II Communica- III Communica- Type with
Item Man- References Prod-
tions References tions References INDEXER Module
ual uct Manual (Man-
Product Manual Product Manual Product Manual
ual No.: SIEP
(Manual No.: SIEP (Manual No.: SIEP (Manual No.: SIEP
S800001 26)
S800001 27) S800001 28) S800001 64)
The Σ-7 Series – 1.1 1.1 1.1 1.1
Product Introduction 1.1 – – – –
Interpreting the
– 1.2 1.2 1.2 1.3
Nameplates
Part Names – 1.3 1.3 1.3 1.4
Model Designations 1.2 – – – –
Basic
Informa- Combinations of
tion on SERVOPACKs and 1.3 – – – –
SERVO- Servomotors
PACKs Functions – 1.6 1.6 1.6 1.8
SigmaWin+ 1.5 – – – –
Combining the SERVO-
PACKs with MP-Series
Machine Controllers 1.6 – – – –
and the MPE720 Engi-
neering Tool
Ratings 2.1 – – – –
SERVOPACK
Overload Protection – 2.1.2 2.1.2 2.1.2 2.1.2
Characteristics
Specifications 2.3.1 – – – –
Selecting
a SERVO- Block Diagrams – 2.2 2.2 2.2 2.2
PACK External Dimensions – 2.3 2.3 2.3 2.3
Examples of
Standard
Connections between – 2.4 2.4 2.4 2.4
SERVOPACKs and
Peripheral Devices
SERVOPACK Installation – Chapter 3 Chapter 3 Chapter 3 Chapter 3
Wiring and Connecting
– Chapter 4 Chapter 4 Chapter 4 Chapter 4
SERVOPACKs
Continued on next page.
iii
Continued from previous page.
Σ-7S SERVO-
PACK with Analog
ual No.: SIEP
S800001 26)
S800001 27) S800001 28) S800001 64)
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
– – – – Chapter 14
Command Communications
Inspections and Part
– 12.1 12.1 12.1 15.1
Replacement
3.1.1,
3.2.1,
Alarm Displays 3.3.1, – – – –
3.4.1
3.1.2,
3.2.2,
List of Alarms – – – –
3.3.2,
3.4.2
3.1.3,
Troubleshooting 3.2.3, – – – –
Alarms 3.3.3,
3.4.3
INDEXER
Module Alarm
3.4.4 – – – –
Displays and
Troubleshooting
Resetting Alarms – 12.2.3 12.2.3 12.2.3 15.2.4
Displaying the
– 12.2.4 12.2.4 12.2.4 15.2.5
Alarm History
Mainte-
nance Clearing the Alarm
– 12.2.5 12.2.5 12.2.5 15.2.6
History
Resetting Alarms
Detected in Option – 12.2.6 12.2.6 12.2.6 15.2.7
Modules
Resetting Motor
– 12.2.7 12.2.7 12.2.7 15.2.8
Type Alarms
3.1.4,
Warning Displays 3.2.4, – – – –
3.3.4,
3.4.5
3.1.5,
3.2.5,
List of Warnings 3.3.5, – – – –
3.4.6
3.1.6,
Troubleshooting 3.2.6,
– – – –
Warnings 3.3.6,
3.4.7
INDEXER Module
Error Displays and 3.4.8 – – – –
Troubleshooting
iv
Σ-7S SERVO-
PACK with Analog
ual No.: SIEP
S800001 26)
S800001 27) S800001 28) S800001 64)
Monitoring
Communications Data
– – 12.4 12.4 –
during Alarms or
Warnings
Mainte-
nance Troubleshooting Based
on the 3.1.7,
3.2.7,
Operation and – – – –
3.3.7,
Conditions of the 3.4.9
Servomotor
Panel Displays and Panel
– Chapter 13 – – –
Operator Procedures
Parameter
– – – – 16.1
Configuration
4.1,
4.2,
Parameter Lists 4.3.1, – – – –
List of
4.4
Parame-
ters List of
MECHATROLINK-III 4.3.2 – – – –
Common Parameters
Parameter
– 14.2 13.2 13.3 16.3
Recording Table
Appendix – Chapter 15 Chapter 14 Chapter 14 Chapter 17
v
 FT83 SERVOPACKs
Σ-7S SERVOPACK with Σ-7S SERVOPACK with
This
Analog Voltage/Pulse Train FT/EX Specification for Indexing
Item Man-
References Product Manual Applications Product Manual
ual
(Manual No.: SIEP S800001 26) (Manual No.: SIEP S800001 84)
The Σ-7 Series – 1.1 –
Product Introduction 1.1 – –
Interpreting the Nameplates – 1.2 –
Part Names – 1.3 –
Model Designations 1.2 – –
Basic
Information on Combinations of SERVOPACKs and
1.3 – –
SERVOPACKs Servomotors
Functions – 1.6 –
SigmaWin+ 1.5 – –
Combining the SERVOPACKs with
MP-Series Machine Controllers and 1.6 – –
the MPE720 Engineering Tool
Ratings 2.1 – –
SERVOPACK Overload Protection
– – 2.2
Characteristics
Specifications 2.3.2 – –
Selecting a
SERVOPACK Block Diagrams – 2.2 –
External Dimensions – 2.3 –
Examples of Standard Connections
between SERVOPACKs and – 2.4 –
Peripheral Devices
SERVOPACK Installation – Chapter 3 –
Wiring Precautions – 4.1 –
Basic Wiring Diagrams – – 3.1
Wiring the Power Supply to the
Wiring and – 4.3 –
SERVOPACK
Connecting
Wiring Servomotors – 4.4 –
SERVOPACKs
I/O Signal Connections – – 3.2
Connecting Safety Function Signals – 4.6 –
Connecting the Other Connectors – 4.7 –
Basic Functions That Require Setting before Operation – Chapter 5 –
Application Functions – Chapter 6 –
Flow of Trial Operation – 7.1 –
Inspections and Confirmations
– 7.2 –
before Trial Operation
Trial Operation of Servomotor
– 7.3 –
without a Load
Trial Operation Trial Operation Example – – 4.1
and Actual Trial Operation from the Host
Operation Controller for the Servomotor – 7.4 –
without a Load
Trial Operation with the Servomotor
– 7.5 –
Connected to the Machine
Convenient Function to Use during
– 7.6 –
Trial Operation
Tuning – Chapter 8 –
Monitoring Product Information – 9.1 –
Monitoring SERVOPACK Status – – 5.1
Monitoring Monitoring Machine Operation
– – 5.2
Status and Signal Waveforms
Monitoring Product Life – 9.4 –
Fully-Closed Loop Control – Chapter 10 –
Safety Function – Chapter 11 –
vi
Σ-7S SERVOPACK with Σ-7S SERVOPACK with
This
Analog Voltage/Pulse Train FT/EX Specification for Indexing
Item Man-
References Product Manual Applications Product Manual
ual
(Manual No.: SIEP S800001 26) (Manual No.: SIEP S800001 84)
Control Method Selection – – 6.1
I/O Signal Allocations – – 6.2
Moving Mode and Coordinate Set-
Setting – – 6.3
tings
Settings for References – – 6.4
Origin Settings – – 6.5
Operation Functions – – 7.1
Origin Return – – 7.2
Operation with
Program Table Operation – – 7.3
Digital I/O
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 Dis-
3.5.4 – –
plays and Troubleshooting
Resetting Alarms – 12.2.3 –
Displaying the Alarm History – 12.2.4 –
Clearing the Alarm History – 12.2.5 –
Maintenance Resetting Alarms Detected in
– 12.2.6 –
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
3.5.8 – –
Troubleshooting
Troubleshooting Based on the Oper-
ation and Conditions of the Servo- 3.5.9 – –
motor
Panel Displays and Panel Operator Procedures – Chapter 13 –
Parameter Configurations – – 9.1
List of Parame-
List of Parameters 4.5 – –
ters
Parameter Recording Table – 14.2 –
Examples of Connections to Host
– 15.1 –
Controllers
Appendix Corresponding SERVOPACK and
– – 10.1
SigmaWin+ Function Names
Operation of Digital Operator – – 10.2
vii
Related Documents
The relationships between the documents that are related to the Servo Drives are shown in the following
figure. The numbers in the figure correspond to the numbers in the table on the following pages. Refer
to these documents as required.
System Components
Machine Controllers Servo Drives

Catalogs
Machine
Controller MP3300 Σ-7-Series
and
Servo Drive Catalog Catalog
General
Catalog
Machine Controllers

SERVOPACKs with Built-in Controllers: Σ-7C
Built-in Option
Function Module
User’s
Manuals Manuals
Enclosed Σ-7-Series Built-in Σ-7-Series

Documents Σ-7C Function Σ-7C
SERVOPACK SERVOPACK
SERVOPACKs: Σ-7S and Σ-7W
Manuals
Troubleshooting
Product Manual Manual

Enclosed Σ-7-Series Σ-7-Series Σ-7-Series Option
Documents Σ-7S/Σ-7W Σ-7S/Σ-7W Σ-7S/Σ-7W Module
SERVOPACK SERVOPACK SERVOPACK
Product Hardware Option FT/EX User’s
Manuals Product Manuals Manual
Manuals
Product Manuals (such as this manual)
Servomotors
Enclosed Σ-7-Series
Documents Servomotor
Product
Manuals
Other Documents
Σ-7-Series Σ-7-Series Programming Σ-7-Series Distributed

Peripheral MECHATROLINK Manuals Operation I/O Module
Device Communications Interface
User’s
Selection Command Operating Manual
Manual Manuals Manuals
viii
Classification Document Name Document No. Description
Describes the features and applica-

Machine Controller and tion examples for combinations of
Machine Controller and
AC Servo Drive KAEP S800001 22 MP3000-Series Machine Control-
Servo Drive
Solutions Catalog lers and Σ-7-Series AC Servo
General Catalog
Drives.
Provides detailed information on
 Machine Controller MP3300 Machine Controllers,
KAEP C880725 03
MP3300 Catalog MP3300 including features and specifica-
tions.
Provides detailed information on Σ-
 AC Servo Drives
KAEP S800001 23 7-Series AC Servo Drives, including
Σ-7-Series Catalog Σ-7 Series
features and specifications.
Σ-7-Series AC Servo Drive the specifications, system configu-
Σ-7C SERVOPACK ration, and application methods of
SIEP S800002 03
Motion Control the Motion Control Function Mod-
User’s Manual ules (SVD, SVC4, and SVR4) for Σ-
7-Series Σ-7C SERVOPACKs.
 Provides detailed information on
Built-in Function Manuals the specifications, system configu-
Machine Controller ration, and communications con-
MP3000 Series nection methods for the Ethernet
SIEP C880725 12
Communications communications that are used with
User’s Manual MP3000-Series Machine Control-
lers and Σ-7-Series Σ-7C SERVO-
PACKs.
Machine Controller
MP2000 Series
SIEP C880700 04
Communication Module
User’s Manual
Provide detailed information on the
Machine Controller
specifications and communica-
MP2000 Series
tions methods for the Communica-
262IF-01 FL-net SIEP C880700 36
tions Modules that can be mounted
Communication Module
to MP3000-Series Machine Con-
User’s Manual
trollers and Σ-7-Series Σ-7C
Machine Controller SERVOPACKs.
MP2000 Series
263IF-01 EtherNet/IP SIEP C880700 39
 Communication Module
Option Module User’s Manual
User’s Manuals Machine Controller
MP2000 Series
SIEP C880700 34
I/O Module
User’s Manual
Provide detailed information on the
Machine Controller
specifications and communica-
MP2000 Series
tions methods for the I/O Modules
Analog Input/Analog Output SIEP C880700 26
that can be mounted to MP3000-
Module AI-01/AO-01
Series Machine Controllers and Σ-
User’s Manual
Machine Controller
MP2000 Series
SIEP C880700 27
Counter Module CNTR-01
User’s Manual
ix
Σ-7-Series AC Servo Drive Provides detailed information for
Σ-7S and Σ-7W SERVOPACK TOMP C710828 00 the safe usage of Σ-7-Series
Safety Precautions SERVOPACKs.
Σ-V-Series/Σ-V-Series
for Large-Capacity Models/
Provides detailed information for
Σ-7-Series TOBP C720829 00
the safe usage of Option Modules.
Safety Precautions
Option Module
for Large-Capacity Models/ Provides detailed procedures for
Σ-7-Series TOBP C720829 01 installing the Command Option
Installation Guide Module in a SERVOPACK.
Command Option Module
Σ-7-Series TOBP C720829 03 installing the Fully-closed Module in
 Installation Guide a SERVOPACK.
Enclosed Documents Fully-closed Module
Σ-7-Series TOBP C720829 06 installing the Safety Module in a
Installation Guide SERVOPACK.
Safety Module
Σ-7-Series TOBP C720829 02 installing the INDEXER Module in a
INDEXER Module
Σ-7-Series TOBP C720829 07 installing the DeviceNet Module in a
DeviceNet Module
 selecting Σ-7-Series Σ-7C SERVO-
Σ-7-Series AC Servo Drive PACKs; installing, connecting, set-
Σ-7-Series
Σ-7C SERVOPACK SIEP S800002 04 ting, testing in trial operation, and
Σ-7C SERVOPACK
Product Manual tuning Servo Drives; writing, moni-
Product Manual
toring, and maintaining programs;
and other information.

Σ-7-Series Σ-7-Series AC Servo Drive Provides detailed troubleshooting
Σ-7C SERVOPACK Σ-7C SERVOPACK SIEP S800002 07 information for Σ-7-Series Σ-7C
Troubleshooting Troubleshooting Manual SERVOPACKs.
Manual
x
Σ-7-Series AC Servo Drive
Σ-7S SERVOPACK with
MECHATROLINK-III SIEP S800001 28
Communications References
Product Manual

MECHATROLINK-II SIEP S800001 27
Product Manual

Analog Voltage/Pulse Train SIEP S800001 26 Provide detailed information on
 References selecting Σ-7-Series SERVO-
Σ-7-Series Product Manual PACKs and information on install-
Σ-7S/Σ-7W ing, connecting, setting, performing
SERVOPACK Σ-7-Series AC Servo Drive trial operation for, tuning, monitor-
Product Manuals Σ-7S SERVOPACK ing, and maintaining the Servo
Command Option Attachable SIEP S800001 64 Drives.
Type with INDEXER Module
Product Manual

Σ-7S SERVOPACK
Command Option Attachable SIEP S800001 70
Type with DeviceNet Module
Product Manual

Σ-7W SERVOPACK with
MECHATROLINK-III SIEP S800001 29
Product Manual
Σ-7S/Σ-7W SERVOPACK with
Hardware Option Specifica-
 SIEP S800001 73
tions
Σ-7-Series Dynamic Brake
Σ-7S/Σ-7W Product Manual Provide detailed information on
SERVOPACK with Hardware Options for Σ-7-Series
Hardware Option Σ-7-Series AC Servo Drive SERVOPACKs.
Specifications Σ-7W/Σ-7C SERVOPACK with
Product Manuals Hardware Option Specifica-
SIEP S800001 72
tions
HWBB Function
Product Manual
xi
FT/EX Specification for Index- SIEP S800001 84
ing Application
Product Manual
FT/EX Specification for Track- SIEP S800001 89
ing Application
Product Manual
FT/EX Specification
This manual
for Application with Special
(SIEP S800001 91)
Motor,
SGM7D Motor
Product Manual
FT/EX Specification
SIEP S800001 94
for Press and Injection
Molding Application
Product Manual
FT/EX Specification
SIEP S800001 95
for Transfer and Alignment
Σ-7-Series Application Provide detailed information on the
Σ-7S/Σ-7W SERVOPACK Product Manual FT/EX Option for Σ-7-Series
FT/EX Σ-7-Series AC Servo Drive SERVOPACKs.
Product Manuals Σ-7S SERVOPACK with
FT/EX Specification
SIEP S800002 09
for Torque/Force Assistance
for Conveyance Application
Product Manual
FT/EX Specification
SIEP S800002 10
for Cutting Application
Feed Shaft Motor
Product Manual
FT/EX Specification for
SIEP S800002 17
Three-Point Latching
Product Manual
FT/EX Specification
SIEP S800002 27
for Semi-/Fully-Closed Loop
Control Online Switching
Σ-7W SERVOPACK with
SIEP S800002 29
FT/EX Specification
for Gantry Applications
AC Servo Drives
Σ-V Series/Σ-V Series
Provides details information
for Large-Capacity Models/
Option Module SIEP C720829 06 required for the design and mainte-
Σ-7 Series
User’s Manual nance of a Safety Module.
User’s Manual
Safety Module
xii
AC Servo Drive Provides detailed information for

Rotary Servomotor TOBP C230260 00 the safe usage of Rotary Servomo-
Safety Precautions tors and Direct Drive Servomotors.
Enclosed Documents
AC Servomotor Provides detailed information for
Linear Σ Series TOBP C230800 00 the safe usage of Linear Servomo-
Safety Precautions tors.

Rotary Servomotor SIEP S800001 36
Product Manual
Σ-7-Series AC Servo Drive Provide detailed information on

Σ-7-Series Linear Servomotor SIEP S800001 37 selecting, installing, and connecting
Servomotor Product Manual the Σ-7-Series Servomotors.
Product Manuals

Direct Drive Servomotor SIEP S800001 38
Product Manual
Provides the following information

in detail for Σ-7-Series Servo Sys-
tems.
Σ-7-Series AC Servo Drive • Cables: Models, dimensions, wir-
Σ-7-Series Peripheral Device SIEP S800001 32 ing materials, connector models,
Peripheral Device Selection Manual and connection specifications
Selection Manual • Peripheral devices: Models,
specifications, diagrams, and
selection (calculation) methods
Σ-7-Series AC Servo Drive Provides detailed information on

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

Machine Controller
the ladder programming specifica-
MP3000 Series
SIEP C880725 13 tions and instructions for MP3000-
Ladder Programming
Series Machine Controllers and Σ-
Manual
Programming
Manuals Provides detailed information on
Machine Controller the motion programming and
MP3000 Series sequence programming specifica-
SIEP C880725 14
Motion Programming tions and instructions for MP3000-
Manual Series Machine Controllers and Σ-
xiii
Machine Controller
MP2000/MP3000 Series
Describes in detail how to operate
Engineering Tool SIEP C880761 03
MPE720 version 7.
MPE720 Version 7
User’s Manual
Σ-7-Series AC Servo Drive Describes the operating proce-

Σ-7-Series Digital Operator SIEP S800001 33 dures for a Digital Operator for a
Operation Interface Operating Manual Σ-7-Series Servo System.
Operating Manuals
AC Servo Drive Provides detailed operating proce-

Engineering Tool dures for the SigmaWin+ Engineer-
SIET S800001 34
SigmaWin+ ing Tool for a Σ-7-Series Servo
Operation Manual System.
Describes the functions, specifica-

tions, operating methods, and
MECHATROLINK-III
Distributed MECHATROLINK-III communica-
Compatible I/O Module SIEP C880781 04
I/O Module tions for the Remote I/O Modules
User’s Manual
User’s Manual for MP2000/MP3000-Series
Machine Controllers.
xiv
Using This Manual
 Technical Terms Used in This Manual
The following terms are used in this manual.
Term Meaning
Servomotor A Σ-7-Series Direct Drive Servomotor.
SERVOPACK A Σ-7-Series Σ-7S SERVOPACK.
Servo Drive The combination of a Servomotor and SERVOPACK.
A servo control system that includes the combination of a Servo Drive with a host controller
Servo System
and peripheral devices.
servo ON Supplying power to the motor.
servo OFF Not supplying power to the motor.
Shutting OFF the power supply to the motor by shutting OFF the base current to the power
base block (BB)
transistor in the SERVOPACK.
servo lock A state in which the motor is stopped and is in a position loop with a position reference of 0.
One of the cables that connect to the main circuit terminals, including the Main Circuit Power
Main Circuit Cable
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 Engi-
SigmaWin+
neering Tool is installed.
xv
 Notation Used in this Manual
 Notation for Reverse Signals
The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/)
before the signal abbreviation.
Notation Example
BK is written as /BK.
 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
The control methods for which the parameters apply are given.
Speed : Speed control Position : Position control Torque : Torque control
Speed Loop Gain Speed Position

Pn100
Setting Range Setting Unit Default Setting When Enabled Classification
10 to 20,000 0.1 Hz 400 Immediately Tuning
Parameter
number This is the minimum This is the This is when any
unit (setting increment) parameter setting change made to the This is the parameter
that you can set for parameter will classification.
This is the setting range before shipment.
for the parameter. the parameter. become effective.
• Parameters for Selecting Functions
Parameter Meaning When Enabled Classification

n.0 Use the encoder according to encoder specifications.
(default setting)
Pn002 n.1 Use the encoder as an incremental encoder. After restart Setup
n.2 Use the encoder as a single-turn absolute encoder.
Parameter The notation “n.” indicates a parameter for This column explains the
number selecting functions. selections for the function.
Each indicates the setting for one digit.
The notation shown here means that the third digit
from the right is set to 2.
Notation Example
Notation Examples for Pn002
Digit Notation Numeric Value Notation

n.0 0 0 0 Notation Meaning Notation Meaning
Pn002 = Indicates the first digit from Pn002 = Indicates that the first digit from
n.X the right in Pn002. n.1 the right in Pn002 is set to 1.
Pn002 = Indicates the second digit Pn002 = Indicates that the second digit from
n.X from the right in Pn002. n.1 the right in Pn002 is set to 1.
Pn002 = Indicates the third digit from Pn002 = Indicates that the third digit from
Pn002 = Indicates the fourth digit from Pn002 = Indicates that the fourth digit from
 Engineering Tools Used in This Manual

This manual uses the interfaces of the SigmaWin+ for descriptions.
xvi
 Trademarks
• 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.
Important
Indicates definitions of difficult terms or terms that have not been previously explained in this
manual.
Term
Example Indicates operating or setting examples.
Information Indicates supplemental information to deepen understanding or useful information.
xvii
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 precau-
tions that are provided.
DANGER
 Indicates precautions that, if not heeded, are likely to result in loss of life, serious injury, or fire.
WARNING
 Indicates precautions that, if not heeded, could result in loss of life, serious injury, or fire.
CAUTION
 Indicates precautions that, if not heeded, could result in relatively serious or minor injury, or in
fire.
NOTICE
 Indicates precautions that, if not heeded, could result in property damage.
xviii
 Safety Precautions That Must Always Be Observed
 General Precautions
DANGER
 Read and understand this manual to ensure the safe usage of the product.
 Keep this manual in a safe, convenient place so that it can be referred to whenever necessary.
Make sure that it is delivered to the final user of the product.
 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.
WARNING
 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.
CAUTION
 The SERVOPACK heat sinks, regenerative resistors, External Dynamic Brake Resistors, Servo-
motors, and other components can be very hot while power is ON or soon after the power is
turned OFF. Implement safety measures, such as installing covers, so that hands and parts
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
 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
CAUTION
 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.
NOTICE
 Do not install or store the product in any of the following locations.
• Locations that are subject to direct sunlight
• Locations that are subject to ambient temperatures that exceed product specifications
• Locations that are subject to relative humidities that exceed product specifications
• 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
CAUTION
 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.
xx
NOTICE
 Do not hold onto the front cover or connectors when you move a SERVOPACK.
There is a risk of the SERVOPACK falling.
 A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock.
There is a risk of failure or damage.
 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
CAUTION
 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.
 Install the SERVOPACK in the specified orientation.
 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
 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
DANGER
 Do not change any wiring while power is being supplied.
There is a risk of electric shock or injury.
WARNING
 Wiring and inspections must be performed only by qualified engineers.
There is a risk of electric shock or product failure.
 Check all wiring and power supplies carefully.
Incorrect wiring or incorrect voltage application to the output circuits may cause short-circuit fail-
ures. 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
indicator is not lit before starting wiring or inspection work. Do not touch the power supply ter-
minals while the CHARGE lamp is lit after turning OFF the power supply because high voltage
may still remain in the SERVOPACK.
 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.
 The maximum wiring length is 3 m for I/O Signal Cables, and 50 m for Encoder Cables or Servo-
motor Main Circuit 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 termi-
nals, has been completed.
• If a connector is used for the main circuit terminals, remove the main circuit connector from the SER-
VOPACK before you wire it.
• Insert only one wire per insertion hole in the main circuit terminals.
• When you insert a wire, make sure that the conductor wire (e.g., whiskers) does not come into con-
tact with adjacent wires.
 Install molded-case circuit breakers and other safety measures to provide protection against
short circuits in external wiring.
NOTICE
 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-cur-
rent 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
 Operation Precautions
WARNING
 Before starting operation with a machine connected, change the settings of the switches and
parameters to match the machine.
Unexpected machine operation, failure, or personal injury may occur if operation is started before
appropriate settings are made.
 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.
 Forcing the motor to stop for overtravel is disabled when the Jog, Origin Search, or Easy FFT
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 mea-
sures on the machine.
 Do not enter the machine’s range of motion during operation.
 Do not touch the moving parts of the Servomotor or machine during operation.
CAUTION
 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 Σ-7-Series AC Servo Drive Σ-7S/Σ-7W SERVOPACK with
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.
xxiv
NOTICE
 When you adjust the gain during system commissioning, use a measuring instrument to monitor
the torque waveform and speed waveform and confirm that there is no vibration.
If a high gain causes vibration, the Servomotor will be damaged quickly.
 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
DANGER
 Do not change any wiring while power is being supplied.
There is a risk of electric shock or injury.
WARNING
 Wiring and inspections must be performed only by qualified engineers.
There is a risk of electric shock or product failure.
CAUTION
 Wait for six minutes after turning OFF the power supply and then make sure that the CHARGE
indicator is not lit before starting wiring or inspection work. Do not touch the power supply ter-
minals while the CHARGE lamp is lit after turning OFF the power supply because high voltage
may still remain in the SERVOPACK.
 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.
NOTICE
 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
 Troubleshooting Precautions
DANGER
 If the safety device (molded-case circuit breaker or fuse) installed in the power supply line oper-
ates, remove the cause before you supply power to the SERVOPACK again. If necessary, repair
or replace the SERVOPACK, check the wiring, and remove the factor that caused the safety
device to operate.
There is a risk of fire, electric shock, or injury.
WARNING
 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.
CAUTION
 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 transis-
tor 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.
 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.
xxvi
 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 ser-
vice 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 program-
mable Yaskawa products.
• The information described in product catalogs or manuals is provided for the purpose of the cus-
tomer 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 prop-
erty 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 specifica-
tions, 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 sep-
arate 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 edi-
tions 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.)

UL 61800-5-1 (E147823),
SERVOPACKs SGD7S
CSA C22.2 No.274
 European Directives
Product Model EU Directive Harmonized Standards

Machinery Directive
EN ISO13849-1: 2015
2006/42/EC
EN 55011 group 1, class A
EN 61000-6-2
EMC Directive
EN 61000-6-4
2014/30/EU
SERVOPACKs SGD7S EN 61800-3 (Category C2, Second
environment)
Low Voltage Directive EN 50178
2014/35/EU EN 61800-5-1
RoHS Directive
EN 50581
2011/65/EU
EN 55011 group 1, class A
EN 61000-6-2
EMC Directive
EN 61000-6-4
2014/30/EU
EN 61800-3 (Category C2, Second
Direct Drive Ser- environment)
SGM7D
vomotors Low Voltage Directive EN 60034-1
2014/35/EU EN 60034-5
RoHS Directive
EN 50581
2011/65/EU
Note: 1. We declared the CE Marking based on the harmonized standards in the above table.
2. These products are for industrial use. In home environments, these products may cause electromagnetic interference
and additional noise reduction measures may be necessary.
 Safety Standards
Product Model Safety Standards Standards

EN ISO13849-1:2015
Safety of Machinery
IEC 60204-1
IEC 61508 series
SERVOPACKs SGD7S
Functional Safety IEC 62061
IEC 61800-5-2
EMC IEC 61326-3-1
xxx
 Safety Parameters
Item Standards Performance Level
IEC 61508 SIL3
Safety Integrity Level
IEC 62061 SILCL3
Mission Time IEC 61508 10 years 20 years
Probability of Dangerous Failure per IEC 61508 PFH = 4.04 × 10-9 [1/h] PFH = 4.05 × 10-9 [1/h]
Hour IEC 62061 (4.04% of SIL3) (4.05% of SIL3)
Performance Level EN ISO 13849-1 PLe (Category 3)
Mean Time to Dangerous Failure of
EN ISO 13849-1 MTTFd: High
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
xxxi
Contents
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 Product Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
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
1.3 Combinations of SERVOPACKs and Servomotors . . . . . . . . . . . . . 1-6
1.4 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1.4.1 SERVOPACK Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-7
1.4.2 Function Application Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-10
1.5 SigmaWin+. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
1.6 Combining the SERVOPACKs with MP-Series Machine Controllers and the MPE720 Engineering Tool . . 1-12
SERVOPACK Ratings and Specifications

2
2.1 Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2.1.1 Three-Phase, 200 VAC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
2.1.2 Single-Phase, 200 VAC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
2.1.3 Single-Phase, 100 VAC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-3
2.2 SERVOPACK Overload Protection Characteristics . . . . . . . . . . . . 2-4
2.3 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References . . . . . . . . .2-5
2.3.2 FT82 SERVOPACK with
MECHATROLINK-II Communications References . . . . . . . . . . . . . . . . . . . . .2-9
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
xxxii
Maintenance
3
3.1 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
3.2 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
of the Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-89
3.3 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
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
3.4.4 INDEXER Module Alarm Displays and Troubleshooting . . . . . ... .... .. 3-177
3.4.6 List of Warnings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... .... .. 3-181
3.4.8 INDEXER Module Error Displays and Troubleshooting . . . . . . ... .... .. 3-189

3.5.1 Alarm Displays. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... .... .. 3-205
3.5.2 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... .... .. 3-205
3.5.4 INDEXER Alarm Displays and Troubleshooting . . . . . . . . . . . ... .... .. 3-234
3.5.6 List of Warnings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... .... .. 3-238
3.5.8 INDEXER Warning Displays and Troubleshooting . . . . . . . . . ... .... .. 3-246
xxxiii
Parameter Lists
4
4.2 FT82 SERVOPACK with MECHATROLINK-II Communications References . . 4-32
4.3 FT82 SERVOPACK with MECHATROLINK-III Communications References . . 4-67

4.3.1 List of Servo Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-67
4.3.2 List of MECHATROLINK-III Common Parameters . . . . . . . . . . . . . . . . . . . 4-106
4.4 Command Option Attachable-type FT82 SERVOPACKs with INDEXER Modules . . 4-114
4.5 FT83 SERVOPACKs with Analog Voltage/Pulse Train References . . 4-138
Index
Revision History
xxxiv
Basic Information on
SERVOPACKs
1
This chapter provides basic information, including an intro-
duction to the product, and describes how to interpret
model numbers and combinations with Servomotors.
1.1 Product Introduction . . . . . . . . . . . . . . . . . . 1-2
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
1.3 Combinations of SERVOPACKs and Servomotors . . . . 1-6
1.4 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1.4.1 SERVOPACK Functions . . . . . . . . . . . . . . . . . . . . 1-7
1.4.2 Function Application Restrictions . . . . . . . . . . . 1-10
1.5 SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
1.6 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 short-
est time possible, thus contributing to improving productivity.
1-2
1.2 Model Designations
1.2.1 Interpreting FT82 SERVOPACK Model Numbers

SGD7S - 2R8 A 00 A 001 F82 B
1st+2nd+3rd 4th 5th+6th 7th 8th+9th+10th 11th+12th+13th 14th
Σ-7-Series digits digit digits digit digits digits digit
Σ-7S
SERVOPACKs
Maximum Applicable Hardware Options

1st+2nd+3rd digits 4th digit Voltage 8th+9th+10th digits Specification
Motor Capacity
Voltage Code Specification Code Specification Applicable
Code Specification
Three- A 200 VAC Models
2R8*1 0.4 kW None
Phase, F 100 VAC Without options All models
200 VAC 120*2 1.5 kW 000
Single- 5th+6th digits Interface 001 Rack-mounted All models
Phase, 2R8 0.4 kW Varnished
002 All models
100 VAC Code Specification
008 Single-phase, 200-VAC
00 Analog voltage/pulse train reference power supply input SGD7S-120A
MECHATROLINK-II SGD7S-2R8A
10
communications references No dynamic brake and -2R8F
MECHATROLINK-III 020*4
20 External dynamic
communications reference SGD7S-120A
brake resistor
Command option attachable
E0
type*3 11th+12th+13th digits FT/EX Specification
7th digit Design Revision Order Code Specification

A Application function option
F82 for special motors,
SGM7D motor drive
14th digit BTO Specification*5
Code Specification
None None
B BTO specification
*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. This interface is supported only by an INDEXER Module. Refer to the following catalog for details.
AC Servo Drives Σ-7 Series (Manual No.: KAEP S800001 23)
*4. Refer to the following manual for details.
Σ-7-Series Σ-7S/Σ-7W SERVOPACK with Dynamic Brake Hardware Option Specifications Product Manual (Man-
ual No.: SIEP S800001 73)
*5. 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.
Refer to the following catalog for details on the BTO specification.
1-3

SGD7S - 2R8 A 00 A 001 F83 B
1st+2nd+3rd 4th 5th+6th 7th 8th+9th+10th 11th+12th+13th 14th
Σ-7-Series digits digit digits digit digits digits digit
Σ-7S
SERVOPACKs
Maximum Applicable Hardware Options

1st+2nd+3rd digits 4th digit Voltage 8th+9th+10th digits Specification
Motor Capacity
Voltage Code Specification Code Specification Code Applicable
Specification
Three- A 200 VAC Models
2R8*1 0.4 kW
Phase, None
*2
F 100 VAC Without options All models
200 VAC 120 1.5 kW 000
Single- 001 Rack-mounted All models
Phase, 2R8 0.4 kW 5th+6th digits Interface
002 Varnished All models
100 VAC Code Specification 008 Single-phase, 200-VAC
power supply input SGD7S-120A
00 Analog voltage/pulse train reference
SGD7S-2R8A
No dynamic brake
7th digit Design Revision Order and -2R8F
020*3
External dynamic SGD7S-120A
A brake resistor
11th+12th+13th digits FT/EX Specification
Code Specification
Application function option

F83 for special motors,
SGM7D motor drive,
indexing
14th digit BTO Specification*4
Code Specification
None None
B BTO specification
*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).
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.
1-4
1.2.3 Interpreting Direct Drive Servomotor Model Numbers
1.2.3 Interpreting Direct Drive Servomotor Model Numbers
SGM7D - 30 F 7 C 4 1
1st+2nd 3rd 4th 5th 6th 7th
Direct Drive
digits digit digit digit digit digit
Servomotors:
SGM7D
1st+2nd digits Rated Torque 4th digit Serial Encoder
Code Specification Code Specification Code Specification Code Specification

01 1.30 Nm 18 18.0 Nm 58 58.0 Nm 7 24-bit multiturn absolute encoder
02 2.06 Nm 20 20.0 Nm 70 70.0 Nm F 24-bit incremental encoder
03 3.00 Nm 24 24.0 Nm 90 90.0 Nm
5th digit Design Revision Order
05 5.00 Nm 28 28.0 Nm 1Z 100 Nm
C
06 6.00 Nm 30 30.0 Nm 1A 110 Nm
08 8.00 Nm 34 34.0 Nm 1C 130 Nm 6th digit Flange
09 9.00 Nm 38 38.0 Nm 2B 220 Nm
Servomotor Outer
12 12.0 Nm 45 45.0 Nm 2D 240 Nm Diameter Code (3rd Digit)
Code Mounting
F G H I J K L
3rd digit Servomotor Outer Diameter

Non-load
4 With cable on side - - -
side
Code Specification Code Specification 5 With cable on bottom * - -
F 264-mm dia. J 150-mm dia. : Applicable models.
G 160-mm dia. K 107-mm dia. * SGM7D-01G and -05G are not available with a cable
extending from the bottom.
H 116-mm dia. L 224 mm × 224 mm
I 264-mm dia. 7th digit Options
Note: 1. Direct Drive Servomotors are not available Specification
Code
with holding brakes.
2. This information is provided to explain 1 Standard mechanical precision
model numbers. 2 High mechanical precision*
It is not meant to imply that models are
* The SGM7D-01G, -05G, and -03H are available only with
available for all combinations of codes.
high mechanical precision.
 Manufactured Models
Rated Servomotor Outer Diameter
Torque F G H I J K L (224 mm ×
Nm (264-mm dia.) (160-mm dia.) (116-mm dia.) (264-mm dia.) (150-mm dia.) (107-mm dia.) 224 mm)
1.30 – SGM7D-01G – – – – –

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
70.0
SGM7D-58F
–
–
–
–
–
–
SGM7D-70I
–
–
–
–
–
–
1
90.0 SGM7D-90F – – – – – –
100 – – – SGM7D-1ZI – – –
110 SGM7D-1AF – – – – – –
130 – – – SGM7D-1CI – – –
220 – – – SGM7D-2BI – – –
240 – – – SGM7D-2DI – – –
Note: The above table shows combinations of the rated torque and outer diameter. The fourth through seventh dig-
its have been omitted.
1-5
1.3 Combinations of SERVOPACKs and Servomotors
1.3 Combinations of SERVOPACKs and Servomotors

SERVOPACK Model
Direct Drive Servomotor Model Capacity
SGD7S-
SGM7D-30F 188 W
SGM7D-58F 364 W
120A
SGM7D-90F 565 W
SGM7D-1AF 691 W
SGM7D-01G 16 W
2R8A and 2R8F
SGM7D-05G 63 W
SGM7D-08G 101 W
SGM7D-18G 226 W
SGM7D-24G 302 W 120A
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 120A
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 2R8A and 2R8F
SGM7D-06L 113 W
SGM7D-12L 226 W
SGM7D-30L 565 W 120A
1-6
1.4 Functions
1.4.1 SERVOPACK Functions
1.4 Functions
This section lists the functions provided by SERVOPACKs. Refer to the following manuals for details on the functions.
• 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)
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.
1.4.2 Function Application Restrictions on page 1-10

• Functions Related to the Machine
Functions
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 1
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.
1-7
1.4 Functions
• Functions Related to the Host Controller

Functions
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 Set-
tings*
Reference Pulse Input Multiplication Switching*
/COIN (Positioning Completion) Signal
/NEAR (Near) Signal
Reference Pulse Inhibition Function and Settings*
Torque Control*
Basic Settings for Torque Control*
Torque Reference Filter Settings*
Speed Limit 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.
1-8
1.4 Functions
• Functions to Achieve Optimum Motions

Functions
Speed Control*1
Soft Start Settings*1
Position Control*1
Smoothing Settings*1
Torque Control*1
Tuning-less Function
Autotuning without Host Reference
Autotuning with a Host Reference
Custom Tuning
Anti-resonance Control Adjustment
Vibration Suppression
Gain Selection
Friction Compensation
Gravity Compensation
Backlash Compensation*2
Model Following Control
Compatible Adjustment Functions
Mechanical Analysis
Easy FFT
*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
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 Param-
Cannot be used.
eters
Selecting the Phase Sequence for
Cannot be used.
a Linear Servomotor
Polarity Sensor Setting Cannot be used.
Polarity Detection Cannot be used.
Cannot be used.
Speed Ripple Compensation
Do not change the following default setting: Pn423 = n.0.
Tuning-less Function Cannot be used if the load moment of inertia ratio is 10 or greater.
1-10
1.5 SigmaWin+
1.5 SigmaWin+
To use the SigmaWin+, a model information file for the SERVOPACK must be added to Sig-
maWin+ version 7.
• FT82 SERVOPACKs
Add the FT82 model information file to SigmaWin+ to use the SigmaWin+.
• FT83 SERVOPACKs
Add the FT83 model information file to SigmaWin+ to use the SigmaWin+.
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 Engi-
neering Tool, it will be recognized as a SERVOPACK with standard specifications. To use the
parameters that have been added or changed for the SERVOPACKs described in this manual,
use the SigmaWin+.
1-12
SERVOPACK
Ratings and
Specifications
2
This chapter provides information required to select
SERVOPACKs, such as 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
2.2 SERVOPACK Overload Protection Characteristics . . 2-4
2.3 Specifications . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.3.1 FT82 SERVOPACKs with Analog Voltage/
Pulse Train References . . . . . . . . . . . . . . . . . . . . 2-5
2.3.2 FT82 SERVOPACK with MECHATROLINK-II
Communications References . . . . . . . . . . . . . . . 2-9
2.3.3 FT82 SERVOPACK with MECHATROLINK-III
Communications References . . . . . . . . . . . . . . 2-12
2.3.4 Command Option Attachable-type FT82
SERVOPACKs with INDEXER Modules . . . . . . . 2-15
2.3.5 FT83 SERVOPACKs with Analog Voltage/
Pulse Train References . . . . . . . . . . . . . . . . . . . 2-19
2.1 Ratings
2.1.1 Three-Phase, 200 VAC
2.1 Ratings
The ratings of the FT82 and FT83 SERVOPACKs are the same. This section gives the ratings of SERVOPACKs.
2.1.1 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
200 VAC to 240 VAC, -15% to +10%, 50
Main Power Supply
Hz/60 Hz
Circuit
Input Current [Arms]* 2.5 7.3
200 VAC to 240 VAC, -15% to +10%, 50
Power Supply
Control Hz/60 Hz
Power Supply Capacity [kVA]* 1.0 3.2
Main Circuit Power Loss [W] 22.5 72.6
Control Circuit Power Loss [W] 12 15
Power Loss*
Built-in Regenerative Resistor Power Loss [W] − 12
Total Power Loss [W] 34.5 97.6
Built-In Regenerative Resistance [Ω] − 20
Regenerative Resistor
Resistor Capacity [W] − 60
Minimum Allowable External Resistance [Ω] 40 20
Overvoltage Category III
* This is the net value at the rated load.
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
200 VAC to 240 VAC, -15% to +10%, 50
Power Supply
Main Circuit Hz/60 Hz
Input Current [Arms]* 5.0 16
200 VAC to 240 VAC, -15% to +10%, 50
Power Supply
Control Hz/60 Hz
Power Supply Capacity [kVA]* 1.2 4.0
Main Circuit Power Loss [W] 23.7 71.8
Control Circuit Power Loss [W] 12 16
Power Loss*
Built-in Regenerative Resistor Power Loss [W] − 12
Total Power Loss [W] 35.7 103.8
Built-In Regenerative Resistance [Ω] − 12
Regenerative Resistor
Capacity [W] − 60
Resistor
Minimum Allowable External Resistance [Ω] 40 12
2-2
2.1 Ratings

SGD7S- 2R8F
Maximum Applicable Motor Capacity [kW] 0.4
Continuous Output Current [Arms] 2.8
Instantaneous Maximum Output Current [Arms] 9.3
Power Supply 100 VAC to 120 VAC, -15% to +10%, 50 Hz/60 Hz
Main Circuit
Input Current [Arms]* 10
Power Supply 100 VAC to 120 VAC, -15% to +10%, 50 Hz/60 Hz
Control
Input Current [Arms]* 0.38
Power Supply Capacity [kVA]* 1.4
Main Circuit Power Loss [W] 26.2
Power Loss* Control Circuit Power Loss [W] 12
Total Power Loss [W] 38.2
Regenerative Minimum Allowable Resistance
40
Resistor [Ω]
2-3
2.2 SERVOPACK Overload Protection Characteristics
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
Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-III Communications References Product Manual
Σ-7-Series Σ-7S Command Option Attachable-type SERVOPACK with INDEXER Module Product Manual
• FT83 SERVOPACKs
2-4
2.3 Specifications
2.3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References
2.3 Specifications
2.3.1 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 (With derating, usage is possible between 55°C and 60°C.)
Refer to the following manual for derating specifications.
Temperature*1
Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References
Product Manual (Manual No.: SIEP S800001 26)
Storage Temperature -20°C to 85°C
Surrounding Air
95% relative humidity max. (with no freezing or condensation)
Humidity
Storage Humidity 95% relative humidity max. (with no freezing or condensation)
Vibration Resistance 4.9 m/s2
Shock Resistance 19.6 m/s2
I
Degree SERVOPACK Models

Environ-
mental Degree of Protection SGD7S-2R8A, -120A (three-phase, 200-VAC input),
IP20
Conditions and -2R8F
IP10 SGD7S-120A00A008 (single-phase, 200-VAC input)
2
• Must be no corrosive or flammable gases.
Pollution Degree
• 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.)
Altitude*1 Refer to the following manual for derating specifications.
Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References
Product Manual (Manual No.: SIEP S800001 26)
Do not use the SERVOPACK in the following locations: Locations sub-
ject to static electricity noise, strong electromagnetic/magnetic fields,

Others
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
1:5000 (At the rated torque, the lower limit of the speed control range
Speed Control Range
must not cause the Servomotor to stop.)
±0.01% of rated speed max. (for a load fluctuation of 0% to 100%)
Coefficient of Speed 0% of rated speed max. (for a load fluctuation of ±10%)
Perfor- Fluctuation*2 ±0.1% of rated speed max. (for a temperature fluctuation of 25°C
mance ±25°C)
Torque Control Preci-
±1%
sion (Repeatability)
Soft Start Time Set-
0 s to 10 s (Can be set separately for acceleration and deceleration.)
ting
2
2-5
2.3 Specifications

Item Specification
Encoder Divided Phase A, phase B, phase C: Line-driver output
Pulse Output Number of divided output pulses: Any setting is allowed.
Overheat Protection Number of input points: 1
Input Input voltage range: 0 V to +5 V
Allowable voltage range: 5 VDC ±5%
Fixed Number of input points: 1
Input
SEN (Absolute Data Request) signal
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
Sequence • /ALM-RST (Alarm Reset) signal
Input Input • /P-CL (Forward External Torque Limit) and /N-CL (Reverse External
Signals Signals
Torque Limit) signals
That Can
Be Allo- • /SPD-D (Motor Direction) signal
cated • /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
I/O Signals
• 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
Fixed
Number of output points: 1
Output
Output signal: ALM (Servo Alarm) signal
(A photocoupler output (isolated) is used for three of the outputs.)
(An open-collector output (non-isolated) is used for the other three out-
puts.)
Output signals
• /COIN (Positioning Completion) signal
Sequence • /V-CMP (Speed Coincidence Detection) signal
Output Output • /TGON (Rotation Detection) signal
Signals Signals
• /S-RDY (Servo Ready) signal
That Can
Be • /CLT (Torque Limit Detection) signal
Allocated • /VLT (Speed Limit Detection) signal
• /BK (Brake) signal
• /WARN (Warning) signal
• /NEAR (Near) signal
• /PSELA (Reference Pulse Input Multiplication Switching Output) sig-
nal
• ALO1, ALO2, and ALO3 (Alarm Code) signals
changed.
2-6
2.3 Specifications

Item Specification
Inter- Digital Operator (JUSP-OP05A-1-E) and personal computer (with Sig-
faces maWin+)
RS-422A 1:N
Communi- Commu- Up to N = 15 stations possible for RS-422A port
cations nications
(CN3) Axis
Communi-
Address Set with parameters.
cations
Setting
Interface Personal computer (with SigmaWin+)
USB
Communi- Commu-
cations nica-
Conforms to USB2.0 standard (12 Mbps).
(CN7) tions
Standard
Displays/Indicators CHARGE indicator and five-digit seven-segment display
Panel Operator Four push switches
Number of points: 2
Output voltage range: ±10 VDC (effective linearity range: ±8 V)
Resolution: 16 bits
Analog Monitor (CN5)
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
Dynamic Brake (DB)
power supply to the main circuit or servo is OFF.
Built-in
Regenerative Processing Refer to the following catalog for details.
Stopping with dynamic brake, deceleration to a stop, or coasting to a
Overtravel (OT) Prevention stop for the P-OT (Forward Drive Prohibit) or N-OT (Reverse Drive Pro-
hibit) 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 Output EDM1: Monitors the status of built-in safety circuit (fixed output).
Functions Applicable Stan-
ISO13849-1 PLe (Category 3) and IEC61508 SIL3
dards*3
Fully-closed Modules and Safety Modules
Applicable Option Modules

Note: You cannot use a Fully-closed Module and a Safety Module together.
2-7
2.3 Specifications

Item Specification
Soft Start Time Set-
ting
• Maximum input voltage: ±12 V (forward motor rotation for positive ref-
Refer- erence).
ence • 6 VDC at rated speed (default setting). Input gain setting can be
Voltage changed.
Input
Input Imped- Approx. 14 kΩ
Signal ance
Circuit
Speed Time
30 μs
Con- Con-
trol stant
Rota-
tion
Direc-
With Proportional Control signal
tion
Internal
Selec-
Set Speed
tion
Control
Speed With Forward/Reverse External Torque Limit signals (speed 1 to 3
Selec- selection).
Servomotor stops or another control method is used when both signals
tion are OFF.
Feedforward
0% to 100%
Compensation
Output Signal Posi-
tioning Completed 0 to 1,073,741,824 reference units
Controls
Width Setting
Refer-
One of the following is selected:
ence
Sign + pulse train, CW + CCW pulse trains, and two-phase pulse trains
Pulse
with 90° phase differential
Form
Input
Posi- Line driver or open collector
Ref- Form
tion
eren • Line Driver
Con-
In- ce Maxi- Sign + pulse train or CW + CCW pulse trains: 4 Mpps
trol
put puls mum Two-phase pulse trains with 90° phase differential: 1 Mpps
Sig- es Input • Open Collector
Fre-
nals Sign + pulse train or CW + CCW pulse trains: 200 kpps
quency
Two-phase pulse trains with 90° phase differential: 200 kpps
Input
Multiplica-
1 to 100 times
tion
Switching
Position deviation clear
Clear Signal
Line driver or open collector
• Maximum input voltage: ±12 V (forward torque output for positive ref-
Refer- erence).
ence
• 3 VDC at rated torque (default setting). Input gain setting can be
Voltage
changed.
Torque
Con- Input Input
Signal Imped- Approx. 14 kΩ
trol
ance
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.
2-8
2.3 Specifications
2.3.2 FT82 SERVOPACK with MECHATROLINK-II Communications References
*2. The coefficient of speed fluctuation for load fluctuation is defined as follows:
Coefficient of speed fluctuation = No-load motor speed - Total-load motor speed × 100%
Rated motor speed
*3. Always perform risk assessment for the system and confirm that the safety requirements are met.

MECHATROLINK-II Communications References
Item Specification
-5°C to 55°C
(With derating, usage is possible between 55°C and 60°C.)
Surrounding Air
Temperature*1
Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-II Communications
References Product Manual (Manual No.: SIEP S800001 27)
Surrounding Air
Humidity
I

Environ-
mental SGD7S-2R8A, -120A (three-phase, 200-VAC input),
Degree of Protection IP20
2
Pollution Degree
2,000 m.)
Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-II Communications

Others ject to static electricity noise, strong electromagnetic/magnetic fields, or
radioactivity
dards on page xxx
Speed Control Range
Coefficient of Speed 0% of rated speed max. (for a voltage fluctuation of ±10%)
mance ±25°C)
±1%
Soft Start Time
2
Setting
2-9
2.3 Specifications

Item Specification
Input Input Signals
Signals • /DEC (Origin Return Deceleration Switch) signal
Sequence That • /EXT1 to /EXT3 (External Latch Input 1 to 3) signals
Input
Can Be • P-OT (Forward Drive Prohibit) and N-OT (Reverse Drive Prohibit) sig-
Signals nals
Allo-
cated • /P-CL (Forward External Torque Limit) and /N-CL (Reverse External
changed.
I/O Signals Allowable voltage range: 5 VDC to 30 VDC
Fixed Number of output points: 1
Output
(A photocoupler output (isolated) is used.)
Output Signals
Sequence • /COIN (Positioning Completion) signal
Output Output • /V-CMP (Speed Coincidence Detection) signal
Signals Signals • /TGON (Rotation Detection) signal
That Can • /S-RDY (Servo Ready) signal
Be Allo- • /CLT (Torque Limit Detection) signal
cated • /VLT (Speed Limit Detection) signal
changed.
Inter- Digital Operator (JUSP-OP05A-1-E) and Personal computer (with Sig-
faces maWin+)
RS-422A 1:N
cations nications
(CN3) Axis
Communi-
Address Set with parameters.
cations
Setting
Interface Personal computer (with SigmaWin+)
USB Com-
munica- Commu-
tions nica-
Conforms to USB2.0 standard (12 Mbps).
(CN7) tions
Standard
CHARGE, PWR, and COM indicators, and one-digit seven-segment
Displays/Indicators
display
2-10
2.3 Specifications

Item Specification
Communications Pro-
MECHATROLINK-II
tocol
41h to 5Fh (maximum number of slaves: 30)
Station Address
Selected with the combination of a rotary switch (S2) and DIP switch
MECHA- Settings
TROLINK-II (S3).
Communi- 10 Mbps, 4 Mbps
cations Baud Rate
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 Transmis- 17 or 32 bytes/station
sion Bytes A DIP switch (S3) is used to select the number of transmission bytes.
Position, speed, or torque control with MECHATROLINK-II communica-
Performance
Reference tions
Method MECHATROLINK-I or MECHATROLINK-II commands (sequence,
Reference Input
motion, data setting, data access, monitoring, adjustment, etc.)
MECHATROLINK-II Communica- Rotary switch (S2) positions: 16
tions Setting Switches Number of DIP switch (S3) pins: 4
Number of points: 2
Resolution: 16 bits
Dynamic Brake (DB)
Built-in
hibit) signal
Functions Applicable
ISO13849-1 PLe (Category 3), IEC61508 SIL3
Standards*3

Rated motor speed
2-11
2.3 Specifications
2.3.3 FT82 SERVOPACK with MECHATROLINK-III Communications References

MECHATROLINK-III Communications References
Item Specification
Drive Method IGBT-based PWM control, sine wave current drive
-5°C to 55°C
Surrounding Air Tem- (With derating, usage is possible between 55°C and 60°C.)
perature*1
Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-III Communications
Surrounding Air
Humidity
I

Environ-
mental SGD7S-2R8A, -120A (three-phase, 200-VAC input),
Degree of Protection IP20
2
Pollution Degree
2,000 m.)
Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-III Communications
Others ject to static electricity noise, strong electromagnetic/magnetic fields, or
radioactivity
dards on page xxx
Speed Control Range
Coefficient of Speed 0% of rated speed max. (for a load fluctuation of ±10%)
mance ±25°C)
±1%
Soft Start Time
Setting
2-12
2.3 Specifications

Item Specification
Input Signals
Input • /DEC (Origin Return Deceleration Switch) signal
Sequence Signals • /EXT1 to /EXT3 (External Latch Input 1 to 3) signals
Input That Can • P-OT (Forward Drive Prohibit) and N-OT (Reverse Drive Prohibit) sig-
Signals Be Allo- nals
cated • /P-CL (Forward External Torque Limit) and /N-CL (Reverse External
changed.
I/O Signals Allowable voltage range: 5 VDC to 30 VDC
Fixed
Output
Output Signals
Sequence • /COIN (Positioning Completion) signal
Output Output • /V-CMP (Speed Coincidence Detection) signal
Signals Signals • /TGON (Rotation Detection) signal
That Can • /S-RDY (Servo Ready) signal
Be Allo- • /CLT (Torque Limit Detection) signal
cated • /VLT (Speed Limit Detection) signal
changed.
Inter- Digital Operator (JUSP-OP05A-1-E) and personal computer (with Sig-
faces maWin+)
RS-422A 1:N

cations nications
Communi- (CN3) Axis
cations Address Set with parameters.
Setting
USB Interface Personal computer (with SigmaWin+)
Communi- Commu-
cations nications Conforms to USB2.0 standard (12 Mbps).
(CN7) Standard
CHARGE, PWR, CN, L1, and L2 indicators, and one-digit seven-seg-
Displays/Indicators
ment display
2-13
2.3 Specifications

Item Specification
Communications Pro-
MECHATROLINK-III
tocol
Station Address 03h to EFh (maximum number of slaves: 62)
MECHA- Settings The rotary switches (S1 and S2) are used to set the station address.
TROLINK-III Baud Rate 100 Mbps
Communi-
cations 125 μs, 250 μs, 500 μs, 750 μs,
Transmission Cycle
1.0 ms to 4.0 ms (multiples of 0.5 ms)
Number of Transmis- 32 or 48 bytes/station
sion Bytes A DIP switch (S3) is used to select the number of transmission bytes.
Position, speed, or torque control with MECHATROLINK-III communi-
Performance
cations
Reference
MECHATROLINK-III commands (sequence, motion, data setting, data
Method Reference Input
access, monitoring, adjustment, etc.)
Profile MECHATROLINK-III standard servo profile
MECHATROLINK-III Communica- Rotary switch (S1 and S2) positions: 16
tions Setting Switches Number of DIP switch (S3) pins: 4
Number of points: 2
Resolution: 16 bits
Dynamic Brake (DB)
Built-in
hibit) signal
Standards*3
No-load motor speed - Total-load motor speed
Coefficient of speed fluctuation = × 100%
Rated motor speed
2-14
2.3 Specifications
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 Attach-
able-type SERVOPACK are given in the following table.
Item Specification
Surrounding Air 0°C to 55°C
Temperature
Surrounding Air
Humidity
Environ- Shock Resistance 19.6 m/s2
mental
Conditions Degree of Protection IP10
2
Pollution Degree
Altitude 1,000 m or less.
Others ject to static electricity noise, strong electromagnetic/magnetic fields,
or radioactivity
dards on page xxx
Speed Control Range
Coefficient of Speed 0% of rated speed max. (for a voltage fluctuation of ±10%)
mance ±25°C)

±1%
Soft Start Time
Setting
2-15
2.3 Specifications

Item Specification
SERVOPACK
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
Positive or negative logic can be changed in the parameters.
/MODE 0/1 (Mode Switch Input) signal
Mode 0 Mode 1
I/O Signals
• /START-STOP (Program Table • /HOME (Origin Return Input) sig-
Sequence Operation Start-Stop Input) signal
Fixed
Input nal • /JOGP (Forward Jog Input) sig-
Inputs
Signals • /PGMRES (Program Table Oper- nal
ation Reset Input) signal • /JOGN (Reverse Jog Input) sig-
INDEXER Module
• /SEL0 (Program Step Selection nal

Input 0) signal • /JOG0 (Jog Speed Table Selec-
• /SEL1 (Program Step Selection tion Input 0) signal
Input 4) signal
• /SEL5 (Program Step Selection
Input 5) signal
Input 6) signal
Input 7) signal
2-16
2.3 Specifications

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
Allocations Can Be Changed

Output Signals for Which
SERVOPACK
Output signals:
• /WARN (Warning Output) signal
• /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
Sequence parameters.
I/O Signals Output
Signals
Output signals:
INDEXER Module
• /INPOSITION (Positioning Completion Output) signal

• /POUT0 (Programmable Output 0) signal
Fixed
Out-
puts
Digital Operator (JUSP-OP05A-1-E) and Personal computer (with Sig-
Interfaces
maWin+)
RS-422A
1:N
Commu-
Communi- Up to N = 15 stations possible for RS-422A port
nica-
cations
tions
Communi- (CN3) Axis
cations Address Set with parameters.
Setting
Commu-
nica- Communi-
tions cations Conforms to USB2.0 standard (12 Mbps).
(CN7) Standard
SERVOPACK CHARGE and PWR indicators, and one-digit seven-segment display

Displays/ Refer to the following manual for details.
Indicators INDEXER Module Σ-7-Series Σ-7S Command Option Attachable-type SERVOPACK with
INDEXER Module Product Manual (Manual No.: SIEP S800001 64)
2-17
2.3 Specifications

Item Specification
• Program table positioning in which steps are executed sequentially by
Program Table commands given through contact input or serial communications
Method • Positioning in which station numbers are specified by commands
given through contact input or serial communications
Max.
Number of 256
Steps
Max.
Number of 256
Operating Tables
Methods
Max.
Number of 256
Stations
Serial command by 1-channel ASCII code
Serial Communications specifications: RS-422/485 (50 m max.)
Communications Connection topology: Multi-drop connection
Method (16 axes max.)
Baud rate: 9600, 19200, 38400 bps
Other Functions Registration (positioning by external signals), origin return

Number of points: 2
Resolution: 16 bits
Dynamic Brake (DB)
Built-in
Regenerative Processing Refer to the following manual for details.
Σ-7-Series Peripheral Device Selection Manual (Manual No.: SIEP
S800001 32)
hibit) signal
Standards*2
Fully-Closed Module
Note: You cannot use a Safety Module if you are using an INDEXER Module.
No-load motor speed - Total-load motor speed
Coefficient of speed fluctuation = × 100%
Rated motor speed
2-18
2.3 Specifications
2.3.5 FT83 SERVOPACKs with Analog Voltage/Pulse Train

References
The product specifications are given below.
Item Specification
Serial encoder: 24 bits (incremental encoder/absolute
Feedback
encoder)
Surrounding Air
0°C to 55°C
Temperature*1
90% relative humidity max. (with no freezing or condensa-
Surrounding Air Humidity
tion)
90% relative humidity max. (with no freezing or condensa-
Storage Humidity
tion)
Environ-
mental Shock Resistance 19.6 m/s2
Conditions Degree of Protection IP10
2
Pollution Degree
Altitude*1 1,000 m max.
Do not use the SERVOPACK in the following locations:
Others Locations subject to static electricity noise, strong electro-
magnetic/magnetic fields, or radioactivity
Applicable Standards Compliance with UL Standards, EU Directives, and Other
Safety Standards on page xxx
1:5000 (At the rated torque, the lower limit of the speed con-
Speed Control Range
trol range must not cause the Servomotor to stop.)
±0.01% of rated speed max. (for a load fluctuation of 0% to
100%)
Coefficient of Speed Fluctua-
0% of rated speed max. (for a load fluctuation of ±10%)
Perfor- tion*2

mance ±0.1% of rated speed max. (for a temperature fluctuation of
25°C ±25°C)
Torque Control Precision
±1%
(Repeatability)
0 s to 10 s (Can be set separately for acceleration and
Soft Start Time Setting
deceleration.)
Phase A, phase B, phase C: Line-driver output
Encoder Divided Pulse Output
Number of divided output pulses: Any setting is allowed.
I/O Signals
Overheat Protection Input
Input voltage range: 0 V to +5 V
2-19
2.3 Specifications

Item Specification
Fixed Number of input points: 1
Input
SEN (Absolute Data Request) signal
Input method: Line driver or open collector
Input Signals
• /DEC (Origin Return Deceleration Switch) signal
• /RGRT (Registration Input) signal
• CLR (Clear) signal
Input Signals
• /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
Input • /SPD-A and /SPD-B (Internal Set Speed Selection) signals
Sequence Signals • /C-SEL (Control Selection) signal
SERVO-
I/O Signals Input
PACKs for • /ZCLAMP (Zero Clamping) signal
Signals Which • /INHIBIT (Reference Pulse Inhibit) signal
Alloca- • /P-DET (Polarity Detection) signal
tions • /G-SEL (Gain Selection) signal
Can Be • /PSEL (Reference Pulse Input Multiplication Switch) Signal
Changed • 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
• /JOG0 (Jog Speed Table Selection Input 0) signal
A signal can be allocated and the positive and negative logic
can be changed.
2-20
2.3 Specifications

Item Specification
Fixed Number of output points: 1
Output
(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
Sequence • /CLT (Torque Limit Detection) Signal
SERVO- Output
I/O Signals Output
PACKs • /VLT (Speed Limit Detection) Signal
Signals Signals • /BK (Brake) signal
That Can
• /WARN (Warning) Signal
Be
Allocated • /NEAR (Near) signal
• /PSELA (Reference Pulse Input Multiplication Switching
Output) signal
• ALO1, ALO2, and ALO3 (Alarm Code) signals
• /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 Interfaces Digital Operator (JUSP-OP05A-1-E)
Operator 1:N
Up to N = 15 stations possible for RS-422A port
Communi- Communications
cations Axis Address Set-
Communi- (CN3) Set with parameters.
ting
cations
Communi-
Communications

cations Conforms to USB2.0 standard (12 Mbps).
(CN7) Standard
Displays/
SERVOPACK CHARGE indicator and five-digit seven-segment display
Indicators
Panel Operator Four push switches
• Program table positioning in which steps are executed in
sequence with commands from contact inputs
Program Table
• Positioning by specifying station numbers with commands
Operating from contact inputs
Methods Maximum Number of 256 steps
Steps (32 steps max. if input signals are used)
Registration (positioning with external signals) and origin
Other Functions
returns.
Number of points: 2
Output voltage range: ±10 VDC (effective linearity range: ±8
V)
Analog Monitor (CN5) Resolution: 16 bits 2
2-21
2.3 Specifications

Item Specification
Activated when a servo alarm or overtravel (OT) occurs, or
Dynamic Brake (DB)
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.)
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
Overcurrent, overvoltage, low voltage, overload, regenera-
Protective Functions
tion error, etc.
/HWBB1 and /HWBB2: Base block signals for Power Mod-
Inputs
ules
Safety EDM1: Monitors the status of built-in safety circuit (fixed out-
Functions Output
put).
Applicable Standards*3 ISO13849-1 PLe (Category 3) and IEC61508 SIL3
Applicable Option Modules Note: You cannot use a Fully-closed Module and a Safety Module
together.
0 s to 10 s (Can be set separately for acceleration and
Soft Start Time Setting
deceleration.)
• Maximum input voltage: ±12 V (forward motor rotation for
Refer- positive reference).
ence • 6 VDC at rated speed (default setting).
Voltage Input gain setting can be changed.
Input
Input Signal Imped- Approx. 14 kΩ
ance
Circuit
Controls
Speed Time
30 μs
Con- Con-
trol stant
Rota-
tion
Direc-
With Proportional Control signal
tion
Internal Set Speed Selec-
Control tion
Speed With Forward/Reverse External Torque Limit signals (speed
1 to 3 selection).
Selec-
Servomotor stops or another control method is used when
tion both signals are OFF.
2-22
2.3 Specifications

Item Specification
Feedforward
0% to 100%
Compensation
Output Signal Positioning Com-
0 to 1,073,741,824 reference units
pleted Width Setting
Refer-
One of the following is selected:
ence
Sign + pulse train, CW + CCW pulse trains, and two-phase
Pulse
pulse trains with 90° phase differential
Form
Input
Form
Posi-
tion • Line Driver
Refer- Maxi- Sign + pulse train or CW + CCW pulse trains: 4 Mpps
Con-
ence mum Two-phase pulse trains with 90° phase differential: 1 Mpps
trol Input Sig- pulses Input • Open Collector
nals
Fre- Sign + pulse train or CW + CCW pulse trains: 200 kpps
quency
Controls
Two-phase pulse trains with 90° phase differential: 200

kpps
Input
Multiplica-
1 to 100 times
tion
Switching
Position deviation clear
Clear Signal
• Maximum input voltage: ±12 V (forward torque output for
Refer- positive reference).
ence
• 3 VDC at rated torque (default setting).
Voltage
Input gain setting can be changed.
Torque
Con- Input Signal Input
trol Imped- Approx. 14 kΩ
ance
Circuit
Time 16 μs
Constant
Rated motor speed

2-23
Maintenance
3
This chapter provides information on the meaning of,
causes of, and corrections for alarms and warnings.

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
3.2 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
3.2.5 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . 3-80
3.2.6 Troubleshooting Warnings . . . . . . . . . . . . . . . . . 3-82
Conditions of the Servomotor . . . . . . . . . . . . . . 3-89

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
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
3.4.4 INDEXER Module Alarm Displays and
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . 3-177
3.4.6 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . 3-181
3.4.8 INDEXER Module Error Displays and

3.5.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . 3-205
3.5.2 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . 3-205
3.5.4 INDEXER Alarm Displays and
3.5.6 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . 3-238
3.5.8 INDEXER Warning Displays and
3.1 FT82 SERVOPACKs with Analog Voltage/Pulse Train References
3.1.1 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 sys-
tem error. Replace the SERVOPACK.
Example: If an A.020 alarm occurs,

“020” will flash on the display.
3.1.2 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.
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
Servo- Alarm Code
Alarm
motor Output
Alarm Reset
Alarm Name Alarm Meaning Stop-
Number Possi-
ping ALO1 ALO2 ALO3
ble?
Method
There is an error in the
Parameter Checksum
A.020 parameter data in the SER- Gr.1 No H H H
Error VOPACK.
A.021 Parameter Format Error parameter data format in the Gr.1 No H H H
SERVOPACK.
A.022 System Checksum Error parameter data in the SER- Gr.1 No H H H
VOPACK.
An internal program error
Maintenance
A.024 System Alarm occurred in the SERVO- Gr.1 No H H H

PACK.
An internal program error
A.025 System Alarm occurred in the SERVO- Gr.1 No H H H
PACK.
A.030
Main Circuit Detector
Error
There is an error in the detec-
tion data for the main circuit.
Gr.1 Yes H H H 3
3-3

Servo- Alarm Code
Alarm
motor Output
Alarm Reset
Number Possi-
ping ALO1 ALO2 ALO3
ble?
Method
A parameter setting is out-
A.040 Parameter Setting Error Gr.1 No H H H
side of the setting range.
The setting of Pn212
(Encoder Output Pulses) or
Encoder Output Pulse Pn281 (Encoder Output Res-
A.041 Gr.1 No H H H
Setting Error olution) is outside of the set-
ting range or does not satisfy
the setting conditions.
The combination of some
Parameter Combination
A.042 parameters exceeds the set- Gr.1 No H H H
Error ting range.
Semi-Closed/Fully-Closed The settings of the Option
Module and Pn002 =
A.044 Loop Control Parameter Gr.1 No H H H
n.X (External Encoder
Setting Error Usage) do not match.
The capacities of the SER-
A.050 Combination Error VOPACK and Servomotor do Gr.1 Yes H H H
not match.
Unsupported Device An unsupported device was
A.051 Gr.1 No H H H
Alarm connected.
The /S-ON (Servo ON) signal
was input from the host con-
Invalid Servo ON Com-
A.0b0 troller after a utility function Gr.1 Yes H H H
mand Alarm that turns ON the Servomo-
tor was executed.
An overcurrent flowed
through the power trans-
A.100 Overcurrent Detected Gr.1 No L H H
former or the heat sink over-
heated.
The current to the motor
Motor Overcurrent
A.101 exceeded the allowable cur- Gr.1 No L H H
Detected rent.
There is an error related to
A.300 Regeneration Error Gr.1 Yes L L H
regeneration.
A regenerative overload
A.320 Regenerative Overload Gr.2 Yes L L H
occurred.
• The AC power supply input
setting or DC power supply
Main Circuit Power Supply
A.330 input setting is not correct. Gr.1 Yes L L H
Wiring Error • The power supply wiring is
not correct.
The main circuit DC voltage
A.400 Overvoltage Gr.1 Yes H H L
is too high.
The main circuit DC voltage
A.410 Undervoltage Gr.2 Yes H H L
is too low.
The motor exceeded the
A.510 Overspeed Gr.1 Yes L H L
maximum speed.
The pulse output speed for
Encoder Output Pulse the setting of Pn212
A.511 Gr.1 Yes L H L
Overspeed (Encoder Output Pulses) was
exceeded.
Abnormal oscillation was
A.520 Vibration Alarm Gr.1 Yes L H L
detected in the motor speed.
Vibration was detected
A.521 Autotuning Alarm during autotuning for the tun- Gr.1 Yes L H L
ing-less function.
3-4

Servo- Alarm Code
Alarm
motor Output
Alarm Reset
Number Possi-
ping ALO1 ALO2 ALO3
ble?
Method
The setting of Pn385 (Maxi-
Maximum Speed Setting mum Motor Speed) is greater
A.550 Gr.1 Yes L H L
Error than the maximum motor
speed.
The Servomotor was operat-
ing for several seconds to
A.710 Instantaneous Overload several tens of seconds Gr.2 Yes L L L
under a torque that largely
exceeded the rating.
The Servomotor was operat-
ing continuously under a
A.720 Continuous Overload Gr.1 Yes L L L
torque that exceeded the rat-
ing.
When the dynamic brake was
A.730 applied, the rotational or lin-
Dynamic Brake Overload ear kinetic energy exceeded Gr.1 Yes L L L
A.731 the capacity of the dynamic
brake resistor.
The main circuit power sup-
Inrush Current Limiting
A.740 ply was frequently turned ON Gr.1 Yes L L L
Resistor Overload and OFF.
Internal Temperature Error The surrounding tempera-
A.7A1 1 (Control Board Tempera- ture of the control PCB is Gr.2 Yes L L L
ture Error) abnormal.
Internal Temperature Error The surrounding tempera-
A.7A2 2 (Power Board Tempera- ture of the power PCB is Gr.2 Yes L L L
ture Error) abnormal.
Internal Temperature Sen- An error occurred in the tem-
A.7A3 Gr.2 No L L L
sor Error perature sensor circuit.
SERVOPACK Built-in Fan The fan inside the SERVO-
A.7Ab Gr.1 Yes L L L
Stopped PACK stopped.
The power supplies to the
A.810 Encoder Backup Alarm encoder all failed and the Gr.1 No H H H
position data was lost.
A.820 Encoder Checksum Alarm checksum results for Gr.1 No H H H
encoder memory.
The battery voltage was
lower than the specified level
A.830 Encoder Battery Alarm Gr.1 Yes H H H
after the control power sup-
ply was turned ON.
There is an internal data error
A.840 Encoder Data Alarm Gr.1 No H H H
in the encoder.
The encoder was operating
A.850 Encoder Overspeed at high speed when the Gr.1 No H H H
power was turned ON.
The internal temperature of
Maintenance
A.860 Encoder Overheated the rotary encoder or linear Gr.1 No H H H

encoder is too high.
The internal temperature of
A.861 Motor Overheated Gr.1 No H H H
motor is too high.
3
3-5

Servo- Alarm Code
Alarm
motor Output
Alarm Reset
Number Possi-
ping ALO1 ALO2 ALO3
ble?
Method
The input voltage (tempera-
ture) for the overheat protec-
tion input (TH) signal
A.862 Overheat Alarm Gr.1 Yes H H H
exceeded the setting of
Pn61B (Overheat Alarm
Level).
An error occurred in the
A.8A0 External Encoder Error Gr.1 Yes H H H
external encoder.
External Encoder Module An error occurred in the
A.8A1 Gr.1 Yes H H H
Error Serial Converter Unit.
External Incremental An error occurred in the
Encoder Sensor Error external encoder.
External Absolute Encoder An error occurred in the posi-

A.8A3 tion data of the external Gr.1 Yes H H H
Position Error encoder.
External Encoder Over- An overspeed error occurred
speed in the external encoder.
An overheating error
External Encoder Over-
A.8A6 occurred in the external Gr.1 Yes H H H
heated encoder.
An error occurred in the A/D
Speed Reference A/D
A.b10 converter for the speed refer- Gr.2 Yes H H H
Error ence input.
Speed Reference A/D
A.b11 conversion data for the Gr.2 Yes H H H
Data Error speed reference.
Torque Reference A/D
A.b20 converter for the torque ref- Gr.2 Yes H H H
Error erence input.
An error occurred in the cur-
A.b33 Current Detection Error 3 Gr.1 No H H H
rent detection circuit.
Internal program error 0
A.bF0 System Alarm 0 occurred in the SERVO- Gr.1 No H H H
PACK.
PACK.
PACK.
PACK.
PACK.
PACK.
PACK.
PACK.
3-6

Servo- Alarm Code
Alarm
motor Output
Alarm Reset
Number Possi-
ping ALO1 ALO2 ALO3
ble?
Method
PACK.
The Servomotor ran out of
A.C10 Servomotor Out of Control Gr.1 Yes L H L
control.
Encoder Clear Error or The multiturn data for the
A.C80 Multiturn Limit Setting absolute encoder was not Gr.1 No L H L
Error correctly cleared or set.
Communications between
Encoder Communications
A.C90 the encoder and SERVO- Gr.1 No L H L
Error PACK is not possible.
Encoder Communications An error occurred in calculat-
A.C91 Position Data Acceleration ing the position data of the Gr.1 No L H L
Rate Error encoder.
An error occurred in the com-
Encoder Communications munications timer between
A.C92 Gr.1 No L H L
Timer Error the encoder and SERVO-
PACK.
The parameters in the
A.CA0 Encoder Parameter Error Gr.1 No L H L
encoder are corrupted.
The contents of communica-
A.Cb0 Encoder Echoback Error tions with the encoder are Gr.1 No L H L
incorrect.
Different multiturn limits have
Multiturn Limit Disagree-
A.CC0 been set in the encoder and Gr.1 No L H L
ment the SERVOPACK.
Reception Failed Error in Receiving data from the
A.CF1 Feedback Option Module Feedback Option Module Gr.1 No L H L
Communications failed.
Timer Stopped Error in An error occurred in the timer
A.CF2 Feedback Option Module for communications with the Gr.1 No L H L
Communications Feedback Option Module.
The setting of Pn520 (Exces-
sive Position Deviation Alarm
Position Deviation Over-
A.d00 Level) was exceeded by the Gr.1 Yes L L H
flow position deviation while the
servo was ON.
The servo was turned ON
after the position deviation
exceeded the setting of
A.d01 Pn526 (Excessive Position Gr.1 Yes L L H
flow Alarm at Servo ON 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
Maintenance
(Speed Limit Level at Servo

Position Deviation Over- ON) limits the speed when
the servo is turned ON. This
A.d02 flow Alarm for Speed Limit Gr.2 Yes L L H
alarm occurs if reference
at Servo ON pulses are input and the set-
ting of Pn520 (Excessive
Position Deviation Alarm
Level) is exceeded before the 3
limit is cleared.
3-7

Servo- Alarm Code
Alarm
motor Output
Alarm Reset
Number Possi-
ping ALO1 ALO2 ALO3
ble?
Method
There was too much position
Motor-Load Position Devi- deviation between the motor
A.d10 Gr.2 Yes L L H
ation Overflow and load during fully-closed
loop control.
The position feedback data
A.d30 Position Data Overflow Gr.1 No L L H
exceeded ±1,879,048,192.
Safety Option Module Detection of the Safety
A.E71 Gr.1 No H L L
Detection Failure Option Module failed.
Feedback Option Module Detection of the Feedback
A.E72 Gr.1 No H L L
Detection Failure Option Module failed.
Unsupported Safety An unsupported Safety

A.E74 Option Module was con- Gr.1 No H L L
Option Module nected.
Safety Function Signal An error occurred in the input
A.Eb1 timing of the safety function Gr.1 No H L L
Input Timing Error signal.
An error occurred in the gate
A.EC8 Gate Drive Error 1 Gr.1 No H L L
drive circuit.
An error occurred in the gate
A.EC9 Gate Drive Error 2 Gr.1 No H L L
drive circuit.
The voltage was low for more
Power Supply Line Open than one second for phase
A.F10 Gr.2 Yes H L H
Phase R, S, or T when the main
power supply was ON.
FL-1*
FL-2*
FL-3* An internal program error
System Alarm occurred in the SERVO- – No Undefined.
FL-4* PACK.
FL-5*
FL-6*
Digital Operator Commu- Communications were not
CPF00 possible between the Digital
nications Error 1
Operator (model: JUSP-
– No Undefined.
Digital Operator Commu- OP05A-1-E) and the SERVO-
CPF01 PACK (e.g., a CPU error
nications Error 2
occurred).
* 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.
Refer to the following manual for details.
Σ-V-Series/Σ-V-Series for Large-Capacity Models/Σ-7-Series User’s Manual Safety Module (Manual No.: SIEP
C720829 06)
3-8
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:
Possible Cause Confirmation Correction Reference
Alarm Name
Set the power supply volt-
The power supply
Measure the power age within the specified
voltage suddenly
supply voltage. range, and initialize the
dropped.
parameter settings. *1
The power supply
Check the timing of Initialize the parameter
was shut OFF while
shutting OFF the power settings and then set the
writing parameter set-
supply. parameters again.
tings.
The SERVOPACK may be
The number of times Check to see if the faulty. Replace the SER-
that parameters were parameters were fre- VOPACK.
–
written exceeded the quently changed from Reconsider the method
A.020: limit. the host controller. for writing the parame-
Parameter ters.
Checksum Error Turn the power supply
(There is an error A malfunction was
to the SERVOPACK
in the parameter caused by noise from
OFF and ON again. If Implement countermea- *1
data in the SER- the AC power supply,
the alarm still occurs, sures against noise.
VOPACK.) ground, static elec-
noise may be the
tricity, or other source.
cause.
Gas, water drops, or
cutting oil entered the The SERVOPACK may be
Check the installation
SERVOPACK and faulty. Replace the SER- –
conditions.
caused failure of the VOPACK.
internal components.
Turn the power supply
to the SERVOPACK
A failure occurred in OFF and ON again. If
faulty. Replace the SER- –
the SERVOPACK. the alarm still occurs,
VOPACK.
the SERVOPACK may
have failed.
The software version
Read the product infor- Write the parameters from
of the SERVOPACK
A.021: mation to see if the soft- another SERVOPACK with
that caused the alarm
Parameter For- ware versions are the the same model and the *1
is older than the soft-
mat Error same. If they are differ- same software version,
ware version of the
(There is an error ent, it could be the and then turn the power
parameters specified
in the parameter cause of the alarm. OFF and ON again.
to write.
data format in the
SERVOPACK.) The SERVOPACK may be
A failure occurred in
– faulty. Replace the SER- –
the SERVOPACK.
VOPACK.
The power supply The SERVOPACK may be
Measure the power
voltage suddenly faulty. Replace the SER- –
supply voltage.
dropped. VOPACK.
A.022: The power supply
Check the timing of The SERVOPACK may be
System Check- was shut OFF while
shutting OFF the power faulty. Replace the SER- –
sum Error setting a utility func-
supply. VOPACK.
(There is an error tion.
Maintenance
in the parameter Turn the power supply

data in the SER- to the SERVOPACK
VOPACK.) The SERVOPACK may be
VOPACK.
the SERVOPACK may
have failed.
Continued on next page. 3
3-9

Alarm Number:
Alarm Name
A.024:
System Alarm The SERVOPACK may be
(An internal pro- A failure occurred in
gram error the SERVOPACK.
VOPACK.
occurred in the
SERVOPACK.)
A.025:
VOPACK.
occurred in the
SERVOPACK.)
A.030: The SERVOPACK may be
Main Circuit – faulty. Replace the SER- –
the SERVOPACK.
Detector Error VOPACK.
The SERVOPACK and
Check the combination Select a proper combina-
Servomotor capaci- *1
of the SERVOPACK and tion of SERVOPACK and
ties do not match
Servomotor capacities. Servomotor capacities.
each other.
A.040: – faulty. Replace the SER- –
the SERVOPACK.
Parameter Set- VOPACK.
ting Error Check the setting
(A parameter set- A parameter setting is Set the parameters to val-
ranges of the parame-
ting is outside of outside of the setting ues within the setting –
ters that have been
the setting range. ranges.
changed.
range.)
Check the electronic
gear ratio. The ratio Set the electronic gear
The electronic gear
must be within the fol- ratio in the following *1
ratio is outside of the
lowing range: 0.001 < range: 0.001 < (Pn20E/
setting range.
(Pn20E/Pn210) < Pn210) < 64,000.
64,000.
(Encoder Output
A.041: Pulses) or Pn281
Encoder Output (Encoder Output Res- Check the setting of Set Pn212 or Pn281 to an *1
Pulse Setting olution) is outside of Pn212 or Pn281. appropriate value.
Error the setting range or
does not satisfy the
setting conditions.
The speed of program
jogging went below
the setting range Check to see if the Decrease the setting of
*1
when the electronic detection conditions*2 the electronic gear ratio
gear ratio (Pn20E/ are satisfied. (Pn20E/Pn210).
Pn210) or the Servo-
motor was changed.
jogging went below Check to see if the
A.042: the setting range *2 Increase the setting of *1
Parameter Com- when Pn533 or Pn585 detection conditions Pn533 or Pn585.
(Program Jogging are satisfied.
bination Error
Speed) was changed.
The movement speed
of advanced autotun-
ing went below the Check to see if the Decrease the setting of
setting range when *1
the electronic gear detection conditions*3 the electronic gear ratio
are satisfied. (Pn20E/Pn210).
ratio (Pn20E/ Pn210)
or the Servomotor
was changed.
3-10

Alarm Number:
Alarm Name
A.044: The setting of the
Semi-Closed/ Fully-Closed Module Make sure that the setting
Fully-Closed does not match the Check the setting of of the Fully-closed Mod- *1
Loop Control setting of Pn002 = Pn002 = n.X. ule agrees with the setting
Parameter n.X (External of Pn002 = n.X.
Setting Error Encoder Usage).
Confirm that the follow-
The SERVOPACK and Select a proper combina-
ing condition is met:
Servomotor capaci- tion of the SERVOPACK
A.050: 1/4 ≤ (Servomotor *1
ties do not match and Servomotor capaci-
Combination capacity/SERVOPACK
each other. ties.
Error capacity) ≤ 4
(The capacities of Replace the encoder
A failure occurred in Replace the Servomotor
the SERVOPACK and check to see if the –
the encoder. or encoder.
and Servomotor alarm still occurs.
do not match.) The SERVOPACK may be
the SERVOPACK.
VOPACK.
An unsupported Serial
A.051: Converter Unit or
Check the product
encoder (e.g., an Change to a correct com-
Unsupported combination specifica- –
external encoder) is bination of models.
Device Alarm tions.
connected to the
SERVOPACK.
The /S-ON (Servo ON)
signal was input from
A.0b0: the host controller Turn the power supply to
after a utility function the SERVOPACK OFF and *1
Invalid Servo ON –
that turns ON the Ser- ON again. Or, execute a
Command Alarm
vomotor was exe- software reset.
cuted.
Maintenance
3-11

Alarm Number:
Alarm Name
The Main Circuit
Cable is not wired
Check the wiring. Correct the wiring.
correctly or there is
faulty contact.
Check for short-circuits
across Servomotor
There is a short-circuit The cable may be short-
phases U, V, and W, or
or ground fault in a circuited. Replace the
between the ground
Main Circuit Cable. cable.
and Servomotor phases
U, V, and W.
*1
across Servomotor
There is a short-circuit The Servomotor may be
or ground fault inside faulty. Replace the Servo-
between the ground
the Servomotor. motor.
U, V, or W.
across the Servomotor
There is a short-circuit connection terminals U, The SERVOPACK may be
or ground fault inside V, and W on the SER- faulty. Replace the SER-
the SERVOPACK. VOPACK, or between VOPACK.
A.100: the ground and termi-
Overcurrent nals U, V, or W.
Detected The regenerative
(An overcurrent resistor is not wired *1
flowed through Check the wiring. Correct the wiring.
the power trans- faulty contact.
former or the heat
Check the power con-
sink overheated.)
The dynamic brake sumed by the DB resis-
Change the SERVOPACK
(DB, emergency stop tor to see how
model, operating meth-
executed from the frequently the DB is
ods, or the mechanisms
SERVOPACK) was being used. Or, check –
so that the dynamic brake
frequently activated, the alarm display to see
does not need to be used
or a DB overload if a DB overload alarm
so frequently.
alarm occurred. (A.730 or A.731) has
occurred.
Check the regenerative
load ratio in the Sig-
The regenerative pro- maWin+ Motion Monitor
Recheck the operating
cessing capacity was Tab Page to see how
conditions and load.
exceeded. frequently the regenera-
tive resistor is being
used. *4
load ratio in the Sig- Change the regenerative
The SERVOPACK maWin+ Motion Monitor resistance to a value
regenerative resis- Tab Page to see how larger than the SERVO-
tance is too small. frequently the regenera- PACK minimum allowable
tive resistor is being resistance.
used.
3-12

Alarm Number:
Alarm Name
A heavy load was
Check to see if the Reduce the load applied
applied while the Ser-
operating conditions to the Servomotor. Or,
vomotor was stopped –
exceed Servo Drive increase the operating
or running at a low
specifications. speed.
speed.
A.100: Implement countermea-
Improve the noise envi-
Overcurrent sures against noise, such
ronment, e.g. by
Detected as correct wiring of the
A malfunction was improving the wiring or
(An overcurrent FG. Use an FG wire size –
caused by noise. installation conditions,
flowed through equivalent to the SERVO-
and check to see if the
the power trans- PACK’s main circuit wire
alarm still occurs.
former or the heat size.
sink overheated.) Turn the power supply to
the SERVOPACK OFF and
A failure occurred in ON again. If an alarm still
– –
the SERVOPACK. occurs, the SERVOPACK
may be faulty. Replace the
SERVOPACK.
The Main Circuit
Cable is not wired
faulty contact.
There is a short-circuit across cable phases U, The cable may be short-
or ground fault in a V, and W, or between circuited. Replace the
Main Circuit Cable. the ground and cable cable.
phases U, V, and W.
A.101:
across Servomotor *1
Motor Overcur- There is a short-circuit The Servomotor may be
rent Detected or ground fault inside faulty. Replace the Servo-
between the ground
(The current to the Servomotor. motor.
the motor U, V, or W.
exceeded the
allowable cur- Check for short-circuits
rent.) across the Servomotor
the ground and termi-
nals U, V, or W.
A heavy load was
or running at a low
speed.
Implement countermea-
sures against noise, such
ronment, e.g. by
as correct wiring of the
A.101: A malfunction was improving the wiring or
FG. Use an FG wire size –
Motor Overcurrent equivalent to the SERVO-
Detected PACK’s main circuit wire
alarm still occurs.
(The current to size.
the motor Turn the power supply to
Maintenance
exceeded the the SERVOPACK OFF and

allowable current.) A failure occurred in –
ON again. If an alarm still
–
SERVOPACK.
3
3-13

Alarm Number:
Alarm Name
Pn600 (Regenerative
Resistor Capacity) is Connect an External
not set to 0 and an Check it see if an Exter- Regenerative Resistor, or
External Regenerative nal Regenerative Resis- set Pn600 (Regenerative
*1
Resistor is not con- tor is connected and Resistor Capacity) to 0
nected to one of the check the setting of (setting unit: ×10 W) if no
following SERVO- Pn600. Regenerative Resistor is
PACKs: SGD7S-2R8A required.
or -2R8F.
Check to see if the
jumper is connected
The jumper between between power supply
the regenerative resis- terminals B2 and B3.
tor terminals (B2 and Note: If an External Regen-
erative Resistor or
B3) was removed Regenerative Resis- Correctly connect a
from one of the fol- tor Unit is con- jumper.
lowing SERVO- nected while the
PACKs: SGD7S- jumper remains con-
120A. nected between B2
and B3, the SERVO-
PACK may be dam-
A.300: aged. *1
Regeneration
Error Check the wiring of the
External Regenerative
Resistor or Regenera-
The External Regener- tive Resistor Unit.
ative Resistor or Note: If an External Regen- Correct the wiring of the
Regenerative Resis- erative Resistor or
Regenerative Resis- External Regenerative
tor Unit is not wired
tor Unit is con- Resistor or Regenerative
correctly, or was
nected while the Resistor Unit.
removed or discon- jumper remains con-
nected. nected between B2
and B3, the SERVO-
PACK may be dam-
aged.
While the main circuit
power supply is OFF, turn
the control power supply
to the SERVOPACK OFF
– and ON again. If an alarm –
the SERVOPACK.
still occurs, the SERVO-
PACK may be faulty.
Replace the SERVO-
PACK.
3-14

Alarm Number:
Alarm Name
The power supply Set the power supply volt-
Measure the power
voltage exceeded the age within the specified –
supply voltage.
specified range. range.
Change the regenerative
The external regener-
Check the operating resistance value or capac-
ative resistance value
conditions or the ity.
or regenerative resis-
capacity using the Sig- Reconsider the operating *4
tor capacity is too
maJunmaSize+ Capac- conditions using the Sig-
small, or there has
ity Selection Software or maJunmaSize+ Capacity
been a continuous
other means. Selection Software or
regeneration state.
other means.
There was a continu-
Reconsider the system
ous regeneration state Check the load applied
including the servo,
because a negative to the Servomotor –
machine, and operating
load was continu- during operation.
conditions.
ously applied.
(Regenerative Resis-
A.320: Check it see if a Regen-
tor Capacity) is
Regenerative erative Resistor is con- Correct the setting of *1
smaller than the
Overload nected and check the Pn600.
capacity of the Exter-
setting of Pn600.
nal Regenerative
Resistor.
Check to see if a
tor Capacity) is
Regenerative Resistor is Correct the setting of *1
smaller than the
connected and check Pn603.
the setting of Pn603.
nal Regenerative
Resistor.
The external regener- resistance to a correct
Check the regenerative *4
ative resistance is too value or use an External
resistance.
high. Regenerative Resistor of
an appropriate capacity.
the SERVOPACK.
VOPACK.
Maintenance
3-15

Alarm Number:
Alarm Name
If you are using the regen-
The regenerative erative resistor built into
resistor was discon- Measure the resistance the SERVOPACK, replace
nected when the of the regenerative the SERVOPACK.
–
SERVOPACK power resistor using a measur- If you are using an Exter-
supply voltage was ing instrument. nal Regenerative Resis-
high. tor, replace the External
Regenerative Resistor.
DC power was sup-
plied when an AC Check the power sup- Correct the power supply
A.330: power supply input ply to see if it is a DC setting to match the
Main Circuit was specified in the power supply. actual power supply.
Power Supply settings. *1
Wiring Error AC power was sup-
(Detected when plied when a DC Check the power sup- Correct the power supply
the main circuit power supply input ply to see if it is an AC setting to match the
power supply is was specified in the power supply. actual power supply.
turned ON.) settings.
Pn600 (Regenerative
Resistor Capacity) is Check it see if an Exter- Connect an External
not set to 0 and an nal Regenerative Resis- Regenerative Resistor, or
*1
External Regenerative tor is connected and if an External Regenera-
Resistor is not con- check the setting of tive Resistor is not
nected to an SGD7S- Pn600. required, set Pn600 to 0.
2R8A SERVOPACKs.
the SERVOPACK.
VOPACK.
The power supply Set the AC/DC power
Measure the power
voltage exceeded the supply voltage within the –
supply voltage.
specified range. specified range.
Improve the power sup-
ply conditions, install a
surge absorber, and then
The power supply is
turn the power supply
not stable or was Measure the power
OFF and ON again. If an –
influenced by a light- supply voltage.
alarm still occurs, the
ning surge.
SERVOPACK may be
faulty. Replace the SER-
VOPACK.
The voltage for AC Check the power sup-
Set the AC power supply
A.400: power supply was too ply voltage and the
voltage within the speci- –
Overvoltage high during accelera- speed and torque
fied range.
(Detected in the tion or deceleration. during operation.
main circuit The external regener- Select a regenerative
power supply Check the operating
ative resistance is too resistance value that is *4
section of the conditions and the
high for the operating appropriate for the oper-
SERVOPACK.) regenerative resistance.
conditions. ating conditions and load.
The moment of inertia Check to see if the
ratio or mass ratio moment of inertia ratio Increase the deceleration
–
exceeded the allow- or mass ratio is within time, or reduce the load.
able value. the allowable range.
the SERVOPACK.
PACK may be faulty.
Replace the SERVO-
PACK.
3-16

Alarm Number:
Alarm Name
Measure the power
voltage went below age within the specified –
supply voltage.
the specified range. range.
The power supply
Measure the power Increase the power supply
voltage dropped –
supply voltage. capacity.
during operation.
A.410: If you have changed the
Undervoltage setting of Pn509 (Momen-
A momentary power Measure the power *1
(Detected in the tary Power Interruption
interruption occurred. supply voltage.
main circuit Hold Time), decrease the
power supply setting.
section of the Replace the SERVO-
SERVOPACK.) PACK and connect a
The SERVOPACK
– reactor to the DC reactor –
fuse is blown out.
terminals ( 1 and 2) on
the SERVOPACK.
the SERVOPACK.
VOPACK.
The order of phases
U, V, and W in the Check the wiring of the Make sure that the Servo-
–
motor wiring is not Servomotor. motor is correctly wired.
correct.
A reference value that
exceeded the over- Check the input refer- Reduce the reference
A.510: speed detection level ence. value. Or, adjust the gain.
Overspeed was input.
(The motor *1
exceeded the Reduce the speed refer-
maximum speed.) The motor exceeded ence input gain and
Check the waveform of
adjust the servo gain. Or,
the maximum speed. the motor speed.
reconsider the operating
conditions.
the SERVOPACK.
VOPACK.
Decrease the setting of
The encoder output Pn212 (Encoder Output
Check the encoder out- *1
pulse frequency Pulses) or Pn281
put pulse setting.
exceeded the limit. (Encoder Output Resolu-
A.511: tion).
Encoder Output
Pulse Overspeed The encoder output
pulse frequency Check the encoder out-
exceeded the limit put pulse setting and Reduce the motor speed. –
because the motor the motor speed.
speed was too high.
Check for abnormal
Reduce the motor speed.
Abnormal oscillation motor noise, and check
Or, reduce the setting of *1
was detected in the the speed and torque
Pn100 (Speed Loop
motor speed. waveforms during oper-
Gain).
ation.
(Moment of Inertia
Maintenance
A.520: Check the moment of Set Pn103 (Moment of

Ratio) is greater than *1
Vibration Alarm inertia ratio or mass Inertia Ratio) to an appro-
the actual moment of
ratio. priate value.
inertia or was greatly
changed.
Check that the vibra-
The vibration detec- Set a suitable vibration
tion detection level *1
tion level (Pn312 or
Pn384) is not suitable.
(Pn312 or Pn384) is
detection level (Pn312 or
Pn384).
3
suitable.
3-17

Alarm Number:
Alarm Name
Reduce the load so that
the moment of inertia ratio
A.521: The Servomotor
is within the allowable
Autotuning Alarm vibrated considerably Check the waveform of *1
value. Or increase the
(Vibration was while performing the the motor speed.
load level or reduce the
detected while tuning-less function.
rigidity level in the tuning-
executing the less level settings.
custom tuning,
Easy FFT, or the The Servomotor
Check the operating pro-
tuning-less func- vibrated considerably
Check the waveform of cedure of corresponding *1
tion.) while performing cus-
the motor speed. function and implement
tom tuning or Easy
corrections.
FFT.
Check the setting of
The setting of Pn385 Pn385, and the upper
A.550: Set Pn385 to a value that
(Maximum Motor limits of the maximum *1
Maximum Speed does not exceed the max-
Speed) is greater than motor speed setting
Setting Error imum motor speed.
the maximum speed. and the encoder output
resolution setting.
The wiring is not cor-
Make sure that the Servo-
rect or there is a faulty *1
Check the wiring. motor and encoder are
contact in the motor
correctly wired.
or encoder wiring.
Operation was per- Reconsider the load and
Check the motor over-
formed that exceeded operating conditions. Or,
A.710: load characteristics and –
the overload protec- increase the motor
Instantaneous Run command.
tion characteristics. capacity.
Overload
A.720: An excessive load
Continuous was applied during
Check the operation
Overload operation because the Correct the mechanical
reference and motor –
Servomotor was not problem.
speed.
driven due to
mechanical problems.
the SERVOPACK.
VOPACK.
Implement measures to
The Servomotor was
Check the operation ensure that the motor will
rotated by an external –
status. not be rotated by an
force.
external force.
A.730 and
Reconsider the following:
A.731: When the Servomo-
• Reduce the Servomotor
Dynamic Brake tor was stopped with
Check the power con- command speed.
Overload the dynamic brake,
sumed by the DB resis- • Decrease the moment
(An excessive the rotational or linear
tor to see how of inertia ratio or mass –
power consump- kinetic energy
frequently the DB is ratio.
tion by the exceeded the capac-
being used. • Reduce the frequency of
dynamic brake ity of the dynamic
stopping with the
was detected.) brake resistor.
dynamic brake.
the SERVOPACK.
VOPACK.
The allowable fre-
A.740: quency of the inrush
Inrush Current Reduce the frequency of
current limiting resis-
Limiting Resistor turning the main circuit
tor was exceeded – –
Overload power supply ON and
when the main circuit
(The main circuit OFF.
power supply was
power supply turned ON and OFF.
was frequently
turned ON and The SERVOPACK may be
OFF.) – faulty. Replace the SER- –
the SERVOPACK.
VOPACK.
3-18

Alarm Number:
Alarm Name
Check the surrounding
temperature using a Decrease the surround-
thermostat. Or, check ing temperature by
The surrounding tem- *1
the operating status improving the SERVO-
perature is too high.
with the SERVOPACK PACK installation condi-
installation environment tions.
monitor.
An overload alarm
Check the alarm display
was reset by turning Change the method for
to see if there is an –
OFF the power sup- resetting the alarm.
overload alarm.
ply too many times.
A.7A1:
Use the accumulated
Internal Tempera- There was an exces-
load ratio to check the
ture Error 1 sive load or operation
load during operation,
(Control Board was performed that Reconsider the load and
and use the regenera- –
Temperature exceeded the regen- operating conditions.
tive load ratio to check
Error) erative processing
the regenerative pro-
capacity.
cessing capacity.
The SERVOPACK
installation orientation
Install the SERVOPACK
is not correct or there Check the SERVOPACK *1
according to specifica-
is insufficient space installation conditions.
tions.
around the SERVO-
PACK.
the SERVOPACK.
VOPACK.
monitor.
An overload alarm
overload alarm.
ply too many times.
A.7A2:
Use the accumulated
(Power Board was performed that Reconsider the load and
capacity.
cessing capacity.
The SERVOPACK
tions.
around the SERVO-
PACK.
Maintenance
the SERVOPACK.
VOPACK.
A.7A3:
Internal Tempera-
ture Sensor Error A failure occurred in The SERVOPACK may be
(An error – faulty. Replace the SER- –
the SERVOPACK.
occurred in the VOPACK.
temperature sen- 3
sor circuit.)
3-19

Alarm Number:
Alarm Name
Remove foreign matter
A.7Ab: from the SERVOPACK. If
The fan inside the
SERVOPACK Check for foreign matter an alarm still occurs, the
SERVOPACK –
Built-in Fan inside the SERVOPACK. SERVOPACK may be
stopped.
Stopped faulty. Replace the SER-
VOPACK.
The power to the Check to see if the
absolute encoder was power supply was
Set up the encoder.
turned ON for the first turned ON for the first
time. time.
The Encoder Cable Check to see if the
Check the encoder con-
was disconnected power supply was
nection and set up the
and then connected turned ON for the first
encoder. *1
A.810: again. time.
Encoder Backup Power is not being
Alarm supplied both from Replace the battery or
(Detected at the the control power Check the encoder implement similar mea-
encoder, but only supply (+5 V) from the connector battery and sures to supply power to
when an abso- SERVOPACK and the connector status. the encoder, and set up
lute encoder is from the battery the encoder.
used.) power supply.
If the alarm still occurs
A failure occurred in after setting up the
– –
the absolute encoder. encoder again, replace
the Servomotor.
the SERVOPACK.
VOPACK.
 When Using an Abso-
lute Encoder
Set up the encoder again.
If the alarm still occurs,
the Servomotor may be
faulty. Replace the Servo-
A.820: A failure occurred in *1
– motor.
Encoder Check- the encoder.
 When Using a Single-
sum Alarm turn Absolute Encoder
(Detected at the or Incremental Encoder
encoder.) The Servomotor may be
motor.
the SERVOPACK.
VOPACK.
The battery connec-
A.830: Check the battery con- Correct the battery con- *1
tion is faulty or a bat-
Encoder Battery nection. nection.
tery is not connected.
Alarm
The battery voltage is
(The absolute Measure the battery *1
lower than the speci- Replace the battery.
encoder battery voltage.
fied value (2.7 V).
voltage was lower
than the speci- The SERVOPACK may be
fied level.) – faulty. Replace the SER- –
the SERVOPACK.
VOPACK.
3-20

Alarm Number:
Alarm Name
Turn the power supply to
The encoder malfunc-
– occurs, the Servomotor or –
tioned.
A.840: linear encoder may be
Encoder Data faulty. Replace the Servo-
Alarm motor or linear encoder.
(Detected at the Correct the wiring around
encoder.) the encoder by separating
The encoder malfunc- the Encoder Cable from
– –
tioned due to noise. the Servomotor Main Cir-
cuit Cable or by ground-
ing the encoder.
The Servomotor
Reduce the Servomotor
speed was 200 min-1 Check the motor speed speed to a value less than
or higher when the when the power supply –
is turned ON. 200 min-1, and turn ON
control power supply
the control power supply.
was turned ON.
A.850:
Encoder Over-
speed
(Detected at the – –
the encoder. occurs, the Servomotor
encoder when
the control power
Servomotor.
supply is turned
ON.) Turn the power supply to
– –
SERVOPACK.
The surrounding air Reduce the surrounding
Measure the surround-
temperature around air temperature of the
ing air temperature –
the Servomotor is too Servomotor to 40°C or
around the Servomotor.
high. less.
Operate the Servo Drive
The Servomotor load Use the accumulated
so that the motor load *1
is greater than the load ratio to check the
remains within the speci-
rated load. load.
fied range.
A.860:
Encoder Over- Turn the power supply to
heated the SERVOPACK OFF and
(Detected at the A failure occurred in ON again. If an alarm still
– –
encoder.) the encoder. occurs, the Servomotor
Servomotor.
– –
SERVOPACK.
Maintenance
3-21

Alarm Number:
Alarm Name
The surrounding tem-
Measure the surround- Reduce the surrounding
perature around the
ing temperature around air temperature of the –
Servomotor is too
the Servomotor. Servomotor to 40° or less.
high.
Check the load with the
The motor load is accumulated load ratio
greater than the rated on the Motion Monitor
load. Tab Page on the Sig-
fied range.
maWin+.
A.861: Turn the power supply to
Motor Over- the SERVOPACK OFF and
heated A failure occurred in ON again. If an alarm still
the Serial Converter – occurs, the Serial Con- –
Unit. verter Unit may be faulty.
Replace the Serial Con-
verter Unit.
– –
SERVOPACK.
Lower the surrounding
The surrounding tem- temperature by improving –
temperature using a
perature is too high. the installation conditions
thermostat.
of the machine.
Check the input voltage
The overheat protec- with the overheat pro-
Repair the line for the
tion input signal line is tection input information
overheat protection input –
disconnected or on the Motion Monitor
signal.
short-circuited. Tab Page on the Sig-
maWin+.
An overload alarm
A.862: was reset by turning Change the method for
Overheat Alarm OFF the power sup- resetting the alarm.
overload alarm.
ply too many times.
Operation was per- Use the accumulated
Reconsider the load and
formed under an load ratio to check the –
operating conditions.
excessive load. load during operation.
– faulty. Replace the –
the SERVOPACK.
SERVOPACK.
The sensor attached to
The sensor attached
the machine may be
to the machine is – –
faulty. Repair the sensor
faulty.
attached to the machine.
Setting the origin of Before you set the ori-
the absolute linear gin, use the fully-closed The motor must be
*1
A.8A0: encoder failed feedback pulse counter stopped while setting the
External Encoder because the motor to confirm that the origin position.
Error moved. motor is not moving.
A failure occurred in Replace the external
– –
the external encoder. encoder.
– –
A.8A1: the external encoder. encoder.
External Encoder A failure occurred in
Module Error Replace the Serial Con-
the Serial Converter – –
verter Unit.
Unit.
3-22

Alarm Number:
Alarm Name
A.8A2:
External Incre- A failure occurred in Replace the external
– –
mental Encoder the external encoder. encoder.
Sensor Error
The external absolute
A.8A3: encoder may be faulty.
External Abso- Refer to the encoder
the external absolute – –
lute Encoder manufacturer’s instruc-
encoder.
Position Error tion manual for correc-
tions.
A.8A5: An overspeed error Check the maximum Keep the external
External Encoder was detected in the speed of the external encoder below its maxi- –
Overspeed external encoder. encoder. mum speed.
A.8A6: An overheating error
Replace the external
External Encoder was detected in the – –
encoder.
Overheated external encoder.
A malfunction
occurred in the speed Reset the alarm and *1
–
A.b10: reference input sec- restart operation.
Speed Reference tion.
A/D Error Turn the power supply to
(Detected when the SERVOPACK OFF and
the servo is A failure occurred in ON again. If an alarm still
turned ON.) – –
SERVOPACK.
A malfunction
occurred in the speed Reset the alarm and *1
–
reference input sec- restart operation.
tion.
A.b11:
Speed Reference Turn the power supply to
A/D Data Error the SERVOPACK OFF and
– –
SERVOPACK.
A malfunction
occurred in the read-
Reset the alarm and *1
ing section for the –
A.b20: restart operation.
torque reference
Torque Refer- input.
ence A/D Error
(Detected when Turn the power supply to
the servo is the SERVOPACK OFF and
turned ON.) A failure occurred in ON again. If an alarm still
– –
SERVOPACK.
A.b33: A failure occurred in
Current Detec- the current detection – –
occurs, the SERVOPACK
tion Error 3 circuit.
Maintenance
SERVOPACK.
A.bF0: A failure occurred in ON again. If an alarm still
– –
System Alarm 0 the SERVOPACK. occurs, the SERVOPACK
SERVOPACK.
3
3-23

Alarm Number:
Alarm Name
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
3-24

Alarm Number:
Alarm Name
The order of phases
U, V, and W in the Check the Servomotor Make sure that the Servo-
–
motor wiring is not wiring. motor is correctly wired.
correct.
If the motor wiring is cor-
rect and an alarm still
A.C10:
occurs after turning the
Servomotor Out A failure occurred in
– power supply OFF and –
of Control the encoder.
ON again, the Servomotor
(Detected when may be faulty. Replace the
the servo is Servomotor.
turned ON.)
– –
SERVOPACK.
– –
A.C80: may be faulty. Replace the
Encoder Clear Servomotor.
Error or Multiturn Turn the power supply to
Limit Setting Error the SERVOPACK OFF and
– –
SERVOPACK.
Maintenance
3-25

Alarm Number:
Alarm Name
There is a faulty con-
tact in the connector Reconnect the encoder
Check the condition of *1
or the connector is connector and check the
the encoder connector.
not wired correctly for encoder wiring.
the encoder.
There is a cable dis-
connection or short-
Use the Encoder Cable
circuit in the encoder. Check the condition of
within the specified speci- –
Or, the cable imped- the Encoder Cable.
fications.
ance is outside the
specified values.
One of the following
has occurred: corro-
sion caused by
improper tempera- Improve the operating
ture, humidity, or gas, environmental, and
Check the operating *1
A.C90: a short-circuit caused replace the cable. If the
environment.
Encoder Commu- by entry of water alarm still occurs, replace
nications Error drops or cutting oil, or the SERVOPACK.
faulty contact in con-
nector caused by
vibration.
Correct the wiring around
the encoder by separating
A malfunction was the Encoder Cable from *1
–
caused by noise. the Servomotor Main Cir-
ing the encoder.
Connect the Servomotor
to another SERVOPACK,
and turn ON the control
– power supply. If no alarm –
the SERVOPACK.
SERVOPACK.
Noise entered on the
signal lines because Check the condition of Check the Encoder Cable
*1
the Encoder Cable is the Encoder Cable and to see if it is installed cor-
bent or the sheath is connectors. rectly.
damaged.
A.C91: The Encoder Cable is
Encoder Commu- bundled with a high- Check the installation Confirm that there is no
nications Posi- current line or condition of the surge voltage on the –
tion Data installed near a high- Encoder Cable. Encoder Cable.
Acceleration Rate current line.
Error There is variation in
the FG potential Properly ground the
because of the influ- machine to separate it
condition of the –
ence of machines on from the FG of the
Encoder Cable.
the Servomotor side, encoder.
such as a welder.
3-26

Alarm Number:
Alarm Name
Noise entered on the Implement countermea-
*1
signal line from the – sures against noise for the
encoder. encoder wiring.
Reduce machine vibra-
Excessive vibration or
Check the operating tion.
shock was applied to –
conditions. Correctly install the Ser-
the encoder.
vomotor.
A.C92: Turn the power supply to
Encoder Commu- the SERVOPACK OFF and
nications Timer A failure occurred in ON again. If an alarm still
– –
Error the encoder. occurs, the Servomotor
Servomotor.
– –
SERVOPACK.
– –
A.CA0: Servomotor.
Encoder Parame-
ter Error Turn the power supply to
– –
SERVOPACK.
Maintenance
3-27

Alarm Number:
Alarm Name
The encoder is wired Make sure that the
Check the wiring of the *1
incorrectly or there is encoder is correctly
encoder.
faulty contact. wired.
Use a shielded twisted-
The specifications of pair wire cable or a
the Encoder Cable are screened twisted-pair
– –
not correct and noise cable with conductors of
entered on it.
at least 0.12 mm2.
The Encoder Cable is The encoder cable wiring
too long and noise – distance must be 50 m –
entered on it. max.
There is variation in
Check the condition of
the Encoder Cable and –
A.Cb0: connectors.
Encoder Echo- such as a welder.
back Error Reduce machine vibra-
the encoder.
vomotor.
– –
Servomotor.
– –
SERVOPACK.
When using a Direct
Drive Servomotor, the
setting of Pn205 (Mul- Check the setting of Correct the setting of *1
titurn Limit Setting) Pn205. Pn205 (0 to 65,535).
does not agree with
the encoder.
The multiturn limit of
the encoder is differ-
A.CC0: ent from that of the Check the setting of
Change the setting if the *1
Multiturn Limit SERVOPACK. Or, the Pn205 in the SERVO-
alarm occurs.
Disagreement multiturn limit of the PACK.
SERVOPACK has
been changed.
– –
SERVOPACK.
3-28

Alarm Number:
Alarm Name
The cable between
the Serial Converter Correctly wire the cable
Unit and SERVOPACK Check the wiring of the between the Serial Con- *1
is not wired correctly external encoder. verter Unit and SERVO-
or there is a faulty PACK.
contact.
A specified cable is
not being used Check the wiring speci-
A.CF1: between Serial Con- fications of the external Use a specified cable. –
Reception Failed verter Unit and SER- encoder.
Error in Feed- VOPACK.
back Option
Module Commu- The length of the cable
The cable between Measure the length of
nications between the Serial Con-
the Serial Converter the cable that connects
verter Unit and SERVO- –
Unit and SERVOPACK the Serial Converter
PACK must be 20 m or
is too long. Unit.
less.
The sheath on cable
Replace the cable
between the Serial Check the cable that
between the Serial Con-
Converter Unit and connects the Serial –
verter Unit and SERVO-
SERVOPACK is bro- Converter Unit.
PACK.
ken.
Noise entered the
the Serial Converter Unit,
cable between the
A.CF2: – e.g., separate I/O signal –
Serial Converter Unit
Timer Stopped lines from the Main Circuit
and SERVOPACK.
Error in Feed- Cables or ground.
back Option A failure occurred in
Module Commu- the Serial Converter – –
verter Unit.
nications Unit.
A failure occurred in Replace the SERVO-
– –
the SERVOPACK. PACK.
Make sure that there are
The Servomotor U, V, Check the wiring of the
no faulty contacts in the
and W wiring is not Servomotor’s Main Cir- –
wiring for the Servomotor
correct. cuit Cables.
and encoder.
Reduce the position refer-
Reduce the reference
The frequency of the ence pulse frequency or
pulse frequency and try
position reference the reference accelera- *1
operating the SERVO-
pulse is too high. tion rate, or reconsider
A.d00: PACK.
the electronic gear ratio.
Position Devia-
tion Overflow
Apply smoothing, i.e., by
(The setting of
Reduce the reference using Pn216 (Position
Pn520 (Exces- The acceleration of
acceleration and try Reference Acceleration/ *1
sive Position the position reference
operating the SERVO- Deceleration Time Con-
Deviation Alarm is too high.
PACK. stant).
Level) was
exceeded by the
position devia- The setting of Pn520 Check Pn520 (Exces-
tion while the (Excessive Position sive Position Deviation
Optimize the setting of *1
servo was ON.) Deviation Alarm Level) Alarm Level) to see if it
Pn520.
is too low for the is set to an appropriate
operating conditions. value.
Maintenance

– –
SERVOPACK.
3-29

Alarm Number:
Alarm Name
The servo was turned
Set the position deviation
ON after the position
A.d01: to be cleared while the
deviation exceeded
Position Devia- Check the position servo is OFF.
the setting of Pn526
tion Overflow deviation while the Optimize the setting of
(Excessive Position
Alarm at Servo servo is OFF. Pn526 (Excessive Position
Deviation Alarm Level
ON Deviation Alarm Level at
at Servo ON) while the
Servo ON).
servo was OFF.
If position deviation
remains in the devia-
tion counter, the set-
*1
ting of Pn529 or Set the position deviation
Pn584 (Speed Limit to be cleared while the
A.d02: Level at Servo ON) servo is OFF.
Position Devia- limits the speed when Optimize the setting of
tion Overflow the servo is turned – Pn520 (Excessive Position
Alarm for Speed ON. This alarm occurs Deviation Alarm Level). Or,
Limit at Servo ON if reference pulses are adjust the setting of
input and the setting Pn529 or Pn584 (Speed
of Pn520 (Excessive Limit Level at Servo ON).
Position Deviation
Alarm Level) is
exceeded.
Install the external
encoder in the opposite
The motor direction Check the motor direc-
direction, or change the
and external encoder tion and the external *1
setting of Pn002 =
installation orientation encoder installation ori-
A.d10: n.X (External
are backward. entation.
Motor-Load Posi- Encoder Usage) to
tion Deviation reverse the direction.
Overflow There is an error in the
connection between
Check the coupling of Check the mechanical
the load (e.g., stage) –
the external encoder. coupling.
and external encoder
coupling.
A.d30: The position data
Check the input refer- Reconsider the operating
Position Data exceeded –
ence pulse counter. specifications.
Overflow ±1,879,048,192.
There is a faulty con- Check the connection
nection between the between the SERVO- Correctly connect the
–
SERVOPACK and the PACK and the Safety Safety Option Module.
Safety Option Module. Option Module.
Execute Fn014 (Reset
Option Module Configura-
A.E71: The Safety Option tion Error) from the Digital
*1
Safety Option Module was discon- – Operator or SigmaWin+
Module Detec- nected. and then turn the power
tion Failure supply to the SERVO-
PACK OFF and ON again.
Replace the Safety Option
the Safety Option – –
Module.
Module.
– –
3-30

Alarm Number:
Alarm Name
Check the connection
nection between the
between the SERVO- Correctly connect the
SERVOPACK and the –
PACK and the Feed- Feedback Option Module.
Feedback Option
back Option Module.
Module.
Reset the Option Module
A.E72: The Feedback Option configuration error and
Feedback Option Module was discon- – turn the power supply to *1
Module Detec- nected. the SERVOPACK OFF and
tion Failure ON again.
Replace the Feedback
the Feedback Option – –
Option Module.
Module.
– –
A.E74: the Safety Option – –
Module.
Unsupported Module.
Safety Option An unsupported Refer to the catalog of
Module Connect a compatible
Safety Option Module the connected Safety –
Safety Option Module.
was connected. Option Module.
The output signal circuits
or devices for /HWBB1
The delay between and /HWBB2 or the SER-
activation of the VOPACK input signal cir-
/HWBB1 and Measure the time delay cuits may be faulty.
A.Eb1: /HWBB2 input sig- between the /HWBB1 Alternatively, the input sig- –
Safety Function nals for the HWBB and /HWBB2 signals. nal cables may be discon-
Signal Input Tim- was ten second or nected. Check to see if
ing Error longer. any of these items are
faulty or have been dis-
connected.
– –
A.EC8:
Gate Drive Error 1
(An error Turn the power supply to
occurred in the the SERVOPACK OFF and
gate drive circuit.) A failure occurred in ON again. If an alarm still
– –
A.EC9: the SERVOPACK. occurs, the SERVOPACK
Gate Drive Error 2 may be faulty. Replace the
(An error SERVOPACK.
occurred in the
gate drive circuit.)
Maintenance
3-31

Alarm Number:
Alarm Name
The three-phase
Check the power sup- Make sure that the power *1
power supply wiring is
ply wiring. supply is correctly wired.
not correct.
Measure the voltage for
The three-phase
each phase of the Balance the power sup-
A.F10: power supply is –
three-phase power supply by changing phases.
Power Supply unbalanced.
ply.
Line Open Phase
(The voltage was A single-phase power
low for more than supply was input with-
Check the power sup-
one second for out specifying a sig- Match the parameter set- *1
ply and the parameter
phase R, S, or T nal-phase AC power ting to the power supply.
setting.
when the main supply input (Pn00B =
power supply n.1).
was ON.) Turn the power supply to
– –
SERVOPACK.
FL-1*5:
System Alarm
FL-2*5:
System Alarm
FL-3*5: the SERVOPACK OFF and
System Alarm A failure occurred in ON again. If an alarm still
– –
FL-4*5: the SERVOPACK. occurs, the SERVOPACK
System Alarm may be faulty. Replace the
SERVOPACK.
FL-5*5:
System Alarm
FL-6*5:
System Alarm
Disconnect the connec-
tact between the Digi- Check the connector
CPF00: tor and insert it again. Or, –
tal Operator and the contact.
Digital Operator replace the cable.
SERVOPACK.
Communications
Error 1 Keep the Digital Operator
A malfunction was
– or the cable away from –
caused by noise.
sources of noise.
Disconnect the Digital
Operator and then con-
nect it again. If an alarm
– still occurs, the Digital –
the Digital Operator.
Operator may be faulty.
CPF01: Replace the Digital Oper-
Digital Operator ator.
Communications
Error 2 Turn the power supply to
– –
SERVOPACK.
Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual (Manual No.: SIEP
S800001 26)
3-32
*2. Detection Conditions

If either of the following conditions is detected, an alarm will occur.
Encoder resolution Pn20E
Pn533 [min-1]  
6 105 Pn210

Maximum motor speed [min-1]  
Approx. 3.66  1012 Pn210

Rated motor speed [min-1]  1/3  
6105 Pn210

・Maximum motor speed [min-1]  
Approx. 3.66  1012 Pn210

Σ-7-Series Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)
*5. These alarms are not stored in the alarm history. They are only displayed on the panel display.
Maintenance
3-33
3.1.4 Warning Displays

If a warning occurs in the SERVOPACK, a warning number will be displayed on the panel dis-
play. Warnings are displayed to warn you before an alarm occurs.
3.1.5 List of Warnings

The list of warnings gives the warning name, warning meaning, and warning code output in
order of the warning numbers.
Warning Code
Warning Output
Warning Name Meaning
Number
ALO1 ALO2 ALO3
The position deviation exceeded the percentage
Position Deviation
A.900 set with the following formula: H H H
Overflow (Pn520 × Pn51E/100)
Position Deviation The position deviation when the servo was turned
A.901 Overflow Alarm at ON exceeded the percentage set with the follow- H H H
Servo ON ing formula: (Pn526 × Pn528/100)
This warning occurs before an overload alarm
A.910 Overload (A.710 or A.720) occurs. If the warning is ignored L H H
and operation is continued, an alarm may occur.
Abnormal vibration was detected during motor
operation. The detection level is the same as
A.911 Vibration L H H
A.520. Set whether to output an alarm or a warn-
ing by setting Pn310 (Vibration Detection Switch).
Internal Temperature
Warning 1 (Control The surrounding temperature of the control PCB is
A.912 H L H
Board Temperature abnormal.
Error)
Warning 2 (Power The surrounding temperature of the power PCB is
A.913 H L H
Error)
This warning occurs before an A.320 alarm
(Regenerative Overload) occurs. If the warning is
A.920 Regenerative Overload H L H
ignored and operation is continued, an alarm may
occur.
Dynamic Brake Over- (Dynamic Brake Overload) occurs. If the warning is
A.921 H L H
load ignored and operation is continued, an alarm may
occur.
SERVOPACK Built-in
A.923 The fan inside the SERVOPACK stopped. H L H
Fan Stopped
Absolute Encoder Bat- This warning occurs when the voltage of absolute
A.930 L L H
tery Error encoder’s battery is low.
The input voltage (temperature) for the overheat
A.93B Overheat Warning protection input (TH) signal exceeded the setting L L H
of Pn61C (Overheat Warning Level).
Change of Parameters Parameters have been changed that require the
A.941 H H L
Requires Restart power supply to be turned OFF and ON again.
Speed Ripple Com- The speed ripple compensation information stored

in the encoder does not agree with the speed rip-
A.942 pensation Information H H L
ple compensation information stored in the SER-
Disagreement VOPACK.
A.971 Undervoltage (Undervoltage) occurs. If the warning is ignored L L L
A.9A0 Overtravel Overtravel was detected while the servo was ON. H L L
3-34
3.1.6 Troubleshooting Warnings

Warning Code
Warning Output
Number
ALO1 ALO2 ALO3
Preventative Mainte- One of the consumable parts has reached the end
A.9b0 H L H
nance Warning of its service life.
Note: 1. A warning code is not output unless you set Pn001 to n.1 (Output both alarm codes and warning
codes).
2. Use Pn008 = n.X (Warning Detection Selection) to control warning detection.
However, the following warnings are not affected by the setting of Pn008 = n.X and other parameter
settings are required in addition to Pn008 = n.X.
Warning Parameters That Must Be Set to Select Warning Detection
A.911 Pn310 = n.X (Vibration Detection Setting)
–
A.923
(Not affected by the setting of Pn008 = n.X.)
A.930 Pn008 = n.X (Low Battery Voltage Alarm/Warning Selection)
Pn423 = n.X (Speed Ripple Compensation Information Disagreement Warning
A.942
Detection Selection)
Pn008 = n.X (Low Battery Voltage Alarm/Warning Selection)
A.971
Pn00D = n.X (Overtravel Warning Detection Selection)
A.9A0
A.9b0 Pn00F = n.X (Preventative Maintenance Selection)

The causes of and corrections for the warnings are given in the following table. Contact your
Warning Number:
Warning Name
Make sure that there are no
The Servomotor Check the wiring of the
faulty connections in the
U, V, and W wiring Servomotor’s Main Cir- –
is not correct. cuit Cables.
and encoder.
Increase the servo gain,
A SERVOPACK Check the SERVO-
e.g., by using autotuning *
gain is too low. PACK gains.
without a host reference.
The frequency of Reduce the reference
ence pulse frequency or the
the position refer- pulse frequency and try
reference acceleration rate, *
ence pulse is too operating the SERVO-
or reconsider the electronic
high. PACK.
gear ratio.
Reduce the reference Apply smoothing, i.e., by
A.900: The acceleration
acceleration and try using Pn216 (Position Ref-
Position Deviation of the position ref- *
operating the SERVO- erence Acceleration/ Decel-
Overflow erence is too high.
PACK. eration Time Constant).
The excessive
position deviation Check excessive posi-
alarm level (Pn520 tion deviation alarm
Optimize the settings of
× Pn51E/100) is level (Pn520 × Pn51E/ *
Pn520 and Pn51E.
too low for the 100) to see if it is set to
Maintenance
operating condi- an appropriate value.

tions.
A failure occurred
in the SERVO- – –
PACK.
SERVOPACK. 3
3-35

Warning Number:
Warning Name
The position devi-
ation when the Set the position deviation to
servo was turned be cleared while the servo is
A.901:
ON exceeded the OFF.
Position Deviation percentage set – Optimize the setting of *
Overflow Alarm at with the following Pn528 (Excessive Position
Servo ON formula: Error Warning Level at
(Pn526 × Pn528/ Servo ON).
100)
The wiring is not
correct or there is Make sure that the Servo-
a faulty contact in Check the wiring. motor and encoder are cor- –
the motor or rectly wired.
encoder wiring.
Operation was
performed that
Check the motor over- Reconsider the load and
exceeded the
load characteristics and operating conditions. Or, –
overload protec-
Run command. increase the motor capacity.
tion characteris-
tics.
Overload (warning was applied
before an A.710 or during operation
Check the operation
A.720 alarm occurs) because the Ser- Remove the mechanical
vomotor was not problem.
speed.
driven because of
mechanical prob-
lems.
The overload
Check that the overload
warning level Set a suitable overload
warning level (Pn52B) is *
(Pn52B) is not warning level (Pn52B).
suitable.
suitable.
A failure occurred The SERVOPACK may be
in the SERVO- – faulty. Replace the SERVO- –
PACK. PACK.
Check for abnormal
Abnormal vibra-
motor noise, and check Reduce the motor speed.
tion was detected
the speed and torque Or, reduce the servo gain *
during motor
waveforms during oper- with custom tuning.
operation.
ation.
The setting of
Pn103 (Moment of
A.911: Inertia Ratio) is Check the moment of Set Pn103 (Moment of Iner-
Vibration greater than the inertia ratio or mass tia Ratio) to an appropriate *
actual moment of ratio. value.
inertia or was
greatly changed.
The vibration
Check that the vibration Set a suitable vibration
detection level
detection level (Pn312 detection level (Pn312 or *
(Pn312 or Pn384)
or Pn384) is suitable. Pn384).
is not suitable.
3-36

Warning Number:
Warning Name
temperature using a
Decrease the surrounding
The surrounding thermostat. Or, check
temperature by improving
temperature is too the operating status *
the SERVOPACK installa-
high. with the SERVOPACK
tion conditions.
installation environ-
ment monitor.
An overload alarm
was reset by turn- Check the alarm display
Change the method for
ing OFF the power to see if there is an –
resetting the alarm.
supply too many overload alarm.
times.
A.912: There was an Use the accumulated
Internal Tempera- excessive load or load ratio to check the
ture Warning 1 operation was load during operation,
(Control Board Tem- performed that and use the regenera-
–
perature Error) exceeded the tive load ratio to check
regenerative pro- the regenerative pro-
cessing capacity. cessing capacity.
The SERVOPACK
installation orien-
tation is not cor- Check the SERVO-
rect or there is PACK installation con- *
according to specifications.
insufficient space ditions.
around the SER-
VOPACK.
PACK. PACK.
temperature using a
tion conditions.
ment monitor.
An overload alarm
times.
(Power Board Tem- performed that and use the regenera- –
The SERVOPACK
installation orien-
Maintenance
around the SER-

VOPACK.
PACK. PACK.
3
3-37

Warning Number:
Warning Name
The power supply
voltage exceeded Measure the power
age within the specified –
the specified supply voltage.
range.
range.
There is insuffi-
cient external Change the regenerative
regenerative resis- resistance value, regenera-
Check the operating
tance, regenerative resistance capacity, or
conditions or the
A.920: tive resistor SERVOPACK capacity.
capacity using the Sig-
Regenerative Over- capacity, or SER- Reconsider the operating –
maJunmaSize+ Capac-
load (warning before VOPACK capac- conditions using the Sigma-
ity Selection Software
an A.320 alarm ity, or there has JunmaSize+ Capacity
or another means.
occurs) been a continuous Selection Software or other
regeneration means.
state.
There was a con-
tinuous regenera- Reconsider the system
Check the load applied
tion state because including the servo,
to the Servomotor –
a negative load machine, and operating
during operation.
was continuously conditions.
applied.
The Servomotor
was rotated by an –
status. not be rotated by an exter-
external force.
nal force.
When the Servo-
motor was Reconsider the following:
A.921: stopped with the • Reduce the Servomotor
Dynamic Brake dynamic brake, command speed.
sumed by the DB resis-
Overload (warning the rotational or • Decrease the moment of
tor to see how –
before an A.731 linear kinetic inertia or mass.
frequently the DB is
alarm occurs) energy exceeded • Reduce the frequency of
being used.
the capacity of the stopping with the dynamic
dynamic brake brake.
resistor.
PACK. PACK.
Remove foreign matter from
A.923: The fan inside the Check for foreign mat- the SERVOPACK. If an
SERVOPACK Built- SERVOPACK ter inside the SERVO- alarm still occurs, the SER- –
in Fan Stopped stopped. PACK. VOPACK may be faulty.
Replace the SERVOPACK.
The battery con-
A.930: nection is faulty or Check the battery con- Correct the battery connec-
*
Absolute Encoder a battery is not nection. tion.
Battery Error (The connected.
absolute encoder
The battery volt-
battery voltage was
age is lower than Measure the battery
lower than the spec- Replace the battery. *
the specified value voltage.
ified level.) (Detected
(2.7 V).
only when an abso-
lute encoder is con- A failure occurred The SERVOPACK may be
nected.) in the SERVO- – faulty. Replace the SERVO- –
PACK. PACK.
3-38

Warning Number:
Warning Name
Lower the surrounding tem-
The surrounding Check the surrounding
perature by improving the
temperature is too temperature using a –
installation conditions of the
high. thermostat.
machine.
Operation was Use the accumulated
performed under load ratio to check the –
A.93B: an excessive load. load during operation.
Overheat Warning A failure occurred The SERVOPACK may be
PACK. PACK.
The sensor attached to the
The sensor
machine may be faulty.
attached to the – –
Repair the sensor attached
machine is faulty.
to the machine.
Parameters have
A.941: been changed
Change of Parame- that require the
– the SERVOPACK OFF and –
ters Requires power supply to
ON again.
Restart be turned OFF
and ON again.
Reset the speed ripple
– compensation value on the *
The speed ripple SigmaWin+.
compensation
Set Pn423 to n.1 (Do
information stored
A.942: not detect A.942 alarms).
in the encoder
– However, changing the set- *
Speed Ripple Com- does not agree
ting may increase the speed
pensation Informa- with the speed
ripple.
tion Disagreement ripple compensa-
tion information Set Pn423 to n.0
stored in the SER- (Disable torque ripple com-
VOPACK. – pensation). However, *
changing the setting may
increase the speed ripple.
For a 200-V SER-
VOPACK, the AC Set the power supply volt-
Measure the power
power supply voltage within the specified –
supply voltage.
age dropped range.
below 140 V.
For a 100-V SER-
Measure the power
supply voltage.
age dropped range.
below 60 V.
Undervoltage voltage dropped –
during operation.
If you have changed the
A momentary
Measure the power setting of Pn509 (Momen-
power interrup- *
supply voltage. tary Power Interruption Hold
tion occurred.
Time), decrease the setting.
The SERVOPACK Replace the SERVOPACK
– *
fuse is blown out. and connect a reactor.
Maintenance

PACK. PACK.
3-39

Warning Number:
Warning Name
Even if an overtravel signal
is not shown by the input
signal monitor, momentary
overtravel may have been
detected. Take the following
A.9A0: precautions.
Overtravel was Check the status of the
Overtravel (Over- • Do not specify move-
detected while the overtravel signals on *
travel status was ments that would cause
servo was ON. the input signal monitor.
detected.) overtravel from the host
controller.
• Check the wiring of the
overtravel signals.
• Implement countermea-
sures against noise.
One of the con-
A.9b0: Replace the part. Contact
sumable parts has
Preventative Mainte- – your Yaskawa representa- *
reached the end
nance Warning tive for replacement.
of its service life.
* Refer to the following manual for details.
S800001 26)
3-40
3.1.7 Troubleshooting Based on the Operation and Conditions of the Servomotor

of the Servomotor
This section provides troubleshooting based on the operation and conditions of the Servomo-
tor, including causes and corrections.
Problem Possible Cause Confirmation Correction Reference
Turn OFF the power
supply to the servo
Measure the voltage
The control power supply is system.
between control power –
not turned ON. Correct the wiring so
supply terminals.
that the control power
supply is turned ON.
Turn OFF the power
supply to the servo
Measure the voltage system.
between the main circuit Correct the wiring so –
ply is not turned ON.
power input terminals. that the main circuit
power supply is turned
ON.
Turn OFF the power sup-
The I/O signal connector ply to the servo system. Correct the wiring of
(CN1) pins are not wired cor- Check the wiring condi- the I/O signal connec- *
rectly or are disconnected. tion of the I/O signal con- tor (CN1) pins.
nector (CN1) pins.
Turn OFF the power
The wiring for the Servomo-
supply to the servo
tor Main Circuit Cables or Check the wiring condi-
system. –
Encoder Cable is discon- tions.
Wire the cable cor-
nected.
rectly.
Turn OFF the power
supply to the servo
Operate the Servomotor system.
Servomotor There is an overload on the
with no load and check Reduce the load or –
Does Not Servomotor.
the load status. replace the Servomo-
Start tor with a Servomotor
with a larger capacity.
The type of encoder that is Check the type of the Set Pn002 = n.X
being used does not agree encoder that is being according to the type of
*
with the setting of Pn002 = used and the setting of the encoder that is
n.X (Encoder Usage). Pn002 = n.X. being used.
Turn OFF the power sup- Allocate an input signal
No speed or position refer- ply to the servo system. so that the speed and
*
ence is input. Check the allocation sta- position references are
tus of the input signals. input correctly.
There is a mistake in the Check the input signal Correctly allocate the
input signal allocations allocations (Pn50A to input signals (Pn50A to
*
(Pn50A to Pn50D, Pn515, Pn50D, Pn515, and Pn50D, Pn515, and
and Pn516). Pn516). Pn516).
Check the settings of
Pn50A = n.X (Input
Set Pn50A = n.XX
The /S-ON (Servo ON) signal Signal Allocation Mode)
correctly and turn ON *
is OFF. and Pn50A =n.X
the /S-ON signal.
(Servo ON (/S-ON) Signal
Mapping).
The function setting of the Check the setting of
Set the parameter to
/P-CON (Proportional Con- Pn000 = n.X (Con- *
match the application.
trol) signal is not correct. trol Method Selection).
Maintenance
If you are using an

Check the ON/OFF status
The SEN input is OFF. absolute encoder, turn *
of the SEN input.
ON the SEN signal.
3-41

Check the setting of Set Pn200 =n.X
The reference pulse mode Pn200 =n.X (Refer- so that is agrees with
*
selection is not correct. ence Pulse Form) and the the reference pulse
reference pulse form. form.
Check between the
speed reference input (V-
Speed control: The speed Correctly set the con-
REF) and signal ground
reference input is not appro- trol method and input *
(SG) to see if the control
priate. method.
method and the input
agree.
Check between the
torque reference input (T-
Torque control: The torque Correctly set the con-
priate. method.
agree.
Position control: The refer- Correctly set the con-
Pn200 =n.X (Refer-
ence pulse input is not trol method and input *
ence Pulse Form) and the
appropriate. method.
sign and pulse signals.
The /CLR (Position Deviation
Check the /CLR signal Turn OFF the /CLR sig-
Clear) input signal has not *
(CN1-14 and CN1-15). nal.
been turned OFF.
Servomotor The P-OT (Forward Drive
Does Not Prohibit) or N-OT (Reverse Check the P-OT and N- Turn ON the P-OT and
*
Start Drive Prohibit) signal is still OT signals. N-OT signals.
OFF.
Turn ON the /HWBB1
and /HWBB2 input sig-
nals.
The safety input signals
Check the /HWBB1 and If you are not using the
(/HWBB1 or /HWBB2) were *
/HWBB2 input signals. safety function, con-
not turned ON.
nect the Safety Jumper
Connector (provided as
an accessory) to CN8.
• Turn ON the FSTP
signal.
• If you will not use the
function to force the
The FSTP (Forced Stop motor to stop, set
Check the FSTP signal. *
Input) signal is still OFF. Pn516 = n.X
(FSTP (Forced Stop
Input) Signal Alloca-
tion) to disable the
signal.
Turn OFF the power
supply to the servo
A failure occurred in the SER-
– system. –
VOPACK.
Replace the SERVO-
PACK.
Servomotor Turn OFF the power sup-
There is a mistake in the Ser- Wire the Servomotor
Moves ply to the servo system. –
vomotor wiring. correctly.
Instanta- Check the wiring.
neously, There is a mistake in the wir- Turn OFF the power sup-
and Then Wire the Serial Con-
ing of the encoder or Serial ply to the servo system. –
Stops verter Unit correctly.
Converter Unit. Check the wiring.
ply to the servo system.
The connector connec-
Servomotor tions for the power line Tighten any loose ter-
There is a faulty connection
Speed Is (U, V, and W phases) and minals or connectors –
in the Servomotor wiring.
Unstable the encoder or Serial and correct the wiring.
Converter Unit may be
unstable. Check the wir-
ing.
3-42

Check between the
speed reference input (V-
Speed control: The speed Correctly set the con-
priate. method.
agree.
Check between the
torque reference input (T-
Torque control: The torque Correctly set the con-
Servomotor priate. method.
Moves with- agree.
out a Refer-
The speed reference offset is The SERVOPACK offset Adjust the SERVO-
ence Input *
not correct. is adjusted incorrectly. PACK offset.
Position control: The refer- Correctly set the con-
Pn200 =n.X (Refer-
ence pulse input is not trol method and input –
ence Pulse Form) and the
appropriate. method.
sign and pulse signals.
Turn OFF the power
supply to the servo
– system. –
VOPACK.
Replace the SERVO-
PACK.
The setting of Pn001 =
n.X (Servo OFF or Check the setting of Set Pn001 = n.X
–
Alarm Group 1 Stopping Pn001 = n.X. correctly.
Method) is not suitable.
Check the moment of
inertia, motor speed, and
Turn OFF the power
dynamic brake frequency
supply to the servo
of use. If the moment of
system.
The dynamic brake resistor is inertia, motor speed, or
Replace the SERVO- –
disconnected. dynamic brake frequency
Dynamic PACK. To prevent dis-
of use is excessive, the
Brake Does connection, reduce the
dynamic brake resis-
Not Operate load.
tance may be discon-
nected.
Turn OFF the power
supply to the servo
system.
There was a failure in the There is a defective
– –
dynamic brake drive circuit. component in the
dynamic brake circuit.
Replace the SERVO-
PACK.
Maintenance
3-43

Reduce the load so
that the moment of
inertia ratio or mass
The Servomotor vibrated
ratio is within the allow-
considerably while perform- Check the waveform of
able value, or increase *
ing the tuning-less function the motor speed.
the load level or reduce
with the default settings.
the rigidity level in the
tuning-less level set-
tings.
The machine mounting is not Tighten the mounting
Check to see if there are –
secure. screws.
any loose mounting
screws.
Check to see if there is Align the coupling. –
misalignment in the cou-
The machine mounting is not pling.
secure.
Balance the coupling. –
Check to see if the cou-
pling is balanced.
Replace the Servomo-
The bearings are defective. Check for noise and –
tor.
vibration around the bear-
ings.
There is a vibration source at Check for any foreign Consult with the
–
the driven machine. matter, damage, or defor- machine manufacturer.
Abnormal mation in the machine’s
Noise from moving parts.
Check the I/O signal
cables to see if they sat-
Noise interference occurred isfy specifications. Use Use cables that satisfy
because of incorrect I/O sig- shielded twisted-pair wire –
the specifications.
nal cable specifications. cables or screened
twisted-pair cables with
conductors of at least
0.12 mm2.
Noise interference occurred The I/O signal cables
because an I/O signal cable must be no longer than –
Check the lengths of the
is too long. 3 m.
I/O signal cables.
Make sure that the rotary
or Linear Encoder Cable
Noise interference occurred satisfies the specifica- Use cables that satisfy
because of incorrect Encoder tions. Use a shielded –
the specifications.
Cable specifications. twisted-pair wire cable or
a screened twisted-pair
cable with a conductors
of at least 0.12 mm2.
Noise interference occurred The Encoder Cable
because the Encoder Cable length must be 50 m –
Check the length of the
is too long. max.
Encoder Cable.
Replace the Encoder
Noise interference occurred ply to the servo system.
Cable and correct the
because the Encoder Cable Check the Encoder Cable –
cable installation envi-
is damaged. to see if it is pinched or
ronment.
the sheath is damaged.
3-44

Correct the cable lay-
The Encoder Cable was sub- Check to see if the
out so that no surge is
jected to excessive noise Encoder Cable is bundled –
applied by high-current
interference. with a high-current line or
lines.
installed near a high-cur-
rent line.
There is variation in the FG Turn OFF the power sup-
Properly ground the
potential because of the ply to the servo system.
machines to separate
influence of machines on the Check to see if the –
them from the FG of
Servomotor side, such as a machines are correctly
the encoder.
welder. grounded.
Turn OFF the power
Check to see if there is supply to the servo
There is a SERVOPACK
noise interference on the system.
Abnormal pulse counting error due to –
signal line from the Implement counter-
Noise from noise.
encoder. measures against noise
Servomotor
for the encoder wiring.
Check to see if vibration
The encoder was subjected from the machine
tion. Improve the
to excessive vibration or occurred. Check the Ser- –
mounting conditions of
shock. vomotor installation
the Servomotor.
(mounting surface preci-
sion, securing state, and
alignment).
Turn OFF the power
supply to the servo
A failure occurred in the
– system. –
encoder.
tor.
Check to see if the servo Perform autotuning
The servo gains are not bal-
gains have been cor- without a host refer- *
anced.
rectly tuned. ence.
The setting of Pn100 (Speed Pn100. Set Pn100 to an appro-
–
Loop Gain) is too high. The default setting is Kv = priate value.
40.0 Hz.
Servomotor
Vibrates at
The setting of Pn102 (Posi- Pn102. Set Pn102 to an appro-
Frequency –
tion Loop Gain) is too high. The default setting is Kp priate value.
of Approx.
= 40.0/s.
200 to 400
Hz. Check the setting of
The setting of Pn101 (Speed
Pn101. Set Pn101 to an appro-
Loop Integral Time Con- –
The default setting is Ti = priate value.
stant) is not appropriate.
20.0 ms.
(Moment of Inertia Ratio or Check the setting of Set Pn103 to an appro-
–
Mass Ratio) is not appropri- Pn103. priate value.
ate.
Maintenance
3-45

anced.
rectly tuned. ence.
–
40.0 Hz.
–
Large Motor tion Loop Gain) is too high. The default setting is Kp priate value.
Speed = 40.0/s.
Overshoot Check the setting of
on Starting Pn101. Set Pn101 to an appro-
and Stop- The default setting is Ti = priate value.
ping 20.0 ms.
–
ate.
The torque reference is satu- Check the waveform of
Use the mode switch. –
rated. the torque reference.
The force limits (Pn483 and The default values of the
Set Pn483 and Pn484
Pn484) are set to the default force limits and Pn483 = *
to appropriate values.
values. 30% and Pn484 = 30%.
Check the Encoder Cable
Noise interference occurred to see if it satisfies speci-
Use cables that satisfy
because of incorrect Encoder fications. Use a shielded –
twisted-pair wire cable or the specifications.
Cable specifications.
cable with conductors of
at least 0.12 mm2.
Absolute Turn OFF the power sup-
Encoder ply to the servo system.
Position Check the length of the
is too long. max.
Deviation Encoder Cable.
Error (The Turn OFF the power sup-
Replace the Encoder
position Noise interference occurred ply to the servo system.
that was because the Encoder Cable Check the Encoder Cable –
saved in the is damaged. to see if it is pinched or
ronment.
host con- the sheath is damaged.
troller when Turn OFF the power sup-
the power ply to the servo system.
was turned Correct the cable lay-
Replace the Encoder Cable Check to see if the
OFF is dif- out so that no surge is
and correct the cable instal- Encoder Cable is bundled –
ferent from applied by high-current
lation environment. with a high-current line or
the posi- lines.
tion when rent line.
the power
was next There is variation in the FG Turn OFF the power sup-
Properly ground the
turned ON.) potential because of the ply to the servo system.
them from the FG of
the encoder.
welder. grounded.
ply to the servo system. Implement counter-
There is a SERVOPACK Check to see if there is measures against noise
pulse counting error due to noise interference on the for the encoder or –
noise. I/O signal line from the Serial Converter Unit
encoder or Serial Con- wiring.
verter Unit.
3-46

tion. Or, improve the
to excessive vibration or occurred. –
shock. Check the Servomotor
the Servomotor.
installation (mounting sur-
face precision, securing
Absolute state, and alignment).
Encoder
Turn OFF the power
Position
supply to the servo
Deviation A failure occurred in the
Error (The – system. –
encoder.
position Replace the Servomo-
tor.
that was
saved in the Turn OFF the power
host con- supply to the servo
troller when – system. –
VOPACK.
the power Replace the SERVO-
was turned PACK.
OFF is dif- Check the error detec- Correct the error detec-
ferent from tion section of the host tion section of the host –
the posi- controller. controller.
tion when
Perform parity checks
the power Check to see if the host
for the multiturn data or
was next controller is executing –
absolute encoder posi-
turned ON.) Host Controller Multiturn data parity checks.
tion data.
Data or Absolute Encoder
Position Data Reading Error Implement counter-
Check for noise interfer- measures against noise
ence in the cable and then perform parity
between the SERVO- checks again for the –
PACK and the host con- multiturn data or abso-
troller. lute encoder position
data.
Correct the external
Check the external power
power supply (+24 V)
supply (+24 V) voltage for –
voltage for the input
the input signals.
signals.
Check the operating con- Make sure that the
The P-OT/N-OT (Forward dition of the overtravel overtravel limit switches –
Drive Prohibit or Reverse limit switches. operate correctly.
Drive Prohibit) signal was
input. Correct the wiring of
Check the wiring of the
the overtravel limit *
overtravel limit switches.
switches.
Check the settings of the
Set the parameters to
overtravel input signal *
correct values.
allocations (Pn50A/Pn50B).
Check for fluctuation in Eliminate fluctuation
the external power supply from the external power
–
(+24 V) voltage for the supply (+24 V) voltage
Overtravel
input signals. for the input signals.
Occurred
The P-OT/N-OT (Forward Check to see if the opera- Stabilize the operating
Drive Prohibit or Reverse tion of the overtravel limit condition of the over- –
Drive Prohibit) signal mal- switches is unstable. travel limit switches.
functioned. Check the wiring of the
overtravel limit switches Correct the wiring of
(e.g., check for cable the overtravel limit –
Maintenance
damage and loose switches.

screws).
If another signal is allo-
Check to see if the P-OT
There is a mistake in the allo- signal is allocated in cated in Pn50A
cation of the P-OT or N-OT =n.X, allocate the
Pn50A = n.X.
(Forward Drive Prohibit or P-OT signal instead.
*
Reverse Drive Prohibit) sig- If another signal is allo-
nal in Pn50A = n.X or Check to see if the N-OT
signal is allocated in
cated in Pn50B 3
Pn50B = n.X. =n.X, allocate the
Pn50B = n.X.
N-OT signal instead.
3-47

Check the servo OFF
Select a Servomotor
stopping method set in
stopping method other
Pn001 = n.X or
The selection of the Servo- than coasting to a stop.
Overtravel Pn001 = n.X.
motor stopping method is *
Occurred Check the torque control
not correct. Select a Servomotor
Pn001 = n.X or
than coasting to a stop.
Pn001 = n.X.
The limit switch position and Install the limit switch at
Improper dog length are not appropri- – the appropriate posi- –
Stop Posi- ate. tion.
tion for
Overtravel The overtravel limit switch Install the overtravel
(OT) Signal position is too close for the – limit switch at the –
coasting distance. appropriate position.
at least 0.12 mm2.
Check the length of the
is too long. max.
Encoder Cable.
Replace the Encoder
ronment.
lines.
Position rent line.
Deviation There is variation in the FG Turn OFF the power sup-
(without Properly ground the
Alarm) machines to separate
them from the FG of
the encoder.
welder. grounded.
pulse counting error due to noise interference on the for the encoder wiring –
noise. I/O signal line from the or Serial Converter Unit
verter Unit.
the Servomotor.
state, and alignment).
ply to the servo system. Correctly secure the
The coupling between the
Check to see if position coupling between the
machine and Servomotor is –
offset occurs at the cou- machine and Servomo-
not suitable.
pling between machine tor.
and Servomotor.
3-48

Noise interference occurred isfy specifications. Use a Use cables that satisfy
the specifications.
nal cable specifications. cable or a screened
twisted-pair cable with
0.12 mm2.
If reference pulse input multi- Check the I/O signal
plication switching is being cables to see if they sat-
used, noise may be causing isfy specifications. Use a Use cables that satisfy
–
Position the I/O signals used for this shielded twisted-pair wire the specifications.
Deviation function (/PSEL and /PSELA) cable or a screened
(without to be falsely detected. twisted-pair cable with
Alarm) conductors of at least
0.12 mm2.
is too long. 3 m.
I/O signal cables.
Turn OFF the power
An encoder fault occurred. supply to the servo
(The pulse count does not – system. –
change.) Replace the Servomo-
tor.
Turn OFF the power
supply to the servo
– system. –
VOPACK.
Replace the SERVO-
PACK.
Measure the surrounding Reduce the surround-
The surrounding air tempera-
air temperature around ing air temperature to –
ture is too high.
the Servomotor. 40°C or less.
The surface of the Servomo- ply to the servo system. Clean dirt, dust, and oil
–
tor is dirty. Visually check the surface from the surface.
for dirt.
If the Servomotor is
Servomotor overloaded, reduce the
Overheated load or replace the
There is an overload on the Check the load status
Servo Drive with a –
Servomotor. with a monitor.
SERVOPACK and Ser-
vomotor with larger
capacities.
Check to see if electrical
Correct the settings for
Polarity detection was not angle 2 (electrical angle
the polarity detection- –
performed correctly. from polarity origin) at any
related parameters.
position is between ±10°.
Estimating Check the Condition Set-
Increase the accelera-
the moment The acceleration rate is low ting Dialog Box used to
tion rate and travel dis- –
of inertia and travel distance is short. perform moment of inertia
tance.
failed. estimation.
Maintenance
S800001 26)
3-49
3.2 FT82 SERVOPACK with MECHATROLINK-II Communications References

If there is an alarm, the display will change in the following order.

Example: Alarm A.E60
Status
Indications Not lit. Not lit. Not lit. Not lit. Not lit.

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

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

List of Alarms
Servo-
Alarm
motor
Alarm Reset
Number Possi-
ping
ble?
Method
Parameter Checksum There is an error in the parameter data in the
A.020 Gr.1 No
Error SERVOPACK.
There is an error in the parameter data format in
A.021 Parameter Format Error Gr.1 No
the SERVOPACK.
There is an error in the parameter data in the
A.022 System Checksum Error Gr.1 No
SERVOPACK.
An internal program error occurred in the SER-
A.024 System Alarm Gr.1 No
VOPACK.
VOPACK.
Main Circuit Detector There is an error in the detection data for the
A.030 Gr.1 Yes
Error main circuit.
A parameter setting is outside of the setting
A.040 Parameter Setting Error Gr.1 No
range.
3-50

Servo-
Alarm
motor
Alarm Reset
Number Possi-
ping
ble?
Method
The setting of Pn212 (Encoder Output Pulses) or
Encoder Output Pulse Pn281 (Encoder Output Resolution) is outside of
A.041 Gr.1 No
Setting Error the setting range or does not satisfy the setting
conditions.
Parameter Combination The combination of some parameters exceeds
A.042 Gr.1 No
Error the setting range.
Semi-Closed/Fully-Closed The settings of the Option Module and Pn002 =
A.044 Loop Control Parameter n.X (External Encoder Usage) do not Gr.1 No
Setting Error match.
There is an error in the bank members or bank
A.04A Parameter Setting Error 2 Gr.1 No
data settings.
The capacities of the SERVOPACK and Servomo-
A.050 Combination Error Gr.1 Yes
tor do not match.
Unsupported Device
A.051 An unsupported device was connected. Gr.1 No
Alarm
The SV_ON (Servo ON) command was sent from
A.0b0 the host controller after a utility function that turns Gr.1 Yes
mand Alarm ON the Servomotor was executed.
An overcurrent flowed through the power trans-
A.100 Overcurrent Detected Gr.1 No
former or the heat sink overheated.
Motor Overcurrent The current to the motor exceeded the allowable
A.101 Gr.1 No
Detected current.
A.300 Regeneration Error There is an error related to regeneration. Gr.1 Yes
A.320 Regenerative Overload A regenerative overload occurred. Gr.2 Yes
• The AC power supply input setting or DC power
A.330 supply input setting is not correct. Gr.1 Yes
Wiring Error • The power supply wiring is not correct.
A.400 Overvoltage The main circuit DC voltage is too high. Gr.1 Yes
A.410 Undervoltage The main circuit DC voltage is too low. Gr.2 Yes
A.510 Overspeed The motor exceeded the maximum speed. Gr.1 Yes
Encoder Output Pulse The pulse output speed for the setting of Pn212
A.511 Gr.1 Yes
Overspeed (Encoder Output Pulses) was exceeded.
Abnormal oscillation was detected in the motor
A.520 Vibration Alarm Gr.1 Yes
speed.
Vibration was detected during autotuning for the
A.521 Autotuning Alarm Gr.1 Yes
tuning-less function.
Maximum Speed Setting The setting of Pn385 (Maximum Motor Speed) is
A.550 Gr.1 Yes
Error greater than the maximum motor speed.
The Servomotor was operating for several sec-
A.710 Instantaneous Overload onds to several tens of seconds under a torque Gr.2 Yes
that largely exceeded the rating.
The Servomotor was operating continuously
A.720 Continuous Overload Gr.1 Yes
under a torque that exceeded the rating.
A.730 When the dynamic brake was applied, the rota-
Maintenance
Dynamic Brake Overload tional or linear kinetic energy exceeded the Gr.1 Yes
A.731 capacity of the dynamic brake resistor.
Inrush Current Limiting The main circuit power supply was frequently
A.740 Gr.1 Yes
Resistor Overload turned ON and OFF.
Internal Temperature Error
The surrounding temperature of the control PCB
A.7A1 1 (Control Board Tempera- Gr.2 Yes
is abnormal.
ture Error) 3
3-51

Servo-
Alarm
motor
Alarm Reset
Number Possi-
ping
ble?
Method
The surrounding temperature of the power PCB
A.7A2 2 (Power Board Tempera- Gr.2 Yes
is abnormal.
ture Error)
Internal Temperature Sen- An error occurred in the temperature sensor cir-
A.7A3 Gr.2 No
sor Error cuit.
SERVOPACK Built-in Fan
A.7Ab The fan inside the SERVOPACK stopped. Gr.1 Yes
Stopped
The power supplies to the encoder all failed and
A.810 Encoder Backup Alarm Gr.1 No
the position data was lost.
There is an error in the checksum results for
A.820 Encoder Checksum Alarm Gr.1 No
encoder memory.
The battery voltage was lower than the specified
A.830 Encoder Battery Alarm level after the control power supply was turned Gr.1 Yes
ON.
A.840 Encoder Data Alarm There is an internal data error in the encoder. Gr.1 No
The encoder was operating at high speed when
A.850 Encoder Overspeed Gr.1 No
the power was turned ON.
A.860 Encoder Overheated The internal temperature of encoder is too high. Gr.1 No
A.861 Motor Overheated The internal temperature of motor is too high. Gr.1 No
A.862 Overheat Alarm protection input (TH) signal exceeded the setting Gr.1 Yes
of Pn61B (Overheat Alarm Level).
A.8A0 External Encoder Error An error occurred in the external encoder. Gr.1 Yes
External Encoder Module
A.8A1 An error occurred in the Serial Converter Unit. Gr.1 Yes
Error
External Incremental
A.8A2 An error occurred in the external encoder. Gr.1 Yes
Encoder Sensor Error
External Absolute Encoder An error occurred in the position data of the
A.8A3 Gr.1 Yes
Position Error external encoder.
External Encoder Over- An overspeed error occurred in the external
A.8A5 Gr.1 Yes
speed encoder.
External Encoder Over- An overheating error occurred in the external
A.8A6 Gr.1 Yes
heated encoder.
A.b33 Current Detection Error 3 An error occurred in the current detection circuit. Gr.1 No
MECHATROLINK Commu- ASIC error 1 occurred in MECHATROLINK com-
A.b6A Gr.1 No
nications ASIC Error 1 munications.
A.b6b Gr.2 No
Internal program error 0 occurred in the SERVO-
A.bF0 System Alarm 0 Gr.1 No
PACK.
PACK.
PACK.
PACK.
PACK.
PACK.
PACK.
3-52

Servo-
Alarm
motor
Alarm Reset
Number Possi-
ping
ble?
Method
PACK.
PACK.
A.C10 Servomotor Out of Control The Servomotor ran out of control. Gr.1 Yes
Encoder Clear Error or
The multiturn data for the absolute encoder was
A.C80 Multiturn Limit Setting Gr.1 No
not correctly cleared or set.
Error
Encoder Communications Communications between the encoder and SER-
A.C90 Gr.1 No
Error VOPACK is not possible.
An error occurred in calculating the position data
A.C91 Position Data Acceleration Gr.1 No
of the encoder.
Rate Error
Encoder Communications An error occurred in the communications timer
A.C92 Gr.1 No
Timer Error between the encoder and SERVOPACK.
A.CA0 Encoder Parameter Error The parameters in the encoder are corrupted. Gr.1 No
The contents of communications with the
A.Cb0 Encoder Echoback Error Gr.1 No
encoder are incorrect.
Multiturn Limit Disagree- Different multiturn limits have been set in the
A.CC0 Gr.1 No
ment encoder and the SERVOPACK.
Reception Failed Error in
Receiving data from the Feedback Option Mod-
A.CF1 Feedback Option Module Gr.1 No
ule failed.
Communications
Timer Stopped Error in
An error occurred in the timer for communica-
tions with the Feedback Option Module.
Communications
The setting of Pn520 (Excessive Position Devia-
A.d00 tion Alarm Level) was exceeded by the position Gr.1 Yes
flow deviation while the servo was ON.
The servo was turned ON after the position devi-
Position Deviation Over- ation exceeded the setting of Pn526 (Excessive
A.d01 Gr.1 Yes
flow Alarm at Servo ON 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
Position Deviation Over- Limit Level at Servo ON) limits the speed when
A.d02 flow Alarm for Speed Limit the servo is turned ON. This alarm occurs if a Gr.2 Yes
at Servo ON position reference is input and the setting of
Pn520 (Excessive Position Deviation Alarm Level)
is exceeded before the limit is cleared.
Motor-Load Position Devi- There was too much position deviation between
A.d10 the motor and load during fully-closed loop con- Gr.2 Yes
ation Overflow trol.
The position feedback data exceeded
A.d30 Position Data Overflow Gr.1 No
±1,879,048,192.
Maintenance
A synchronization error occurred during MECHA-

MECHATROLINK Internal
A.E02 TROLINK communications with the SERVO- Gr.1 Yes
Synchronization Error 1 PACK.
MECHATROLINK Trans-
The setting of the MECHATROLINK communica-
A.E40 mission Cycle Setting Gr.2 Yes
tions transmission cycle is not correct.
Error
A.E50*
MECHATROLINK Syn- A synchronization error occurred during MECHA-
Gr.2 Yes 3
chronization Error TROLINK communications.
3-53

Servo-
Alarm
motor
Alarm Reset
Number Possi-
ping
ble?
Method
MECHATROLINK Syn- Synchronization failed during MECHATROLINK
A.E51 Gr.2 Yes
chronization Failed communications.
Reception Error in
Communications errors occurred continuously
A.E60* MECHATROLINK Commu- Gr.2 Yes
during MECHATROLINK communications.
nications
Synchronization Interval
An error occurred in the transmission cycle
A.E61 Error in MECHATROLINK Gr.2 Yes
Transmission Cycle
Safety Option Module
A.E71 Detection of the Safety Option Module failed. Gr.1 No
Detection Failure
Feedback Option Module
A.E72 Detection of the Feedback Option Module failed. Gr.1 No
Detection Failure
Unsupported Safety An unsupported Safety Option Module was con-
A.E74 Gr.1 No
Safety Function Signal An error occurred in the input timing of the safety
A.Eb1 Gr.1 No
Input Timing Error function signal.
A.EC8 Gate Drive Error 1 An error occurred in the gate drive circuit. Gr.1 No
Command Execution Tim- A timeout error occurred for a MECHATROLINK
A.Ed1 Gr.2 Yes
eout command.
The voltage was low for more than one second
Power Supply Line Open
A.F10 for phase R, S, or T when the main power supply Gr.2 Yes
Phase was ON.
FL-1*
FL-2*
FL-3* An internal program error occurred in the SER-
System Alarm – No
FL-4* VOPACK.
FL-5*
FL-6*
Digital Operator Commu-
CPF00 Communications were not possible between the
nications Error 1
Digital Operator (model: JUSP-OP05A-1-E) and – No
Digital Operator Commu- the SERVOPACK (e.g., a CPU error occurred).
CPF01
nications Error 2
AC Servo Drive Σ-V-Series/Σ-V-Series for Large-Capacity Models/Σ-7-Series User’s Manual Safety Module (Manual
No.: SIEP C720829 06)
3-54

Alarm Number:
Alarm Name
The power supply
voltage suddenly
dropped.
The power supply
was shut OFF while
tings.
–
Parameter ters.
to the SERVOPACK
noise may be the
cause.
conditions.
to the SERVOPACK
VOPACK.
the SERVOPACK may
have failed.
of the SERVOPACK
ware version of the
to write.
data format in the
the SERVOPACK.
VOPACK.
Measure the power
supply voltage.
dropped. VOPACK.
supply. VOPACK.
Maintenance

VOPACK.
the SERVOPACK may
have failed.
3-55

Alarm Number:
Alarm Name
A.024:
VOPACK.
occurred in the
SERVOPACK.)
A.025:
VOPACK.
occurred in the
SERVOPACK.)
the SERVOPACK.
The SERVOPACK and
ties do not match
each other.
the SERVOPACK.
ters that have been
changed.
range.)
The electronic gear
setting range.
(Pn20E/Pn210) < Pn210) < 64,000.
64,000.
(Encoder Output
setting conditions.
3-56

Alarm Number:
Alarm Name
jogging went below
*1
motor was changed.
bination Error
Speed) was changed.
The movement speed
or the Servomotor
was changed.
For 4-byte parameter
bank members, there Change the number of
are two consecutive – bytes for bank members –
A.04A: members with nothing to an appropriate value.
Parameter Set- registered.
ting Error 2 The total amount of
bank data exceeds 64 Reduce the total amount
– –
(Pn900 × Pn901 > of bank data to 64 or less.
64).
each other. ties.
the SERVOPACK.
VOPACK.
A.051: Converter Unit or
Check the product
Device Alarm tions.
connected to the
SERVOPACK.
Maintenance
The SV_ON (Servo

ON) command was
A.0b0: sent from the host
the SERVOPACK OFF and *1
Invalid Servo ON controller after a util- –
ON again. Or, execute a
Command Alarm ity function that turns
software reset.
ON the Servomotor
was executed. 3
3-57

Alarm Number:
Alarm Name
The Main Circuit
Cable is not wired
faulty contact.
across Servomotor
between the ground
U, V, and W.
*1
across Servomotor
between the ground
U, V, or W.
former or the heat
sink overheated.)
so frequently.
occurred.
used. *4
used.
3-58

Alarm Number:
Alarm Name
A heavy load was
or running at a low
speed.
ronment, e.g. by
alarm still occurs.
– –
SERVOPACK.
The Main Circuit
Cable is not wired
faulty contact.
phases U, V, and W.
between the ground
U, V, or W.
A.101: across the Servomotor
Motor Overcur- There is a short-circuit connection terminals U, The SERVOPACK may be
rent Detected or ground fault inside V, and W on the SER- faulty. Replace the SER-
(The current to the SERVOPACK. VOPACK, or between VOPACK.
the motor the ground and termi-
exceeded the nals U, V, or W.
allowable cur- A heavy load was
rent.) Check to see if the Reduce the load applied
or running at a low
speed.
ronment, e.g. by
equivalent to the SERVO-
PACK’s main circuit wire
alarm still occurs.
size.
Maintenance

– –
SERVOPACK.
3
3-59

Alarm Number:
Alarm Name
Pn600 (Regenerative
*1
or -2R8F.
Check to see if the
jumper is connected
erative Resistor or
and B3, the SERVO-
PACK may be dam-
A.300: aged. *1
Regeneration
correctly, or was
and B3, the SERVO-
PACK may be dam-
aged.
the SERVOPACK.
PACK may be faulty.
Replace the SERVO-
PACK.
3-60

Alarm Number:
Alarm Name
Measure the power
supply voltage.
tor capacity is too
small, or there has
been a continuous
regeneration state.
other means.
conditions.
ously applied.
tor Capacity) is
smaller than the
setting of Pn600.
nal Regenerative
Resistor.
Check to see if a
tor Capacity) is
smaller than the
nal Regenerative
Resistor.
resistance.
the SERVOPACK.
VOPACK.
Maintenance
3-61

Alarm Number:
Alarm Name
–
DC power was sup-
Pn600 (Regenerative
*1
2R8A SERVOPACKs.
the SERVOPACK.
VOPACK.
Measure the power
supply voltage.
The power supply is
ning surge.
SERVOPACK may be
VOPACK.
fied range.
–
the SERVOPACK.
PACK may be faulty.
Replace the SERVO-
PACK.
3-62

Alarm Number:
Alarm Name
Measure the power
supply voltage.
The power supply
voltage dropped –
during operation.
The SERVOPACK
fuse is blown out.
the SERVOPACK.
the SERVOPACK.
VOPACK.
The order of phases
–
correct.
(The motor −
conditions.
the SERVOPACK.
VOPACK.
put pulse setting.
A.511: tion).
Encoder Output
speed was too high.
Check for abnormal
Pn100 (Speed Loop
Gain).
ation.
(Moment of Inertia
Maintenance

changed.
(Pn312 or Pn384) is
Pn384).
3
suitable.
3-63

Alarm Number:
Alarm Name
custom tuning,
tom tuning or Easy
corrections.
FFT.
resolution setting.
correctly wired.
or encoder wiring.
Overload
Check the operation
speed.
driven due to
the SERVOPACK.
VOPACK.
The Servomotor was
force.
external force.
A.730 and
stopping with the
dynamic brake.
the SERVOPACK.
VOPACK.
The allowable fre-
power supply was
was frequently
the SERVOPACK.
VOPACK.
3-64

Alarm Number:
Alarm Name
monitor.
An overload alarm
overload alarm.
ply too many times.
A.7A1:
Use the accumulated
capacity.
cessing capacity.
The SERVOPACK
tions.
around the SERVO-
PACK.
the SERVOPACK.
VOPACK.
monitor.
An overload alarm
overload alarm.
ply too many times.
A.7A2:
Use the accumulated
capacity.
cessing capacity.
The SERVOPACK
tions.
around the SERVO-
PACK.
Maintenance
the SERVOPACK.
VOPACK.
A.7A3:
Internal Tempera-
the SERVOPACK.
temperature sen- 3
sor circuit.)
3-65

Alarm Number:
Alarm Name
The fan inside the
SERVOPACK –
stopped.
VOPACK.
Set up the encoder.
time. time.
encoder. *1
A.810: again. time.
– –
the Servomotor.
the SERVOPACK.
VOPACK.
lute Encoder
– motor.
motor.
the SERVOPACK.
VOPACK.
The battery connec-
Alarm
fied value (2.7 V).
voltage was lower
the SERVOPACK.
VOPACK.
3-66

Alarm Number:
Alarm Name
The encoder malfunc- ON again. If an alarm still
– –
tioned. occurs, the Servomotor
A.840: may be faulty. Replace the
Encoder Data Servomotor.
Alarm
– –
ing the encoder.
The Servomotor
was turned ON.
A.850:
Encoder Over-
speed
encoder when
the control power
Servomotor.
supply is turned
– –
SERVOPACK.
high. less.
rated load. load.
fied range.
A.860:
– –
Servomotor.
– –
SERVOPACK.
Maintenance
3-67

Alarm Number:
Alarm Name
perature around the
Servomotor is too
high.
fied range.
maWin+.
verter Unit.
– –
SERVOPACK.
temperature using a
thermostat.
of the machine.
signal.
maWin+.
An overload alarm
overload alarm.
ply too many times.
the SERVOPACK.
SERVOPACK.
The sensor attached
the machine may be
faulty.
*1
– –
– –
verter Unit.
Unit.
3-68

Alarm Number:
Alarm Name
A.8A2:
– –
Sensor Error
encoder.
tions.
encoder.
SERVOPACK.
There is a fault in the
A.b6A: the SERVOPACK OFF and
SERVOPACK
MECHATROLINK ON again. If an alarm still
MECHATROLINK – –
Communications occurs, the SERVOPACK
communications sec-
ASIC Error 1 may be faulty. Replace the
tion.
SERVOPACK.
Implement the following
countermeasures against
noise.
A malfunction
• Check the MECHA-
occurred in the
TROLINK Communica-
tions Cable and FG
communications sec-
A.b6b: wiring.
tion due to noise.
MECHATROLINK • Attach a ferrite core to
Communications the MECHATROLINK
ASIC Error 2 Communications Cable.
SERVOPACK
communications sec-
tion.
SERVOPACK.
– –
SERVOPACK.
Maintenance

– –
SERVOPACK.
System Alarm 2 the SERVOPACK.
–
– 3
SERVOPACK.
3-69

Alarm Number:
Alarm Name
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
The order of phases
–
correct.
A.C10: rect and an alarm still
(Detected when
the servo is
Servomotor.
turned ON.)
– –
SERVOPACK.
Increase the setting of
Pn495 (Polarity Detection
Confirmation Force Refer-
ence). Increase the setting
A.C54: An external force was
of Pn498 (Polarity Detec-
Polarity Detec- applied to the Servo- – –
tion Allowable Error
tion Failure 2 motor.
Range). Increasing the
allowable error will also
increase the motor tem-
perature.
3-70

Alarm Number:
Alarm Name
– –
– –
SERVOPACK.
the encoder.
fications.
ance is outside the
specified values.
sion caused by
environment.
nector caused by
vibration.
–
ing the encoder.
the SERVOPACK.
SERVOPACK.
*1
damaged.
Maintenance
because of the influ-
ence of machines on
condition of the
machine to separate it
from the FG of the
– 3
Encoder Cable.
such as a welder.
3-71

Alarm Number:
Alarm Name
*1
the encoder.
vomotor.
– –
Servomotor.
– –
SERVOPACK.
– –
A.CA0: Servomotor.
Encoder Parame-
– –
SERVOPACK.
3-72

Alarm Number:
Alarm Name
encoder.
– –
entered on it.
at least 0.12 mm2.
The Encoder Cable is Rotary Servomotors: The
too long and noise – Encoder Cable wiring dis- –
entered on it. tance must be 50 m max.
A.Cb0: connectors.
the encoder.
vomotor.
– –
Servomotor.
– –
SERVOPACK.
When using a Direct
does not agree with
the encoder.
alarm occurs.
SERVOPACK has
been changed.
– –
SERVOPACK.
Maintenance
3-73

Alarm Number:
Alarm Name
The cable between
contact.
back Option
is too long. Unit.
less.
The sheath on cable
Replace the cable
PACK.
ken.
Noise entered the
cable between the
and SERVOPACK.
verter Unit.
nications Unit.
– –
and encoder.
Reduce the position
The position com- ence speed or the refer-
command speed and *1
mand speed is too ence acceleration rate, or
try operating the SER-
fast. reconsider the electronic
VOPACK.
gear ratio.
A.d00:
Reduce the acceleration
Position Devia- of the position reference
tion Overflow using a MECHATROLINK
(The setting of Reduce the reference
The acceleration of command. Or, smooth the
Pn520 (Exces- acceleration and try
the position reference position reference accel- −
sive Position operating the SERVO-
is too high. eration by selecting the
Deviation Alarm PACK.
position reference filter
Level) was (ACCFIL) using a MECHA-
exceeded by the TROLINK command.
position devia-
tion while the The setting of Pn520 Check Pn520 (Exces-
servo was ON.) (Excessive Position sive Position Deviation
Deviation Alarm Level) Alarm Level) to see if it
Pn520.
– –
SERVOPACK.
3-74

Alarm Number:
Alarm Name
A.d01:
deviation exceeded Optimize the setting of
Position Devia- Check the position
the setting of Pn526 Pn526 (Excessive Position
tion Overflow deviation while the
(Excessive Position Deviation Alarm Level at
Alarm at Servo servo is OFF.
Deviation Alarm Level Servo ON).
ON at Servo ON) while the
servo was OFF.
*1
ting of Pn529 or
Pn584 (Speed Limit
Optimize the setting of
A.d02: Level at Servo ON)
Pn520 (Excessive Position
Position Devia- limits the speed when
Deviation Alarm Level). Or,
tion Overflow the servo is turned –
adjust the setting of
Alarm for Speed ON. This alarm occurs
Pn529 or Pn584 (Speed
Limit at Servo ON if a position reference Limit Level at Servo ON).
is input and the set-
ting of Pn520 (Exces-
sive Position Deviation
Alarm Level) is
exceeded.
setting of Pn002 =
connection between
coupling.
Overflow ±1,879,048,192.
Remove the cause of
The MECHATROLINK
transmission cycle fluctu-
transmission cycle – –
ation at the host control-
fluctuated.
A.E02: ler.
MECHATROLINK Turn the power supply to
Internal Synchro- the SERVOPACK OFF and
nization Error 1 A failure occurred in ON again. If an alarm still
– –
SERVOPACK.
A.E40: The setting of
MECHATROLINK MECHATROLINK Check the setting of the Set the MECHATROLINK
Transmission transmission cycle is MECHATROLINK trans- transmission cycle to an –
Cycle Setting outside of the speci- mission cycle. appropriate value.
Error fied range.
Maintenance
The WDT data in the Check to see if the WDT

Correctly update the WDT
host controller was data is being updated at –
data at the host controller.
not updated normally. the host controller.
A.E50*5:
Synchronization the SERVOPACK OFF and
Error A failure occurred in ON again. If an alarm still
– –
the SERVOPACK. occurs, the SERVOPACK 3
SERVOPACK.
3-75

Alarm Number:
Alarm Name
The WDT data at the
host controller was
not updated correctly
at the start of syn- Check to see if the WDT
chronous communi- data is being updated in –
cations, so the host controller.
A.E51: synchronous commu-
MECHATROLINK nications could not be
Synchronization started.
Failed
– –
SERVOPACK.
Correct the MECHA-
TROLINK Communica-
MECHATROLINK wir- Check the MECHA-
tions Cable wiring. –
ing is not correct. TROLINK wiring.
Correctly connect the ter-
minator.
(Check the MECHA-
A MECHATROLINK TROLINK Communica-
A.E60*5:
data reception error tions Cable and FG
Reception Error in – –
occurred due to wiring, and implement
MECHATROLINK noise. measures such as attach-
Communications ing a ferrite core to the
MECHATROLINK Com-
munications Cable.)
– –
SERVOPACK.
Remove the cause of
The MECHATROLINK Check the setting of the
transmission cycle MECHATROLINK trans- –
A.E61: ation at the host control-
fluctuated. mission cycle.
Synchronization ler.
Interval Error in Turn the power supply to
MECHATROLINK the SERVOPACK OFF and
Transmission A failure occurred in ON again. If an alarm still
Cycle – –
SERVOPACK.
–
*1
Module.
Module.
– –
3-76

Alarm Number:
Alarm Name
nection between the
Feedback Option
back Option Module.
Module.
Option Module.
Module.
– –
Module.
Unsupported Module.
connected.
– –
A.EC8:
Gate Drive Error 1
– –
occurred in the
Execute the SV_ON or
Check the motor status
SENS_ON command only
when the command is –
when the motor is not
A timeout error executed.
A.Ed1: operating.
occurred for a
Command Exe- For fully-closed loop
MECHATROLINK Execute the SENS_ON
cution Timeout control, check the sta-
command. command only when an
tus of the external –
external encoder is con-
Maintenance
encoder when the com-

nected.
mand is executed.
3-77

Alarm Number:
Alarm Name
The three-phase
not correct.
The three-phase
ply.
Line Open Phase
setting.
– –
SERVOPACK.
FL-1*5:
System Alarm
FL-2*5:
System Alarm
– –
SERVOPACK.
FL-5*5:
System Alarm
FL-6*5:
System Alarm
SERVOPACK.
Communications
A malfunction was
caused by noise.
sources of noise.
Communications
– –
SERVOPACK.
Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-II Communications References Product Manual (Manual
No.: SIEP S800001 27)
3-78

Pn533 [min-1]  
6 105 Pn210

Approx. 3.66  1012 Pn210

6105 Pn210

Approx. 3.66  1012 Pn210

Maintenance
3-79


The list of warnings gives the warning name and warning meaning in order of the warning num-
bers.
Warning
Number
The position deviation exceeded the percentage set with the following
Position Deviation
A.900 formula:
Position Deviation
The position deviation when the servo was turned ON exceeded the per-
A.901 Overflow Alarm at
centage set with the following formula: (Pn526 × Pn528/100)
Servo ON
This warning occurs before an overload alarm (A.710 or A.720) occurs. If
A.910 Overload
the warning is ignored and operation is continued, an alarm may occur.
Abnormal vibration was detected during motor operation. The detection
A.911 Vibration level is the same as A.520. Set whether to output an alarm or a warning
by setting Pn310 (Vibration Detection Switch).
Warning 1 (Control
A.912 The surrounding temperature of the control PCB is abnormal.
Board Temperature
Error)
Warning 2 (Power
A.913 The surrounding temperature of the power PCB is abnormal.
Board Temperature
Error)
This warning occurs before an A.320 alarm (Regenerative Overload)
A.920 Regenerative Overload occurs. If the warning is ignored and operation is continued, an alarm
may occur.
Dynamic Brake Over- This warning occurs before an A.731 alarm (Dynamic Brake Overload)
A.921 occurs. If the warning is ignored and operation is continued, an alarm
load may occur.
SERVOPACK Built-in
A.923 The fan inside the SERVOPACK stopped.
Fan Stopped
Absolute Encoder Bat- This warning occurs when the voltage of absolute encoder’s battery is
A.930
tery Error low.
The input voltage (temperature) for the overheat protection input (TH) sig-
A.93B Overheat Warning
nal exceeded the setting of Pn61C (Overheat Warning Level).
Speed Ripple Com- The speed ripple compensation information stored in the encoder does
A.942 pensation Information not agree with the speed ripple compensation information stored in the
Disagreement SERVOPACK.
Data Setting Warning 1
There is an error in the parameter number for a Data Setting Warning 1
A.94A (Parameter Number
(Parameter Number) command.
Error)
A.94b The command data is out of range.
(Out of Range)
A.94C A calculation error was detected.
(Calculation Error)
A.94d The data sizes do not match.
(Parameter Size)
A.94E A latch mode error was detected.
(Latch Mode Error)
3-80

Warning
Number
Command Warning 1
A command was sent when the conditions for sending a command were
A.95A (Unsatisfied Com-
not satisfied.
mand Conditions)
Command Warning 2
A.95b (Unsupported Com- An unsupported command was sent.
mand)
Command Warning 4
There was command interference, particularly latch command interfer-
A.95d (Command Interfer-
ence.
ence)
Command Warning 5
A.95E (Subcommand Not The subcommand and main command interfere with each other.
Possible)
Command Warning 6
A.95F An undefined command was sent.
(Undefined Command)
MECHATROLINK
A communications error occurred during MECHATROLINK communica-
A.960 Communications
tions.
Warning
This warning occurs before an A.410 alarm (Undervoltage) occurs. If the
A.971 Undervoltage
warning is ignored and operation is continued, an alarm may occur.
A.9A0 Overtravel Overtravel was detected while the servo was ON.
Preventative Mainte-
A.9b0 One of the consumable parts has reached the end of its service life.
nance Warning
codes).
–
A.923
A.942
A.94A to A.960 Pn800=n.X (Warning Check Masks)
A.971
A.9A0
Maintenance
3-81

Warning Number:
Warning Name
and encoder.
Reduce the acceleration of
the position reference using
a MECHATROLINK com-
The acceleration mand. Or, smooth the posi-
acceleration and try
of the position ref- tion reference acceleration –
erence is too high. by selecting the position
PACK.
A.900: reference filter (ACCFIL)
Position Deviation using a MECHATROLINK
Overflow command.
The excessive
Pn520 and Pn51E.
tions.
A failure occurred
PACK.
SERVOPACK.
The position devi-
ation when the
servo was turned
A.901: Optimize the setting of
ON exceeded the
Position Deviation Pn528 (Excessive Position
percentage set – –
Overflow Alarm at Error Warning Level at
with the following
Servo ON Servo ON).
formula:
(Pn526 × Pn528/
100)
3-82

Warning Number:
Warning Name
The wiring is not
encoder wiring.
Operation was
performed that
exceeded the
overload protec-
tion characteris-
tics.
Check the operation
speed.
driven because of
mechanical prob-
lems.
The overload
suitable.
suitable.
PACK. PACK.
Check for abnormal
Abnormal vibra-
tion was detected
during motor
operation.
ation.
The setting of
Pn103 (Moment of
inertia or was
greatly changed.
The vibration
detection level
(Pn312 or Pn384)
is not suitable.
Maintenance
3-83

Warning Number:
Warning Name
temperature using a
tion conditions.
ment monitor.
An overload alarm
times.
–
The SERVOPACK
installation orien-
around the SER-
VOPACK.
PACK. PACK.
temperature using a
tion conditions.
ment monitor.
An overload alarm
times.
The SERVOPACK
installation orien-
around the SER-
VOPACK.
PACK. PACK.
3-84

Warning Number:
Warning Name
The power supply
range.
range.
There is insuffi-
Check the operating
conditions or the
maJunmaSize+ Capac-
or another means.
regeneration means.
state.
There was a con-
during operation.
applied.
The Servomotor
external force.
nal force.
When the Servo-
tor to see how –
being used.
resistor.
PACK. PACK.
The battery con-
*
absolute encoder
The battery volt-
battery voltage was
(2.7 V).
only when an abso-
Maintenance
nected.)
PACK. PACK.
3-85

Warning Number:
Warning Name
high. thermostat.
machine.
PACK. PACK.
The sensor
machine is faulty.
to the machine.
compensation
information stored
not detect A.942 alarms).
A.942: in the encoder
ripple.
A.94A:
An invalid param- Check the command
Data Setting Warn- Use the correct parameter
eter number was that caused the warn- *
ing 1 (Parameter number.
used. ing.
Number Error)
The set com-
A.94b: mand data was
Check the command
clamped to the Set the parameter within
Data Setting Warn- that caused the warn- *
minimum or maxi- the setting range.
ing 2 (Out of Range) ing.
mum value of the
setting range.
A.94C:
The calculation Check the command
Data Setting Warn- Set the parameter within
result of the set- that caused the warn- *
ing 3 (Calculation the setting range.
ting is not correct. ing.
Error)
A.94d: The parameter
Check the command
Data Setting Warn- size set in the Set the correct parameter
that caused the warn- *
ing 4 (Parameter command is not size.
ing.
Size) correct.
Change the setting of
A.94E: Pn850 or the LT_MOD data
Check the command
Data Setting Warn- A latch mode error for the LTMOD_ON com-
ing 5 (Latch Mode was detected. mand sent by the host con-
ing.
Error) troller to an appropriate
value.
A.95A:
The command Check the command Send the command after
Command Warning *
conditions are not that caused the warn- the command conditions
1 (Unsatisfied Com- satisfied. ing. are satisfied.
mand Conditions)
A.95b:
An unsupported Check the command
Command Warning Do not send unsupported
command was that caused the warn- *
2 (Unsupported commands.
received. ing.
Command)
3-86

Warning Number:
Warning Name
The command
A.95d: sending condi-
Check the command Send the command after
Command Warning tions for latch-
that caused the warn- the command conditions *
4 (Command Inter- related com-
ing. are satisfied.
ference) mands was not
satisfied.
The command
A.95E:
sending condi- Check the command
Command Warning Send the command after
tions for subcom- that caused the warn- *
5 (Subcommand the conditions are satisfied.
mands was not ing.
Not Possible) satisfied.
A.95F:
An undefined Check the command
Command Warning Do not send undefined
6 (Undefined Com- commands.
sent. ing.
mand)
The MECHA- Correct the MECHA-
TROLINK Com- TROLINK communications
Check the wiring condi-
munications Cable cable wiring. Or, connect a *
tions.
is not wired cor- terminator to the final sta-
rectly. tion.
noise.
A.960: • Check the MECHA-
A MECHA-
MECHATROLINK TROLINK Communica-
TROLINK data
Communications Confirm the installation tions Cable and FG wiring
reception error –
Warning conditions. and implement counter-
occurred due to
measures to prevent noise
noise.
from entering.
• Attach a ferrite core to the
MECHATROLINK Com-
munications Cable.
PACK. PACK.
For a 200-V SER-
Measure the power
supply voltage.
age dropped range.
below 140 V.
For a 100-V SER-
Measure the power
supply voltage.
age dropped range.
below 60 V.
during operation.
A momentary
power interrup- *
tion occurred.
Maintenance

– *
PACK. PACK.
3
3-87

Warning Number:
Warning Name
A.9A0: precautions.
controller.
overtravel signals.
One of the con-
sumable parts has
reached the end

Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-II Communications References Product Manual (Manual No.:
SIEP S800001 27)
3-88

of the Servomotor
Turn OFF the power
supply to the servo
Measure the voltage
supply terminals.
Turn OFF the power
supply to the servo
across the main circuit Correct the wiring so –
ON.
nector (CN1) pins.
Turn OFF the power
supply to the servo
system. –
Wire the cable cor-
nected.
rectly.
Turn OFF the power
supply to the servo
There is an overload on the
Servomotor.
Servomotor the load status. replace the Servomo-
Does Not tor with a Servomotor
Start with a larger capacity.
*
input signal allocations allocations (Pn50A, input signals (Pn50A,
*
(Pn50A, Pn50B, Pn511, and Pn50B, Pn511, and Pn50B, Pn511, and
Pn516). Pn516). Pn516).
Check the commands Send the SV_ON com-
The SV_ON command was
sent from the host con- mand from the host –
not sent.
troller. controller.
The SENS_ON (Turn ON
Check the commands Send the commands to
Sensor) command was not
sent from the host con- the SERVOPACK in the –
sent.
troller. correct sequence.
The P-OT (Forward Drive
Prohibit) or N-OT (Reverse Check the P-OT and N- Turn ON the P-OT and
*
Drive Prohibit) signal is still OT signals. N-OT signals.
OFF.
Turn ON the /HWBB1
Maintenance

nals. If you are not
Check the /HWBB1 and using the safety func-
/HWBB2 input signals. tion, connect the Safety
not turned ON.
Jumper Connector
(provided as an acces-
sory) to CN8.
3-89

signal.
Servomotor (FSTP (Forced Stop
Does Not Input) Signal Alloca-
Start tion) to disable the
signal.
Turn OFF the power
supply to the servo
– system. –
VOPACK.
Replace the SERVO-
PACK.
ing.
Turn OFF the power
Servomotor
supply to the servo
Moves with- A failure occurred in the SER-
– system. –
out a Refer- VOPACK.
Replace the SERVO-
ence Input
PACK.
–
Check the moment of
Turn OFF the power
supply to the servo
system.
Not Operate load.
nected.
Turn OFF the power
supply to the servo
system.
– –
Replace the SERVO-
PACK.
3-90

Reduce the load so
that the moment of
tings.
secure. screws.
any loose mounting
screws.
secure.
pling is balanced.
tor.
ings.
–
Abnormal mation in the machine’s
Noise from moving parts.
the specifications.
0.12 mm2.
is too long. 3 m.
I/O signal cables.
the specifications.
Maintenance

Turn OFF the power sup- Rotary Servomotors:
Noise interference occurred
ply to the servo system. The Encoder Cable
because the Encoder Cable –
Check the length of the length must be 50 m
is too long.
Encoder Cable. max.
Replace the Encoder
because the Encoder Cable Check the Encoder Cable
– 3
ronment.
3-91

lines.
rent line.
Properly ground the
them from the FG of
the encoder.
welder. grounded.
Turn OFF the power
Abnormal pulse counting error due to –
Noise from noise.
Servomotor
tion. Improve the
the Servomotor.
alignment).
Turn OFF the power
supply to the servo
– system. –
encoder.
tor.
anced.
rectly tuned. ence.
–
40.0 Hz.
Servomotor
Vibrates at
Frequency –
of Approx.
= 40.0/s.
200 to 400
20.0 ms.
–
ate.
3-92

anced.
rectly tuned. ence.
–
40.0 Hz.
–
Speed = 40.0/s.
ping 20.0 ms.
–
ate.
Set Pn483 and Pn484
values. 30% and Pn484 = 30%.
fications. Use a shielded Use cables that satisfy
because of incorrect Encoder –
at least 0.12 mm2.
Absolute Turn OFF the power sup- Rotary Servomotors:
Encoder ply to the servo system. The Encoder Cable
Position Check the length of the length must be 50 m
is too long.
Deviation Encoder Cable. max.
Replace the Encoder
ronment.
the posi- lines.
the power
was next There is variation in the FG Turn OFF the power sup-
Properly ground the
turned ON.) potential because of the ply to the servo system.
them from the FG of
the encoder.
welder. grounded.
Maintenance

verter Unit.
3-93

the Servomotor.
Absolute state, and alignment).
Encoder
Turn OFF the power
Position
supply to the servo
Deviation A failure occurred in the
encoder.
tor.
that was
VOPACK.
was turned PACK.
tion when
Perform parity checks
tion data.
data.
3-94

the input signals.
signals.
Drive Prohibit) signal was Correct the wiring of
input. Check the wiring of the
switches.
overtravel input signal Set the parameters to
*
allocations (Pn50A/ correct values.
Pn50B).
–
Overtravel Drive Prohibit) signal mal- switches is unstable. travel limit switches.
Occurred functioned. Check the wiring of the
screws).
There is a mistake in the allo- signal is allocated in cated in Pn50A
Pn50A = n.X.
*
cated in Pn50B
Pn50B = n.X. signal is allocated in
=n.X, allocate the
Pn50B = n.X.
N-OT signal instead.
Check the servo OFF
Select a Servomotor
Pn001 = n.X or
Pn001 = n.X.
not correct. Check the torque control
Select a Servomotor
Pn001 = n.X or
Pn001 = n.X.
tion for
Cable specifications. twisted-pair wire cable or the specifications.
Position cable with conductors of
Maintenance
Deviation at least 0.12 mm2.

(without Turn OFF the power sup- Rotary Servomotors:
Alarm) Noise interference occurred
is too long.
Encoder Cable. max.
Replace the Encoder
because the Encoder Cable
–
3
ronment.
3-95

lines.
rent line.
Properly ground the
them from the FG of
the encoder.
welder. grounded.
verter Unit.
the Servomotor.
Position state, and alignment).
Deviation Turn OFF the power sup-
(without ply to the servo system. Correctly secure the
Alarm) Check to see if position coupling between the
not suitable.
and Servomotor.
the specifications.
0.12 mm2.
is too long. 3 m.
I/O signal cables.
Turn OFF the power
tor.
Turn OFF the power
supply to the servo
– system. –
VOPACK.
Replace the SERVO-
PACK.
3-96

ture is too high.
–
for dirt.
SERVOPACK and Ser-
vomotor with larger
capacities.
related parameters.
tance.
failed. estimation.
Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-II Communications References Product Manual (Manual No.:
SIEP S800001 27)
Maintenance
3-97
3.3 FT82 SERVOPACK with MECHATROLINK-III Communications References

If there is an alarm, the display will change in the following order.

Example: Alarm A.E60
Status
Indications Not lit. Not lit. Not lit. Not lit. Not lit.

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

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

List of Alarms
Servo-
Alarm
motor
Alarm Reset
Number Possi-
ping
ble?
Method
Parameter Checksum There is an error in the parameter data in the
A.020 Gr.1 No
Error SERVOPACK.
There is an error in the parameter data format in
A.021 Parameter Format Error Gr.1 No
the SERVOPACK.
There is an error in the parameter data in the
A.022 System Checksum Error Gr.1 No
SERVOPACK.
VOPACK.
VOPACK.
Main Circuit Detector There is an error in the detection data for the
A.030 Gr.1 Yes
Error main circuit.
A parameter setting is outside of the setting
A.040 Parameter Setting Error Gr.1 No
range.
3-98

Servo-
Alarm
motor
Alarm Reset
Number Possi-
ping
ble?
Method
The setting of Pn212 (Encoder Output Pulses) or
Encoder Output Pulse Pn281 (Encoder Output Resolution) is outside of
A.041 Gr.1 No
Setting Error the setting range or does not satisfy the setting
conditions.
Parameter Combination The combination of some parameters exceeds
A.042 Gr.1 No
Error the setting range.
Semi-Closed/Fully-Closed The settings of the Option Module and Pn002 =
A.044 Loop Control Parameter n.X (External Encoder Usage) do not Gr.1 No
Setting Error match.
There is an error in the bank members or bank
A.04A Parameter Setting Error 2 Gr.1 No
data settings.
The capacities of the SERVOPACK and Servomo-
tor do not match.
Unsupported Device
Alarm
The SV_ON (Servo ON) command was sent from
A.0b0 the host controller after a utility function that turns Gr.1 Yes
mand Alarm ON the Servomotor was executed.
An overcurrent flowed through the power trans-
former or the heat sink overheated.
Motor Overcurrent The current to the motor exceeded the allowable
A.101 Gr.1 No
Detected current.
A.320 Regenerative Overload A regenerative overload occurred. Gr.2 Yes
• The AC power supply input setting or DC power
A.330 supply input setting is not correct. Gr.1 Yes
Wiring Error • The power supply wiring is not correct.
A.510 Overspeed The motor exceeded the maximum speed. Gr.1 Yes
Encoder Output Pulse The pulse output speed for the setting of Pn212
A.511 Gr.1 Yes
Overspeed (Encoder Output Pulses) was exceeded.
Abnormal oscillation was detected in the motor
A.520 Vibration Alarm Gr.1 Yes
speed.
Vibration was detected during autotuning for the
tuning-less function.
Maximum Speed Setting The setting of Pn385 (Maximum Motor Speed) is
A.550 Gr.1 Yes
Error greater than the maximum motor speed.
The Servomotor was operating for several sec-
A.710 Instantaneous Overload onds to several tens of seconds under a torque Gr.2 Yes
that largely exceeded the rating.
The Servomotor was operating continuously
A.720 Continuous Overload Gr.1 Yes
under a torque that exceeded the rating.
A.730 When the dynamic brake was applied, the rota-
Maintenance
Dynamic Brake Overload tional or linear kinetic energy exceeded the Gr.1 Yes
A.731 capacity of the dynamic brake resistor.
Inrush Current Limiting The main circuit power supply was frequently
A.740 Gr.1 Yes
Resistor Overload turned ON and OFF.
The surrounding temperature of the control PCB
A.7A1 1 (Control Board Tempera- Gr.2 Yes
is abnormal.
ture Error) 3
3-99

Servo-
Alarm
motor
Alarm Reset
Number Possi-
ping
ble?
Method
The surrounding temperature of the power PCB
A.7A2 2 (Power Board Tempera- Gr.2 Yes
is abnormal.
ture Error)
Internal Temperature Sen- An error occurred in the temperature sensor cir-
A.7A3 Gr.2 No
sor Error cuit.
SERVOPACK Built-in Fan
Stopped
The power supplies to the encoder all failed and
A.810 Encoder Backup Alarm Gr.1 No
the position data was lost.
There is an error in the checksum results for
A.820 Encoder Checksum Alarm Gr.1 No
encoder memory.
The battery voltage was lower than the specified
A.830 Encoder Battery Alarm level after the control power supply was turned Gr.1 Yes
ON.
A.840 Encoder Data Alarm There is an internal data error in the encoder. Gr.1 No
The encoder was operating at high speed when
the power was turned ON.
A.860 Encoder Overheated The internal temperature of encoder is too high. Gr.1 No
A.861 Motor Overheated The internal temperature of motor is too high. Gr.1 No
A.862 Overheat Alarm protection input (TH) signal exceeded the setting Gr.1 Yes
of Pn61B (Overheat Alarm Level).
A.8A0 External Encoder Error An error occurred in the external encoder. Gr.1 Yes
External Encoder Module
A.8A1 An error occurred in the Serial Converter Unit. Gr.1 Yes
Error
External Absolute Encoder An error occurred in the position data of the
A.8A3 Gr.1 Yes
Position Error external encoder.
External Encoder Over- An overspeed error occurred in the external
A.8A5 Gr.1 Yes
speed encoder.
External Encoder Over- An overheating error occurred in the external
A.8A6 Gr.1 Yes
heated encoder.
A.b33 Current Detection Error 3 An error occurred in the current detection circuit. Gr.1 No
A.b6A Gr.1 No
A.b6b Gr.2 No
PACK.
PACK.
PACK.
PACK.
PACK.
PACK.
PACK.
3-100

Servo-
Alarm
motor
Alarm Reset
Number Possi-
ping
ble?
Method
PACK.
PACK.
A.C10 Servomotor Out of Control The Servomotor ran out of control. Gr.1 Yes
The multiturn data for the absolute encoder was
A.C80 Multiturn Limit Setting Gr.1 No
not correctly cleared or set.
Error
Encoder Communications Communications between the encoder and SER-
A.C90 Gr.1 No
Error VOPACK is not possible.
An error occurred in calculating the position data
A.C91 Position Data Acceleration Gr.1 No
of the encoder.
Rate Error
Encoder Communications An error occurred in the communications timer
A.C92 Gr.1 No
Timer Error between the encoder and SERVOPACK.
A.CA0 Encoder Parameter Error The parameters in the encoder are corrupted. Gr.1 No
The contents of communications with the
A.Cb0 Encoder Echoback Error Gr.1 No
encoder are incorrect.
Multiturn Limit Disagree- Different multiturn limits have been set in the
A.CC0 Gr.1 No
ment encoder and the SERVOPACK.
Reception Failed Error in
Receiving data from the Feedback Option Mod-
ule failed.
Communications
Timer Stopped Error in
An error occurred in the timer for communica-
tions with the Feedback Option Module.
Communications
The setting of Pn520 (Excessive Position Devia-
A.d00 tion Alarm Level) was exceeded by the position Gr.1 Yes
flow deviation while the servo was ON.
The servo was turned ON after the position devi-
Position Deviation Over- ation exceeded the setting of Pn526 (Excessive
A.d01 Gr.1 Yes
flow Alarm at Servo ON 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
Position Deviation Over- Limit Level at Servo ON) limits the speed when
A.d02 flow Alarm for Speed Limit the servo is turned ON. This alarm occurs if a Gr.2 Yes
at Servo ON position reference is input and the setting of
Pn520 (Excessive Position Deviation Alarm Level)
Motor-Load Position Devi- There was too much position deviation between
A.d10 the motor and load during fully-closed loop con- Gr.2 Yes
ation Overflow trol.
The position feedback data exceeded
A.d30 Position Data Overflow Gr.1 No
±1,879,048,192.
Maintenance
A synchronization error occurred during MECHA-

MECHATROLINK Internal
A.E02 TROLINK communications with the SERVO- Gr.1 Yes
Synchronization Error 1 PACK.
MECHATROLINK Trans-
The setting of the MECHATROLINK communica-
A.E40 mission Cycle Setting Gr.2 Yes
tions transmission cycle is not correct.
Error
MECHATROLINK Commu-
The setting of the MECHATROLINK communica- 3
A.E41 nications Data Size Set- Gr.2 Yes
tions data size is not correct.
ting Error
3-101

Servo-
Alarm
motor
Alarm Reset
Number Possi-
ping
ble?
Method
MECHATROLINK Station The setting of the MECHATROLINK station
A.E42 Gr.2 No
Address Setting Error address is not correct.
MECHATROLINK Syn- A synchronization error occurred during MECHA-
A.E50* Gr.2 Yes
chronization Error TROLINK communications.
MECHATROLINK Syn- Synchronization failed during MECHATROLINK
A.E51 Gr.2 Yes
chronization Failed communications.
Reception Error in
Communications errors occurred continuously
A.E60* MECHATROLINK Commu- Gr.2 Yes
nications
Synchronization Interval
An error occurred in the transmission cycle
A.E61 Error in MECHATROLINK Gr.2 Yes
Transmission Cycle
MECHATROLINK Syn- Synchronization frames were continuously not
A.E63 chronization Frame Not received during MECHATROLINK communica- Gr.2 Yes
Received tions.
Safety Option Module
A.E71 Detection of the Safety Option Module failed. Gr.1 No
Detection Failure
Feedback Option Module
A.E72 Detection of the Feedback Option Module failed. Gr.1 No
Detection Failure
Unsupported Safety An unsupported Safety Option Module was con-
A.E74 Gr.1 No
Safety Function Signal An error occurred in the input timing of the safety
A.Eb1 Gr.1 No
Input Timing Error function signal.
Command Execution Tim- A timeout error occurred for a MECHATROLINK
A.Ed1 Gr.2 Yes
eout command.
The voltage was low for more than one second
Power Supply Line Open
A.F10 for phase R, S, or T when the main power supply Gr.2 Yes
Phase was ON.
FL-1*
FL-2*
FL-3* An internal program error occurred in the SER-
System Alarm – No
FL-4* VOPACK.
FL-5*
FL-6*
Digital Operator Commu-
CPF00 Communications were not possible between the
nications Error 1
Digital Operator (model: JUSP-OP05A-1-E) and – No
Digital Operator Commu- the SERVOPACK (e.g., a CPU error occurred).
CPF01
nications Error 2
AC Servo Drive Σ-V-Series/Σ-V-Series for Large-Capacity Models/Σ-7-Series User’s Manual Safety Module
(Manual No.: SIEP C720829 06)
3-102

Alarm Number:
Alarm Name
The power supply
voltage suddenly
dropped.
The power supply
was shut OFF while
tings.
–
Parameter ters.
to the SERVOPACK
noise may be the
cause.
conditions.
to the SERVOPACK
VOPACK.
the SERVOPACK may
have failed.
of the SERVOPACK
ware version of the
to write.
data format in the
the SERVOPACK.
VOPACK.
Measure the power
supply voltage.
dropped. VOPACK.
supply. VOPACK.
Maintenance

VOPACK.
the SERVOPACK may
have failed.
3-103

Alarm Number:
Alarm Name
A.024:
VOPACK.
occurred in the
SERVOPACK.)
A.025:
VOPACK.
occurred in the
SERVOPACK.)
the SERVOPACK.
The SERVOPACK and
ties do not match
each other.
the SERVOPACK.
ters that have been
changed.
range.)
The electronic gear
setting range.
(Pn20E/Pn210) < Pn210) < 64,000.
64,000.
(Encoder Output
setting conditions.
jogging went below
*1
motor was changed.
bination Error
Speed) was changed.
The movement speed
or the Servomotor
was changed.
3-104

Alarm Number:
Alarm Name
For 4-byte parameter
bank members, there Change the number of
are two consecutive – bytes for bank members –
A.04A: members with nothing to an appropriate value.
Parameter Set- registered.
ting Error 2 The total amount of
bank data exceeds 64 Reduce the total amount
– –
(Pn900 × Pn901 > of bank data to 64 or less.
64).
each other. ties.
the SERVOPACK.
VOPACK.
Converter Unit or
A.051: Check the product
Device Alarm tions.
connected to the
SERVOPACK.
The SV_ON (Servo
ON) command was
A.0b0: sent from the host
Invalid Servo ON controller after a util- –
Command Alarm ity function that turns
software reset.
ON the Servomotor
was executed.
Maintenance
3-105

Alarm Number:
Alarm Name
The Main Circuit
Cable is not wired
faulty contact.
across Servomotor
between the ground
U, V, and W.
*1
across Servomotor
between the ground
U, V, or W.
former or the heat
sink overheated.)
so frequently.
occurred.
used. *4
used.
3-106

Alarm Number:
Alarm Name
A heavy load was
or running at a low
speed.
ronment, e.g. by
alarm still occurs.
– –
SERVOPACK.
The Main Circuit
Cable is not wired
faulty contact.
phases U, V, and W.
between the ground
U, V, or W.
or running at a low
speed.
ronment, e.g. by
alarm still occurs.
size.
Maintenance

– –
SERVOPACK.
3
3-107

Alarm Number:
Alarm Name
Pn600 (Regenerative
*1
or -2R8F.
Check to see if the
jumper is connected
erative Resistor or
and B3, the SERVO-
PACK may be dam-
A.300: aged. *1
Regeneration
correctly, or was
and B3, the SERVO-
PACK may be dam-
aged.
the SERVOPACK.
PACK may be faulty.
Replace the SERVO-
PACK.
3-108

Alarm Number:
Alarm Name
Measure the power
supply voltage.
tor capacity is too
small, or there has
been a continuous
regeneration state.
other means.
conditions.
ously applied.
tor Capacity) is
smaller than the
setting of Pn600.
nal Regenerative
Resistor.
Check to see if a
tor Capacity) is
smaller than the
nal Regenerative
Resistor.
resistance.
the SERVOPACK.
VOPACK.
Maintenance
3-109

Alarm Number:
Alarm Name
–
DC power was sup-
Pn600 (Regenerative
*1
2R8A SERVOPACKs.
the SERVOPACK.
VOPACK.
Measure the power
supply voltage.
The power supply is
ning surge.
SERVOPACK may be
VOPACK.
fied range.
–
the SERVOPACK.
PACK may be faulty.
Replace the SERVO-
PACK.
3-110

Alarm Number:
Alarm Name
Measure the power
supply voltage.
The power supply
voltage dropped –
during operation.
The SERVOPACK
fuse is blown out.
the SERVOPACK.
the SERVOPACK.
VOPACK.
The order of phases
–
correct.
(The motor −
conditions.
the SERVOPACK.
VOPACK.
put pulse setting.
A.511: tion).
Encoder Output
speed was too high.
Check for abnormal
Pn100 (Speed Loop
Gain).
ation.
(Moment of Inertia
Maintenance

changed.
(Pn312 or Pn384) is
Pn384).
3
suitable.
3-111

Alarm Number:
Alarm Name
custom tuning,
tom tuning or Easy
corrections.
FFT.
resolution setting.
correctly wired.
or encoder wiring.
Overload
Check the operation
speed.
driven due to
the SERVOPACK.
VOPACK.
The Servomotor was
force.
external force.
A.730 and
stopping with the
dynamic brake.
the SERVOPACK.
VOPACK.
The allowable fre-
power supply was
was frequently
the SERVOPACK.
VOPACK.
3-112

Alarm Number:
Alarm Name
monitor.
An overload alarm
overload alarm.
ply too many times.
A.7A1:
Use the accumulated
capacity.
cessing capacity.
The SERVOPACK
tions.
around the SERVO-
PACK.
the SERVOPACK.
VOPACK.
monitor.
An overload alarm
overload alarm.
ply too many times.
A.7A2:
Use the accumulated
capacity.
cessing capacity.
The SERVOPACK
tions.
around the SERVO-
PACK.
Maintenance
the SERVOPACK.
VOPACK.
A.7A3:
Internal Tempera-
the SERVOPACK.
temperature sen- 3
sor circuit.)
3-113

Alarm Number:
Alarm Name
The fan inside the
SERVOPACK –
stopped.
VOPACK.
Set up the encoder.
time. time.
encoder. *1
A.810: again. time.
– –
the Servomotor.
the SERVOPACK.
VOPACK.
lute Encoder
– motor.
motor.
the SERVOPACK.
VOPACK.
The battery connec-
Alarm
fied value (2.7 V).
voltage was lower
the SERVOPACK.
VOPACK.
3-114

Alarm Number:
Alarm Name
– –
Alarm
– –
ing the encoder.
The Servomotor
was turned ON.
A.850:
Encoder Over-
speed
encoder when
the control power
Servomotor.
supply is turned
– –
SERVOPACK.
high. less.
rated load. load.
fied range.
A.860:
– –
Servomotor.
– –
SERVOPACK.
Maintenance
3-115

Alarm Number:
Alarm Name
perature around the
Servomotor is too
high.
fied range.
maWin+.
verter Unit.
– –
SERVOPACK.
temperature using a
thermostat.
of the machine.
signal.
maWin+.
An overload alarm
overload alarm.
ply too many times.
the SERVOPACK.
SERVOPACK.
The sensor attached
the machine may be
faulty.
*1
– –
– –
verter Unit.
Unit.
3-116

Alarm Number:
Alarm Name
A.8A2:
– –
Sensor Error
encoder.
tions.
encoder.
SERVOPACK.
A.b6A: the SERVOPACK OFF and
SERVOPACK
MECHATROLINK ON again. If an alarm still
Communications occurs, the SERVOPACK
communications sec-
ASIC Error 1 may be faulty. Replace the
tion.
SERVOPACK.
noise.
A malfunction
• Check the MECHA-
occurred in the
TROLINK Communica-
tions Cable and FG
communications sec-
A.b6b: wiring.
tion due to noise.
MECHATROLINK • Attach a ferrite core to
Communications the MECHATROLINK
ASIC Error 2 Communications Cable.
SERVOPACK
communications sec-
tion.
SERVOPACK.
– –
SERVOPACK.
Maintenance

– –
SERVOPACK.
System Alarm 2 the SERVOPACK.
–
– 3
SERVOPACK.
3-117

Alarm Number:
Alarm Name
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
The order of phases
–
correct.
turned ON.)
– –
SERVOPACK.
ence). Increase the setting
A.C54: An external force was
perature.
3-118

Alarm Number:
Alarm Name
– –
– –
SERVOPACK.
the encoder.
fications.
ance is outside the
specified values.
sion caused by
environment.
nector caused by
vibration.
–
ing the encoder.
the SERVOPACK.
SERVOPACK.
*1
damaged.
Maintenance
because of the influ-
ence of machines on
condition of the
machine to separate it
from the FG of the
– 3
Encoder Cable.
such as a welder.
3-119

Alarm Number:
Alarm Name
*1
the encoder.
vomotor.
– –
Servomotor.
– –
SERVOPACK.
– –
A.CA0: Servomotor.
Encoder Parame-
– –
SERVOPACK.
3-120

Alarm Number:
Alarm Name
encoder.
– –
entered on it.
at least 0.12 mm2.
A.Cb0: connectors.
the encoder.
vomotor.
– –
Servomotor.
– –
SERVOPACK.
When using a Direct
does not agree with
the encoder.
alarm occurs.
SERVOPACK has
been changed.
– –
SERVOPACK.
Maintenance
3-121

Alarm Number:
Alarm Name
The cable between
contact.
back Option
is too long. Unit.
less.
The sheath on cable
Replace the cable
PACK.
ken.
Noise entered the
cable between the
and SERVOPACK.
verter Unit.
nications Unit.
– –
and encoder.
Reduce the position
VOPACK.
gear ratio.
A.d00:
Position Devia- of the position reference
tion Overflow using a MECHATROLINK
(The setting of Reduce the reference
The acceleration of command. Or, smooth the
Pn520 (Exces- acceleration and try
the position reference position reference accel- −
sive Position operating the SERVO-
is too high. eration by selecting the
Deviation Alarm PACK.
position reference filter
Level) was (ACCFIL) using a MECHA-
exceeded by the TROLINK command.
position devia-
tion while the The setting of Pn520 Check Pn520 (Exces-
servo was ON.) (Excessive Position sive Position Deviation
Pn520.
– –
SERVOPACK.
3-122

Alarm Number:
Alarm Name
A.d01:
servo was OFF.
*1
ting of Pn529 or
Pn584 (Speed Limit
Alarm Level) is
exceeded.
setting of Pn002 =
connection between
coupling.
Overflow ±1,879,048,192.
Remove the cause of
The MECHATROLINK
transmission cycle – –
ation at the host control-
fluctuated.
A.E02: ler.
Internal Synchro- the SERVOPACK OFF and
nization Error 1 A failure occurred in ON again. If an alarm still
– –
SERVOPACK.
A.E40: The setting of
MECHATROLINK MECHATROLINK Check the setting of the Set the MECHATROLINK
Transmission transmission cycle is MECHATROLINK trans- transmission cycle to an –
Cycle Setting outside of the speci- mission cycle. appropriate value.
Error fied range.
Maintenance
A.E41:
The number of trans- Check the MECHA- Reset DIP switch S3 to
MECHATROLINK mission bytes set on TROLINK communica- change the number of *1
Communications DIP switch S3 is not tions data size of the transmission bytes to an
Data Size Setting correct. host controller. appropriate value.
Error
3
3-123

Alarm Number:
Alarm Name
Check the setting of the
station address of the
Check rotary switches
The station address is host controller, and reset
S1 and S2 to see if the
outside of the setting rotary switches S1 and S2
station address is
range. to change the address to
between 03 and EF.
A.E42: an appropriate value
MECHATROLINK between 03 and EF. *1
Station Address Check the setting of the
Setting Error Check to see if two or station address of the
Two or more stations
more stations on the host controller, and reset
on the communica-
communications net- rotary switches S1 and S2
tions network have
work have the same to change the address to
the same address.
address. an appropriate value
between 03 and EF.
The WDT data in the Check to see if the WDT
host controller was data is being updated at –
not updated normally. the host controller.
A.E50*5:
Synchronization the SERVOPACK OFF and
Error A failure occurred in ON again. If an alarm still
– –
SERVOPACK.
The WDT data at the
host controller was
not updated correctly
at the start of syn- Check to see if the WDT
chronous communi- data is being updated in –
cations, so the host controller.
A.E51: synchronous commu-
MECHATROLINK nications could not be
Synchronization started.
Failed
– –
SERVOPACK.
Correct the MECHA-
TROLINK Communica-
MECHATROLINK wir- Check the MECHA-
tions Cable wiring. –
ing is not correct. TROLINK wiring.
Correctly connect the ter-
minator.
(Check the MECHA-
A.E60*5:
data reception error tions Cable and FG
Reception Error in – –
occurred due to wiring, and implement
MECHATROLINK noise. measures such as attach-
Communications ing a ferrite core to the
MECHATROLINK Com-
munications Cable.)
– –
SERVOPACK.
3-124

Alarm Number:
Alarm Name
Remove the cause of
The MECHATROLINK Check the setting of the
transmission cycle MECHATROLINK trans- –
A.E61: ation at the host control-
fluctuated. mission cycle.
Synchronization ler.
Interval Error in Turn the power supply to
MECHATROLINK the SERVOPACK OFF and
Transmission A failure occurred in ON again. If an alarm still
Cycle – –
SERVOPACK.
Correct the MECHA-
MECHATROLINK wir- Check the Servomotor
TROLINK Communica- –
ing is not correct. wiring.
tions Cable wiring.
(Check the MECHA-
A.E63: data reception error tions Cable and FG
– –
MECHATROLINK occurred due to wiring, and implement
Synchronization noise. measures such as attach-
Frame Not ing a ferrite core to the
Received MECHATROLINK Com-
munications Cable.)
– –
SERVOPACK.
–
*1
Module.
Module.
– –
nection between the
Feedback Option
back Option Module.
Module.
Feedback Option
Maintenance
*1
Module was discon- – turn the power supply to
Option Module.
Module.
–
Replace the SERVO-
– 3
3-125

Alarm Number:
Alarm Name
Module.
Unsupported Module.
connected.
– –
A.EC8:
Gate Drive Error 1
– –
occurred in the
Execute the SV_ON or
Check the motor status
SENS_ON command only
when the command is –
when the motor is not
A timeout error executed.
A.Ed1: operating.
occurred for a
Command Exe- For fully-closed loop
MECHATROLINK Execute the SENS_ON
cution Timeout command. control, check the sta-
command only when an
tus of the external –
external encoder is con-
encoder when the com-
nected.
mand is executed.
The three-phase
not correct.
The three-phase
ply.
Line Open Phase
setting.
– –
SERVOPACK.
3-126

Alarm Number:
Alarm Name
FL-1*5:
System Alarm
FL-2*5:
System Alarm
– –
SERVOPACK.
FL-5*5:
System Alarm
FL-6*5:
System Alarm
SERVOPACK.
Communications
A malfunction was
caused by noise.
sources of noise.
Communications
– –
SERVOPACK.
Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual
No.: SIEP S800001 28)
Pn533 [min-1]  
6 105 Pn210

Approx. 3.66  1012 Pn210

6105 Pn210

Approx. 3.66  1012 Pn210
Maintenance

3-127


The list of warnings gives the warning name and warning meaning in order of the warning num-
bers.
Warning
Warning Name Meaning Resetting
Number
The position deviation exceeded the percentage set
Position Deviation
A.900 with the following formula: Required.
Position Deviation The position deviation when the servo was turned ON
A.901 Overflow Alarm at exceeded the percentage set with the following formula: Required.
Servo ON (Pn526 × Pn528/100)
This warning occurs before an overload alarm (A.710 or
A.910 Overload A.720) occurs. If the warning is ignored and operation is Required.
continued, an alarm may occur.
Abnormal vibration was detected during motor opera-
tion. The detection level is the same as A.520. Set
A.911 Vibration Required.
whether to output an alarm or a warning by setting
Pn310 (Vibration Detection Switch).
A.912 Required.
Error)
A.913 Required.
Error)
This warning occurs before an A.320 alarm (Regenera-
A.920 Regenerative Overload tive Overload) occurs. If the warning is ignored and Required.
operation is continued, an alarm may occur.
This warning occurs before an A.731 alarm (Dynamic
Dynamic Brake Over-
A.921 Brake Overload) occurs. If the warning is ignored and Required.
load operation is continued, an alarm may occur.
SERVOPACK Built-in
A.923 The fan inside the SERVOPACK stopped. Required.
Fan Stopped
A.930 Required.
The input voltage (temperature) for the overheat protec-
A.93B Overheat Warning tion input (TH) signal exceeded the setting of Pn61C Required.
(Overheat Warning Level).
Speed Ripple Com- The speed ripple compensation information stored in
A.942 pensation Information the encoder does not agree with the speed ripple com- Required.
Disagreement pensation information stored in the SERVOPACK.
There is an error in the parameter number for a Data Automatically
A.94A (Parameter Number
Setting Warning 1 (Parameter Number) command. reset.*
Error)
Data Setting Warning 2 Automatically
A.94b The command data is out of range.
(Out of Range) reset.*
A.94C A calculation error was detected.
(Calculation Error) reset.*
3-128

Warning
Warning Name Meaning Resetting
Number
A.94d The data sizes do not match.
(Parameter Size) reset.*
A.94E A latch mode error was detected. Required.
(Latch Mode Error)
Command Warning 1
A command was sent when the conditions for sending Automatically
A.95A (Unsatisfied Com-
a command were not satisfied. reset.*
mand Conditions)
Command Warning 2
Automatically
A.95b (Unsupported Com- An unsupported command was sent.
reset.*
mand)
Command Warning 4
There was command interference, particularly latch Automatically
A.95d (Command Interfer-
command interference. reset.*
ence)
Command Warning 5
The subcommand and main command interfere with Automatically
A.95E (Subcommand Not
each other. reset.*
Possible)
Command Warning 6 Automatically
A.95F An undefined command was sent.
(Undefined Command) reset.*
MECHATROLINK
A communications error occurred during MECHA-
A.960 Communications Required.
TROLINK communications.
Warning
This warning occurs before an A.410 alarm (Undervolt-
A.971 Undervoltage age) occurs. If the warning is ignored and operation is Required.
continued, an alarm may occur.
Command Warning 7 A command that cannot be executed in the current Automatically
A.97A
(Phase Error) phase was sent. reset.*
Data Clamp Out of The set command data was clamped to the minimum or Automatically
A.97b
Range maximum value of the allowable setting range. reset.*
A.9A0 Overtravel Overtravel was detected while the servo was ON. Required.
Preventative Mainte- One of the consumable parts has reached the end of its
A.9b0 Required.
nance Warning service life.
* If using the commands for the MECHATROLINK-III standard servo profile, the warning will automatically be
cleared after the correct command is received. If you use MECHATROLINK-II-compatible profile commands, send
an ALM_CLR (Clear Warning or Alarm) command to clear the warning.
codes).
–
A.923
A.942
A.94A to A.960 and
Pn800=n.X (Warning Check Masks)
A.97A to A.97b
Maintenance

A.971
A.9A0
3-129

Warning Number:
Warning Name
and encoder.
the position reference using
a MECHATROLINK com-
The acceleration mand. Or, smooth the posi-
acceleration and try
of the position ref- tion reference acceleration –
erence is too high. by selecting the position
PACK.
A.900: reference filter (ACCFIL)
Position Deviation using a MECHATROLINK
Overflow command.
The excessive
Pn520 and Pn51E.
tions.
A failure occurred
PACK.
SERVOPACK.
The position devi-
ation when the
servo was turned
ON exceeded the
with the following
Servo ON Servo ON).
formula:
(Pn526 × Pn528/
100)
3-130

Warning Number:
Warning Name
The wiring is not
encoder wiring.
Operation was
performed that
exceeded the
load characteristics operating conditions. Or, –
overload protec-
and Run command. increase the motor capacity.
tion characteris-
tics.
Check the operation
speed.
driven because of
mechanical prob-
lems.
The overload
Check that the over-
load warning level *
(Pn52B) is suitable.
suitable.
PACK. PACK.
Check for abnormal
Abnormal vibra-
tion was detected
during motor
waveforms during with custom tuning.
operation.
operation.
The setting of
Pn103 (Moment of
inertia or was
greatly changed.
The vibration Check that the vibra-
Set a suitable vibration
detection level tion detection level
detection level (Pn312 or *
(Pn312 or Pn384) (Pn312 or Pn384) is
Pn384).
is not suitable. suitable.
Maintenance
3-131

Warning Number:
Warning Name
temperature using a
tion conditions.
ment monitor.
An overload alarm
was reset by turn- Check the alarm dis-
ing OFF the power play to see if there is an –
times.
–
The SERVOPACK
installation orien-
around the SER-
VOPACK.
PACK. PACK.
temperature using a
tion conditions.
ment monitor.
An overload alarm
was reset by turn- Check the alarm dis-
ing OFF the power play to see if there is an –
times.
The SERVOPACK
installation orien-
around the SER-
VOPACK.
PACK. PACK.
3-132

Warning Number:
Warning Name
The power supply
range.
range.
There is insuffi-
Check the operating
conditions or the
maJunmaSize+ Capac-
or another means.
regeneration means.
state.
There was a con-
during operation.
applied.
The Servomotor
external force.
nal force.
When the Servo-
tor to see how –
being used.
resistor.
PACK. PACK.
The battery con-
*
absolute encoder
The battery volt-
battery voltage was
(2.7 V).
only when an abso-
Maintenance
nected.)
PACK. PACK.
3-133

Warning Number:
Warning Name
high. thermostat.
machine.
PACK. PACK.
The sensor
machine is faulty.
to the machine.
compensation
information stored
ripple.
A.94A:
An invalid param- Check the command
Data Setting Warn- Use the correct parameter
eter number was that caused the warn- *
ing 1 (Parameter number.
used. ing.
Number Error)
The set com-
A.94b: mand data was
Check the command
clamped to the Set the parameter within
Data Setting Warn- that caused the warn- *
minimum or maxi- the setting range.
ing 2 (Out of Range) ing.
mum value of the
setting range.
A.94C:
The calculation Check the command
Data Setting Warn- Set the parameter within
result of the set- that caused the warn- *
ing 3 (Calculation the setting range.
ting is not correct. ing.
Error)
A.94d: The parameter
Check the command
Data Setting Warn- size set in the Set the correct parameter
ing 4 (Parameter command is not size.
ing.
Size) correct.
Change the setting of
Pn850 or the LT_MOD data
for the LTMOD_ON com-
A.94E:
Check the command mand sent by the host con-
Data Setting Warn- A latch mode error
that caused the warn- troller to an appropriate *
ing 5 (Latch Mode was detected.
ing. value.
Error) (The applies when using the
MECHATROLINK-II-com-
patible profile.)
A.95A:
The command Check the command Send the command after
Command Warning the command conditions *
conditions are not that caused the warn-
1 (Unsatisfied Com- are satisfied.
satisfied. ing.
mand Conditions)
3-134

Warning Number:
Warning Name
A.95b:
An unsupported Check the command
Command Warning Do not send unsupported
2 (Unsupported commands.
received. ing.
Command)
The command
A.95d: sending condi-
Check the command Send the command after
Command Warning tions for latch-
that caused the warn- the command conditions *
4 (Command Inter- related com-
ing. are satisfied.
ference) mands was not
satisfied.
The command
A.95E:
sending condi- Check the command
Command Warning Send the command after
tions for subcom- that caused the warn- *
5 (Subcommand the conditions are satisfied.
mands was not ing.
Not Possible) satisfied.
A.95F:
An undefined Check the command
Command Warning Do not send undefined
6 (Undefined Com- commands.
sent. ing.
mand)
The MECHA-
TROLINK Com- Correct the MECHA-
Check the wiring con-
munications Cable TROLINK communications *
ditions.
is not wired cor- cable wiring.
rectly.
noise.
A.960: • Check the MECHA-
A MECHA-
MECHATROLINK TROLINK Communica-
TROLINK data
Communications Confirm the installation tions Cable and FG wiring
reception error –
Warning conditions. and implement counter-
occurred due to
measures to prevent noise
noise.
from entering.
• Attach a ferrite core to the
MECHATROLINK Com-
munications Cable.
PACK. PACK.
For a 200-V SER-
Measure the power
supply voltage.
age dropped range.
below 140 V.
For a 100-V SER-
Measure the power
supply voltage.
age dropped range.
below 60 V.
during operation.
Maintenance

A momentary
power interrup- *
tion occurred.
– *
A failure occurred The SERVOPACK may be 3
PACK. PACK.
3-135

Warning Number:
Warning Name
A command that
A.97A: cannot be exe- Send the command after
Command Warning cuted in the cur- – the command conditions –
7 (Phase Error) rent phase was are satisfied.
sent.
The set com-
mand data was
A.97b:
clamped to the Set the command data
Data Clamp Out of – –
minimum or maxi- within the setting ranges.
Range mum value of the
setting range.
A.9A0: Check the status of the precautions.
Overtravel was
Overtravel (Over- overtravel signals on • Do not specify move-
detected while the *
travel status was the input signal moni- ments that would cause
servo was ON.
detected.) tor. overtravel from the host
controller.
overtravel signals.
One of the con-
sumable parts has
reached the end
3-136

of the Servomotor
Turn OFF the power
supply to the servo
Measure the voltage
supply terminals.
Turn OFF the power
supply to the servo
ON.
nector (CN1) pins.
Turn OFF the power
supply to the servo
system. –
Wire the cable cor-
nected.
rectly.
Turn OFF the power
supply to the servo
Servomotor Servomotor.
the load status. replace the Servomo-
Does Not tor with a Servomotor
Start with a larger capacity.
*
input signal allocations allocations (Pn50A, input signals (Pn50A,
*
(Pn50A, Pn50B, Pn511, and Pn50B, Pn511, and Pn50B, Pn511, and
Pn516). Pn516). Pn516).
Check the commands Send the SV_ON com-
The SV_ON command was
sent from the host con- mand from the host –
not sent.
troller. controller.
The SENS_ON (Turn ON Check the commands Send the commands to
Sensor) command was not sent from the host con- the SERVOPACK in the –
sent. troller. correct sequence.
*
OFF.
Turn ON the /HWBB1
Maintenance

not turned ON.
Jumper Connector
sory) to CN8.
3-137

signal.
Servomotor (FSTP (Forced Stop
Does Not Input) Signal Alloca-
Start tion) to disable the
signal.
Turn OFF the power
supply to the servo
– system. –
VOPACK.
Replace the SERVO-
PACK.
ing.
Turn OFF the power
Servomotor
supply to the servo
– system. –
Replace the SERVO-
ence Input
PACK.
–
Check the moment of
Turn OFF the power
supply to the servo
system.
Not Operate load.
nected.
Turn OFF the power
supply to the servo
system.
– –
Replace the SERVO-
PACK.
3-138

Reduce the load so
that the moment of
tings.
secure. screws.
any loose mounting
screws.
secure.
pling is balanced.
tor.
ings.
Abnormal
Noise from
Servomotor
–
mation in the machine’s
moving parts.
the specifications.
0.12 mm2.
is too long. 3 m.
I/O signal cables.
the specifications.
Maintenance
3-139

is too long.
Encoder Cable. max.
Replace the Encoder
ronment.
lines.
rent line.
Properly ground the
them from the FG of
Abnormal Servomotor side, such as a machines are correctly
the encoder.
Noise from welder. grounded.
Servomotor Turn OFF the power
pulse counting error due to –
noise.
tion. Improve the
the Servomotor.
alignment).
Turn OFF the power
supply to the servo
– system. –
encoder.
tor.
anced.
rectly tuned. ence.
–
40.0 Hz.
Servomotor
Vibrates at
Frequency –
of Approx.
= 40.0/s.
200 to 400
20.0 ms.
–
ate.
3-140

anced.
rectly tuned. ence.
–
40.0 Hz.
–
Speed = 40.0/s.
ping 20.0 ms.
–
ate.
Set Pn483 and Pn484
values. 30% and Pn484 = 30%.
at least 0.12 mm2.
Absolute Turn OFF the power sup- Rotary Servomotors:
Encoder ply to the servo system. The Encoder Cable
Position Check the length of the length must be 50 m
is too long.
Deviation Encoder Cable. max.
Replace the Encoder
ronment.
the posi- lines.
the power There is variation in the FG Turn OFF the power sup-
was next Properly ground the
turned ON.) machines to separate
them from the FG of
the encoder.
welder. grounded.
Maintenance

verter Unit.
3-141

the Servomotor.
Absolute
Encoder
Position Turn OFF the power
Deviation supply to the servo
encoder.
that was tor.
VOPACK.
was turned PACK.
tion when Perform parity checks
tion data.
data.
the input signals.
signals.
Drive Prohibit) signal was Correct the wiring of
input. Check the wiring of the
switches.
overtravel input signal Set the parameters to
*
Overtravel allocations (Pn50A/ correct values.
Occurred Pn50B).
–
screws).
3-142

There is a mistake in the allocated in Pn50A
signal is allocated in
Pn50A = n.X.
*
cated in Pn50B
Pn50B = n.X. signal is allocated in
=n.X, allocate the
Pn50B = n.X.
Overtravel N-OT signal instead.
Occurred Check the servo OFF
Select a Servomotor
Pn001 = n.X or
Pn001 = n.X.
not correct. Check the torque control
Select a Servomotor
Pn001 = n.X or
Pn001 = n.X.
tion for
at least 0.12 mm2.
is too long.
Encoder Cable. max.
Replace the Encoder
Position ronment.
Deviation
(without Turn OFF the power sup-
Alarm) ply to the servo system.
lines.
rent line.
Properly ground the
them from the FG of
the encoder.
welder. grounded.
Maintenance
verter Unit.
3-143

the Servomotor.
not suitable.
and Servomotor.
Position cables to see if they sat-
Deviation Noise interference occurred isfy specifications. Use a Use cables that satisfy
(without because of incorrect I/O sig- shielded twisted-pair wire –
the specifications.
Alarm) nal cable specifications. cable or a screened
0.12 mm2.
is too long. 3 m.
I/O signal cables.
Turn OFF the power
tor.
Turn OFF the power
supply to the servo
– system. –
VOPACK.
Replace the SERVO-
PACK.
ture is too high.
–
for dirt.
SERVOPACK and Ser-
vomotor with larger
capacities.
related parameters.
tance.
failed. estimation.
3-144
3.4 Command Option Attachable-type FT82 SERVOPACKs with INDEXER Modules

If an error occurs in the SERVOPACK, the status is displayed as described below.
 Status Display
The alarm number will be displayed.
SERVOPACK Panel Display Σ-7-Series Σ-7S SERVOPACK Command Option Attach-
able Type with INDEXER Module Product Manual (Manual
No.: SIEP S800001 64)
Green indicator: Remains unlit

Red indicator: Remains lit
Indicators Refer to the following section for details.
Σ-7-Series Σ-7S SERVOPACK Command Option Attach-
able Type with INDEXER Module Product Manual (Manual
No.: SIEP S800001 64)
Digital Operator The alarm code is displayed at the top left of the screen.
Response to the Alarm or Warning Read

Alarm code
Command (ALM)
Response to the Most Recent Error Read

No change
Command (ERR)
ALM Signal The alarm signal turns ON. (The photocoupler turns OFF.)
/WARN Signal No change
Maintenance
3-145

The alarms when the INDEXER Module is combined with a Command Option Attachable-type
SERVOPACK are given in the following table.
Servo- Alarm Code Output

Alarm
motor
Alarm Reset
Number Possi- /ALO1 /ALO2 /ALO3
ping
ble?
Method
Parameter Checksum There is an error in the parameter data in
A.020 Gr.1 No
Error the SERVOPACK.
Parameter Format There is an error in the parameter data
A.021 Gr.1 No
Error format in the SERVOPACK.
System Checksum There is an error in the parameter data in
A.022 Gr.1 No
An internal program error occurred in the
SERVOPACK.
SERVOPACK.
H H H
Main Circuit Detector There is an error in the detection data for
A.030 Gr.1 Yes
Error the main circuit.
Parameter Setting A parameter setting is outside of the set-
A.040 Gr.1 No
Error ting range.
The setting of Pn212 (Encoder Output
Encoder Output Pulse Pulses) or Pn281 (Encoder Output Reso-
A.041 Gr.1 No
Setting Error lution) is outside of the setting range or
does not satisfy the setting conditions.
Parameter Combina- The combination of some parameters
A.042 Gr.1 No
tion Error exceeds the setting range.
Semi-Closed/Fully-
The settings of the Option Module and
Closed Loop Control
A.044 Pn002 = n.X (External Encoder Gr.1 No
Parameter Setting Usage) do not match.
Error
Parameter Setting There is an error in setting of parameters
A.04A Gr.1 No
Error 2 reserved by the system.
The capacities of the SERVOPACK and H H H
Servomotor do not match.
Unsupported Device
Alarm
The /S-ON (Servo ON) signal was input
Invalid Servo ON from the host controller after a utility func-
A.0b0 Gr.1 Yes
Command Alarm tion that turns ON the Servomotor was
executed.
An overcurrent flowed through the power
transformer or the heat sink overheated.
L H H
Motor Overcurrent The current to the motor exceeded the
A.101 Gr.1 No
Detected allowable current.
Regenerative Over-
A.320 A regenerative overload occurred. Gr.2 Yes
load
• The AC power supply input setting or L L H
Main Circuit Power DC power supply input setting is not
A.330 Gr.1 Yes
Supply Wiring Error correct.
• The power supply wiring is not correct.
H H L
3-146

Alarm
motor
Alarm Reset
ping
ble?
Method
The motor exceeded the maximum
A.510 Overspeed Gr.1 Yes
speed.
The pulse output speed for the setting of
Encoder Output Pulse
A.511 Pn212 (Encoder Output Pulses) was Gr.1 Yes
Overspeed exceeded.
Abnormal oscillation was detected in the
motor speed.
Vibration was detected during autotuning
for the tuning-less function.
The setting of Pn385 (Maximum Motor
Maximum Speed Set-
A.550 Speed) is greater than the maximum Gr.1 Yes
ting Error motor speed.
The Servomotor was operating for several
Instantaneous Over-
A.710 seconds to several tens of seconds under Gr.2 Yes
load a torque that largely exceeded the rating.
The Servomotor was operating continu-
A.720 Continuous Overload ously under a torque that exceeded the Gr.1 Yes
rating.
A.730 When the dynamic brake was applied,
Dynamic Brake Over- the rotational or linear kinetic energy
Gr.1 Yes
A.731 load exceeded the capacity of the dynamic
brake resistor.
Inrush Current Limit- The main circuit power supply was fre-
A.740 Gr.1 Yes
ing Resistor Overload quently turned ON and OFF. L L L
The surrounding temperature of the con-
A.7A1 Error 1 (Control Board Gr.2 Yes
trol PCB is abnormal.
Temperature Error)
The surrounding temperature of the
A.7A2 Error 2 (Power Board Gr.2 Yes
power PCB is abnormal.
Temperature Error)
Internal Temperature An error occurred in the temperature sen-
A.7A3 Gr.2 No
Sensor Error sor circuit.
SERVOPACK Built-in
Fan Stopped
Encoder Backup The power supplies to the encoder all
A.810 Gr.1 No
Alarm failed and the position data was lost.
Encoder Checksum There is an error in the checksum results
A.820 Gr.1 No
Alarm for encoder memory.
The battery voltage was lower than the
Encoder Battery
A.830 specified level after the control power Gr.1 Yes
Alarm supply was turned ON.
There is an internal data error in the
A.840 Encoder Data Alarm Gr.1 No
encoder.
The encoder was operating at high speed H H H
when the power was turned ON.
Maintenance
The internal temperature of encoder is

A.860 Encoder Overheated Gr.1 No
too high.
The internal temperature of motor is too
A.861 Motor Overheated Gr.1 No
high.
The input voltage (temperature) for the
overheat protection input (TH) signal
A.862 Overheat Alarm Gr.1 Yes
exceeded the setting of Pn61B (Overheat
Alarm Level).
3
3-147

Alarm
motor
Alarm Reset
ping
ble?
Method
External Encoder
Error
External Encoder An error occurred in the Serial Converter
A.8A1 Gr.1 Yes
Module Error Unit.
External Absolute H H H
An error occurred in the position data of
A.8A3 Encoder Position Gr.1 Yes
the external encoder.
Error
External Encoder An overspeed error occurred in the exter-
A.8A5 Gr.1 Yes
Overspeed nal encoder.
External Encoder An overheating error occurred in the
A.8A6 Gr.1 Yes
Depends
INDEXER Module Some kind of alarm has occurred at the on
A.AEF Gr.1 module H L L
Alarm INDEXER Module.
alarm.*1
Current Detection An error occurred in the current detection
A.b33 Gr.1 No
Error 3 circuit.
Internal program error 0 occurred in the
SERVOPACK.
SERVOPACK.
SERVOPACK.
SERVOPACK.
H H H
SERVOPACK.
SERVOPACK.
SERVOPACK.
SERVOPACK.
SERVOPACK.
Servomotor Out of
A.C10 The Servomotor ran out of control. Gr.1 Yes
Control
The multiturn data for the absolute
A.C80 Multiturn Limit Set- Gr.1 No L H L
encoder was not correctly cleared or set.
ting Error
Encoder Communica- Communications between the encoder
A.C90 Gr.1 No
tions Error and SERVOPACK is not possible.
3-148

Alarm
motor
Alarm Reset
ping
ble?
Method
Encoder Communica-
tions Position Data An error occurred in calculating the posi-
A.C91 Gr.1 No
Acceleration Rate tion data of the encoder.
Error
Encoder Communica- An error occurred in the communications
A.C92 timer between the encoder and SERVO- Gr.1 No
tions Timer Error PACK.
Encoder Parameter The parameters in the encoder are cor-
A.CA0 Gr.1 No
Error rupted.
Encoder Echoback The contents of communications with the
A.Cb0 Gr.1 No
Error encoder are incorrect. L H L
Multiturn Limit Dis- Different multiturn limits have been set in
A.CC0 Gr.1 No
agreement the encoder and the SERVOPACK.
Reception Failed Error
in Feedback Option Receiving data from the Feedback Option
A.CF1 Gr.1 No
Module Communica- Module failed.
tions
Timer Stopped Error
An error occurred in the timer for commu-
in Feedback Option
A.CF2 nications with the Feedback Option Mod- Gr.1 No
Module Communica- ule.
tions
The setting of Pn520 (Excessive Position
Position Deviation Deviation Alarm Level) was exceeded by
A.d00 Gr.1 Yes
Overflow the position deviation while the servo was
ON.
The servo was turned ON after the posi-
Position Deviation tion deviation exceeded the setting of
A.d01 Overflow Alarm at Pn526 (Excessive Position Deviation Gr.1 Yes
Servo ON Alarm Level at Servo ON) while the servo
was OFF.
If position deviation remains in the devia-
tion counter, the setting of Pn529 or
Position Deviation L L H
Pn584 (Speed Limit Level at Servo ON)
Overflow Alarm for limits the speed when the servo is turned
A.d02 Gr.2 Yes
Speed Limit at Servo ON. This alarm occurs if a position refer-
ON ence is input and the setting of Pn520
(Excessive Position Deviation Alarm Level)
There was too much position deviation
Motor-Load Position
A.d10 between the motor and load during fully- Gr.2 Yes
Deviation Overflow closed loop control.
Position Data Over- The position feedback data exceeded
A.d30 Gr.1 No
flow ±1,879,048,192.
Command Option Communications initialization failed
A.E00 Module IF Initializa- between the SERVOPACK and the Com- Gr.2 Yes
tion Timeout Error mand Option Module.
Command Option
Maintenance
An synchronization error occurred

A.E02 Module IF Synchroni- between the SERVOPACK and the Com- Gr.1 Yes
zation Error 1 mand Option Module.
H L L
Command Option An error occurred in the data of commu-
A.E03 Module IF Communi- nications between the SERVOPACK and Gr.1 Yes
cations Data Error the Command Option Module.
Command Option
Detection of the Command Option Mod-
3
A.E70 Module Detection Gr.1 No
ule failed.
Failure
3-149

Alarm
motor
Alarm Reset
ping
ble?
Method
Safety Option Module Detection of the safety option module
A.E71 Gr.1 No
Detection Failure failed.
Feedback Option
Detection of the Feedback Option Mod-
ule failed.
Failure
Unsupported Com- An unsupported command option mod-
A.E73 Gr.1 No
mand Option Module ule was connected.
Unsupported Safety An unsupported safety option module
A.E74 Gr.1 No
Option Module was connected.
Unsupported Feed- An unsupported feedback option module
A.E75 Gr.1 No
back Option Module was connected.
Command Option
The command option module was
A.E80 Module Unmatched Gr.1 No
replaced with a different model.
Error
Alarm in Current
Communications An error occurred in communications H L L
A.EA2 between the INDEXER between the INDEXER Module and SER- Gr.1 Yes
Module and SERVO- VOPACK during operation.
PACK 1
Alarm in Current
Communications An error occurred in communications
A.EA3 between the INDEXER between the INDEXER Module and SER- Gr.1 Yes
Module and SERVO- VOPACK during operation.
PACK 2
Safety Function Sig- An error occurred in the input timing of
A.Eb1 Gr.1 No
nal Input Timing Error the safety function signal.
Command Option
Processing of command from the com-
A.Ed1 Module IF Command Gr.2 Yes
mand option module was not completed.
Timeout Error
The voltage was low for more than one
Power Supply Line
A.F10 second for phase R, S, or T when the Gr.2 Yes H L H
Open Phase main power supply was ON.
FL-1*2
FL-2*2
FL-3*2 An internal program error occurred in the
System Alarm – No
FL-4*2 SERVOPACK.
FL-5*2 Undefined.
FL-6*2
Digital Operator Com- Communications were not possible
CPF00
munications Error 1 between the Digital Operator (model:
– No
Digital Operator Com- JUSP-OP05A-1-E) and the SERVOPACK
CPF01 (e.g., a CPU error occurred).
munications Error 2

Σ-7-Series Σ-7S SERVOPACK Command Option Attachable Type with INDEXER Module Product Manual
3-150

Alarm Number:
Alarm Name
The power supply
voltage suddenly
dropped.
The power supply
was shut OFF while
tings.
–
Parameter ters.
to the SERVOPACK
noise may be the
cause.
conditions.
to the SERVOPACK
VOPACK.
the SERVOPACK may
have failed.
of the SERVOPACK
ware version of the
to write.
data format in the
the SERVOPACK.
VOPACK.
Measure the power
supply voltage.
dropped. VOPACK.
supply. VOPACK.
Maintenance

VOPACK.
the SERVOPACK may
have failed.
3-151

Alarm Number:
Alarm Name
A.024:
VOPACK.
occurred in the
SERVOPACK.)
A.025:
VOPACK.
occurred in the
SERVOPACK.)
the SERVOPACK.
The SERVOPACK and
ties do not match
each other.
the SERVOPACK.
ters that have been
changed.
range.)
The electronic gear
setting range.
(Pn20E/Pn210) < Pn210) < 64,000.
64,000.
(Encoder Output
setting conditions.
jogging went below
*1
motor was changed.
bination Error
Speed) was changed.
The movement speed
or the Servomotor
was changed.
3-152

Alarm Number:
Alarm Name
Set the following reserved
parameters to the default
settings.
A.04A: Pn200.2
A parameter reserved
Pn207.1
Parameter Set- by the system was – –
Pn50A.0
ting Error 2 changed.
Pn50A.1
Pn50A.2
Pn50C
Pn50D
each other. ties.
the SERVOPACK.
VOPACK.
Converter Unit or
Device Alarm tions.
connected to the
SERVOPACK.
A.0b0: the host controller
Invalid Servo ON after a utility function –
Command Alarm that turns ON the Ser-
software reset.
vomotor was exe-
cuted.
Maintenance
3-153

Alarm Number:
Alarm Name
The Main Circuit
Cable is not wired
faulty contact.
across Servomotor
between the ground
U, V, and W.
*1
across Servomotor
between the ground
U, V, or W.
former or the heat
sink overheated.)
so frequently.
occurred.
used. *4
used.
3-154

Alarm Number:
Alarm Name
A heavy load was
or running at a low
speed.
ronment, e.g. by
alarm still occurs.
– –
SERVOPACK.
The Main Circuit
Cable is not wired
faulty contact.
phases U, V, and W.
between the ground
U, V, or W.
or running at a low
speed.
ronment, e.g. by
alarm still occurs.
size.
Maintenance

– –
SERVOPACK.
3
3-155

Alarm Number:
Alarm Name
Pn600 (Regenerative
*1
or -2R8F.
Check to see if the
jumper is connected
erative Resistor or
and B3, the SERVO-
PACK may be dam-
A.300: aged. *1
Regeneration
correctly, or was
and B3, the SERVO-
PACK may be dam-
aged.
the SERVOPACK.
PACK may be faulty.
Replace the SERVO-
PACK.
3-156

Alarm Number:
Alarm Name
Measure the power
supply voltage.
tor capacity is too
small, or there has
been a continuous
regeneration state.
other means.
conditions.
ously applied.
tor Capacity) is
smaller than the
setting of Pn600.
nal Regenerative
Resistor.
Check to see if a
tor Capacity) is
smaller than the
nal Regenerative
Resistor.
resistance.
the SERVOPACK.
VOPACK.
Maintenance
3-157

Alarm Number:
Alarm Name
–
DC power was sup-
Pn600 (Regenerative
*1
2R8A SERVOPACKs.
the SERVOPACK.
VOPACK.
Measure the power
supply voltage.
The power supply is
ning surge.
SERVOPACK may be
VOPACK.
fied range.
–
the SERVOPACK.
PACK may be faulty.
Replace the SERVO-
PACK.
3-158

Alarm Number:
Alarm Name
Measure the power
supply voltage.
The power supply
voltage dropped –
during operation.
The SERVOPACK
fuse is blown out.
the SERVOPACK.
the SERVOPACK.
VOPACK.
The order of phases
–
correct.
(The motor −
conditions.
the SERVOPACK.
VOPACK.
put pulse setting.
A.511: tion).
Encoder Output
speed was too high.
Check for abnormal
Pn100 (Speed Loop
Gain).
ation.
(Moment of Inertia
Maintenance

changed.
(Pn312 or Pn384) is
Pn384).
3
suitable.
3-159

Alarm Number:
Alarm Name
custom tuning,
tom tuning or Easy
corrections.
FFT.
resolution setting.
correctly wired.
or encoder wiring.
Overload
Check the operation
speed.
driven due to
the SERVOPACK.
VOPACK.
The Servomotor was
force.
external force.
A.730 and
stopping with the
dynamic brake.
the SERVOPACK.
VOPACK.
The allowable fre-
power supply was
was frequently
the SERVOPACK.
VOPACK.
3-160

Alarm Number:
Alarm Name
monitor.
An overload alarm
overload alarm.
ply too many times.
A.7A1:
Use the accumulated
capacity.
cessing capacity.
The SERVOPACK
tions.
around the SERVO-
PACK.
the SERVOPACK.
VOPACK.
monitor.
An overload alarm
overload alarm.
ply too many times.
A.7A2:
Use the accumulated
capacity.
cessing capacity.
The SERVOPACK
tions.
around the SERVO-
PACK.
Maintenance
the SERVOPACK.
VOPACK.
A.7A3:
Internal Tempera-
the SERVOPACK.
temperature sen- 3
sor circuit.)
3-161

Alarm Number:
Alarm Name
The fan inside the
SERVOPACK –
stopped.
VOPACK.
Set up the encoder.
time. time.
encoder. *1
A.810: again. time.
– –
the Servomotor.
the SERVOPACK.
VOPACK.
lute Encoder
– motor.
motor.
the SERVOPACK.
VOPACK.
The battery connec-
Alarm
fied value (2.7 V).
voltage was lower
the SERVOPACK.
VOPACK.
3-162

Alarm Number:
Alarm Name
– –
Alarm
– –
ing the encoder.
The Servomotor
was turned ON.
A.850:
Encoder Over-
speed
encoder when
the control power
Servomotor.
supply is turned
– –
SERVOPACK.
high. less.
rated load. load.
fied range.
A.860:
– –
Servomotor.
– –
SERVOPACK.
Maintenance
3-163

Alarm Number:
Alarm Name
perature around the
Servomotor is too
high.
fied range.
maWin+.
verter Unit.
– –
SERVOPACK.
temperature using a
thermostat.
of the machine.
signal.
maWin+.
An overload alarm
overload alarm.
ply too many times.
the SERVOPACK.
SERVOPACK.
The sensor attached
the machine may be
faulty.
*1
– –
– –
verter Unit.
Unit.
3-164

Alarm Number:
Alarm Name
A.8A2:
– –
Sensor Error
encoder.
tions.
encoder.
Use the SigmaWin+ to Observe the processing
A.AEF: Some kind of alarm check the serial com- method for serial com-
*1
INDEXER has occurred at the mand negative mand negative responses
Module Alarm INDEXER Module. response of the from the INDEXER Mod-
INDEXER Module. ule.
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
Maintenance

– –
SERVOPACK.
3
3-165

Alarm Number:
Alarm Name
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
The order of phases
–
correct.
(Detected when
the servo is
Servomotor.
turned ON.)
– –
SERVOPACK.
A.C54: ence). Increase the setting
An external force was
perature.
– –
– –
SERVOPACK.
3-166

Alarm Number:
Alarm Name
the encoder.
fications.
ance is outside the
specified values.
sion caused by
environment.
nector caused by
vibration.
–
ing the encoder.
the SERVOPACK.
SERVOPACK.
*1
damaged.
Encoder Cable.
such as a welder.
Maintenance
3-167

Alarm Number:
Alarm Name
*1
the encoder.
vomotor.
– –
Servomotor.
– –
SERVOPACK.
– –
A.CA0: Servomotor.
Encoder Parame-
– –
SERVOPACK.
3-168

Alarm Number:
Alarm Name
encoder.
– –
entered on it.
at least 0.12 mm2.
A.Cb0: connectors.
the encoder.
vomotor or linear encoder.
– –
Servomotor.
– –
SERVOPACK.
When using a Direct
does not agree with
the encoder.
alarm occurs.
SERVOPACK has
been changed.
– –
SERVOPACK.
Maintenance
3-169

Alarm Number:
Alarm Name
The cable between
contact.
back Option
is too long. Unit.
less.
The sheath on cable
Replace the cable
PACK.
ken.
Noise entered the
cable between the
and SERVOPACK.
verter Unit.
nications Unit.
– –
3-170

Alarm Number:
Alarm Name
and encoder.
Reduce the position
VOPACK.
gear ratio.
A.d00: of the position reference
Position Devia- with one of the following
tion Overflow methods.
(The setting of Reduce the reference • Reduce the accelera-
The acceleration of
Pn520 (Exces- acceleration and try tion rate (ACC) and
the position reference −
sive Position operating the SERVO- deceleration rate (DEC)
is too high.
Deviation Alarm PACK. in the program table.
Level) was • Reduce the settings of
exceeded by the PnB29 (Acceleration
position devia- Rate) and PnB2B
tion while the (Deceleration Rate).
servo was ON.) The setting of Pn520 Check Pn520 (Exces-
(Excessive Position sive Position Deviation
Pn520.
– –
SERVOPACK.
A.d01:
servo was OFF.
*1
ting of Pn529 or
Pn584 (Speed Limit
Alarm Level) is
Maintenance
exceeded.
3-171

Alarm Number:
Alarm Name
setting of Pn002 =
connection between
coupling.
Overflow ±1,879,048,192.
The connection
between the SERVO-
PACK and the com- –
A.E00: PACK and the com- command option module.
mand option module
Command Option is faulty. mand option module.
Module IF Initial-
A command option
ization Timeout Replace the command
module fault – –
Error option module.
occurred.
A SERVOPACK fault Replace the SERVO-
– –
occurred. PACK.
The timing of synchro-
nization between the
servomotor and com-
mand option module
OFF and then ON again. If
changed due to
the alarm occurs again,
change in the com- – –
restart communications
munications cycle of
processing from the host
the host controller
controller.
connected to the
A.E02:
command option
Command Option module.
Module IF
Synchronization The connection
Error 1 between the SERVO-
PACK and the com- command option module.
mand option module
mand option module.
is faulty.
A command option
Replace the command
option module.
occurred.
– –
occurred. PACK.
3-172

Alarm Number:
Alarm Name
An error occurred due
to noise in the com-
munications between Take measures against
– –
the SERVOPACK and noise.
the command option
module.
A.E03: The connection
Command Option Check the connection
between the SERVO-
Module IF Com- between the SERVO- Correctly connect the
munications Data PACK and the com- command option module.
mand option module
Error mand option module.
is faulty.
A command option
Replace the command
option module.
occurred.
– –
occurred. PACK.
The connection
between the SERVO-
PACK and the com- command option module.
mand option module
mand option module.
is faulty.
A.E70: The command option
Command Option module is not con- Correctly connect the
– –
Module Detec- command option module.
nected.
tion Failure
A command option
Replace the command
option module.
occurred.
– –
occurred. PACK.
The connection
between the SERVO-
PACK and the safety –
PACK and the safety safety option module.
option module is
option module.
faulty.
Execute Fn014 (Reset-
A.E71: ting configuration error of
Safety Option The safety option option module) using the
*1
Module Detec- module was discon- – digital operator or Sig-
tion Failure nected. maWin+ and turn the
power supply OFF and
then ON again.
A safety option mod- Replace the safety option
– –
ule fault occurred. module.
– –
occurred. PACK.
nection between the
Feedback Option
back Option Module.
Module.
A.E72:
Maintenance
The Feedback Option configuration error and

Option Module.
Module.
3
– –
3-173

Alarm Number:
Alarm Name
A command option
Replace the command
A.E73: module fault – –
option module.
Unsupported occurred.
Command Option A unsupported com-
mand option module – –
command option module.
was connected.
A.E74: – –
Unsupported
Safety Option A unsupported safety
Connect a compatible
Module option module was – –
safety option module.
connected.
A feedback option
Replace the feedback
*3 option module.
A.E75 : occurred.
Unsupported Refer to the catalog of
Feedback Option A unsupported feed- the connected feed-
back option module back option module or –
feedback option module.
was connected. the manual of the SER-
VOPACK.
ting configuration error of
A.E80:
The command option option module) using the
Command Option module was replaced – digital operator or Sig- –
Module with a different model. maWin+ and turn the
Unmatched Error power supply OFF and
then ON again.
A.EA2:
An error occurred in
Alarm in Current communications Take steps to reduce
Communications between the INDEXER noise in the system such *1
between the –
Module and SERVO- as improving frame
INDEXER Module PACK during opera- ground.
and SERVO- tion.
PACK 1
A.EA3:
An error occurred in
Alarm in Current communications Take steps to reduce
Communications between the INDEXER noise in the system such *1
between the –
Module and SERVO- as improving frame
INDEXER Module PACK during opera- ground.
and SERVO- tion.
PACK 2
connected.
– –
3-174

Alarm Number:
Alarm Name
A.EC8:
Gate Drive Error 1
– –
occurred in the
Processing of the
servo ON command Input a servo ON com-
from the command – mand when the motor is –
A.Ed1: option module is not stopped.
Command Option completed.
Module IF Com-
mand Timeout Processing of the
Error sensor ON command
Check that the encoder is
from the command – –
connected properly.
option module is not
completed.
The three-phase
not correct.
The three-phase
ply.
Line Open Phase
setting.
– –
SERVOPACK.
FL-1*5:
System Alarm
FL-2*5:
System Alarm
– –
SERVOPACK.
FL-5*5:
System Alarm
FL-6*5:
Maintenance
System Alarm
SERVOPACK.
Communications
A malfunction was
caused by noise.
– or the cable away from
sources of noise.
–
3
3-175

Alarm Number:
Alarm Name
Communications
– –
SERVOPACK.
Pn533 [min-1]  
6 105 Pn210

Approx. 3.66  1012 Pn210

6105 Pn210

Approx. 3.66  1012 Pn210

3-176
3.4.4 INDEXER Module Alarm Displays and Troubleshooting

The INDEXER Module alarm list and the corresponding corrective actions are shown below.
Serial Servo-
Command Alarm motor Alarm
Alarm Name Meaning Corrective Action
Negative Number Stop Reset
Response Method
• Upgrade the firm-

The firmware pro- ware version.
Firmware
E12A A.AEF cessing time was • Reduce the number Gr.1 N/A
Execution Alarm too long. of functions being
used.
• Upgrade the SER-

VOPACK software
The SERVOPACK version.
Firmware does not supported • Use the SERVO-
this function, PACK that supports
E13A A.AEF Version Gr.1 N/A
because the soft- the corresponding
Unmatched ware version do not function.
match. • Use the SERVO-
PACK with the func-
tion set disabled.
Incorrect or cor-
rupted parameters
Parameter are stored in • Initialize the param-
Checksum EEPROM. eters with the PRMI-
Alarm (This alarm can NIT command or
E14A A.AEF (Detected only occur if the control FnB0B. Gr.1 N/A
when control power supply is • If the problem is not
power supply is turned OFF while the solved, correct the
turned ON.) parameters are parameters.
being initialized or
changed.)
Parameter
• Change the firm-
Version The combination of
ware version.
Unmatched the firmware version
• Change the param-
E15A A.AEF (Detected only number and the Gr.1 N/A
eter version to
when the control parameter version
match the firmware
power supply is number is wrong.
version.
turned ON.)
The moving method

Parameter Out- is set to a rotary
of-range Alarm method (PnB20 = 1, Correct the origin set-
(Detected only 2, or 3), but the ori- ting (PnB25) or the
E16A A.AEF Gr.1 N/A
when control gin set in PnB25 software limits
power supply is exceeds the soft- (PnB21 and PnB23).
turned ON.) ware limits set in
PnB21 and PnB23.

Maintenance
3-177
Serial Servo-
Response Method
The INDEXER Mod-

ule failed in initializa-
tion of Take steps to reduce
communications noise in the system
A.E00
with the SERVO- such as improving
PACK when the frame ground.
control power was
turned ON.

VOPACK's software
The SERVOPACK is version.
not compatible with • Replace the SER-
A.AEF
the INDEXER Mod- VOPACK with a
ule. SERVOPACK that is
Initial Communi- compatible with the
cation Alarm INDEXER Module.
between
INDEXER Mod- • The INDEXER
ule and SERVO- Module failed in
E17A parameter calcula- Gr.1 N/A
PACK
tion during initial
(Detected only
communications
when control • Connect the
with the SERVO-
power supply is encoder and then
PACK when the
turned ON.) change the parame-
control power was
ter.
turned ON.
• Cancel the A.040
This can happen in
alarm and then
A.C90 or the following
change the parame-
A.040 cases:
ter.
• When a parame-
(If the alarm display
ter has been
is other than A.E00,
changed while
it can be reset by
the encoder is
turning the power
not connected
OFF and back ON.)
• When a parame-
ter has been
changed during
occurrence of
A.040 alarm
Communication An error occurred in

Alarm between communications Take steps to reduce
A.EA2, between the noise in the system
E18A INDEXER Mod- Gr.1 Available
A.EA3 INDEXER Module such as improving
ule and SERVO- and SERVOPACK frame ground.
PACK during operation.
The program table

stored in flash mem-
Program Table ory was not • Initialize the pro-
Checksum recorded properly. gram table with the
Alarm (This alarm can PGMINIT command
E19A A.AEF (Detected only occur if the control or FnB06. Gr.1 Available*1
turned ON.) program table is program table.
being saved or ini-
tialized.)
3-178
Serial Servo-
Response Method
Program Table • Change the firm-

The combination of
Version ware version.
the firmware version
Unmatched • Change the pro-
E1AA A.AEF and the program
gram table version
Gr.1 Available*1
(Detected only table version is
when the control to match the firm-
wrong.
power is ON.) ware version.
Program Out- • Change the firm-

of-range Alarm A value set in the ware version.
(Detected only program table is not • Change the pro-
E1BA A.AEF
within the allowed gram table version
Gr.1 Available*1
when control
power supply is setting range. to match the firm-
turned ON.) ware version.
The zone table

Zone Table stored in flash mem- • Initialize the zone
ory was not
Checksum table with the
recorded properly.
Alarm ZONEINIT com-
(This alarm can
E1CA A.AEF (Detected only occur if the control
mand or FnB07.*2 Gr.1 Available*2
power supply is solved, correct the
turned OFF while the
turned ON.) zone table is being zone table.
saved or initialized.)
ZONE Table
Version
The combination of ware version.
Unmatched • Change the ZONE
E1DA A.AEF (Detected only and the ZONE table table version to
Gr.1 Available*2
when the control version is wrong. match the firmware
power supply is version.
turned ON.)
Zone Table Out- • Change the firm-

(Detected only zone table is not • Change the ZONE
E1EA A.AEF
within the allowed table version to
Gr.1 Available*2
when control
power supply is setting range. match the firmware
turned ON.) version.
The JOG speed

table stored in flash
JOG Speed memory was not • Initialize the JOG
Table Check- recorded properly. speed table with the
sum Alarm (This alarm can JSPDINIT com-
E1FA A.AEF (Detected only occur if the control mand or FnB08. Gr.1 Available*3
turned ON.) JOG speed table is JOG speed table.
being saved or ini-
tialized.)
Maintenance
JOG Speed
Table Version The combination of
ware version.
• Change the JOG
E21A A.AEF (Detected only and the JOG speed
speed table version
Gr.1 Available*3
when the control table version is
to match the firm-
power supply is wrong.
ware version.
turned ON.)
3
3-179
Serial Servo-
Response Method
JOG Speed
Table Out-of- A value set in the
ware version.
range Alarm JOG speed table is
• Change the JOG
E22A A.AEF (Detected only not within the
speed table version
Gr.1 Available*3
when control allowed setting
to match the firm-
power supply is range.
ware version.
turned ON.)
Either increase the

registration distance
or reduce the deceler-
ation distance
The registration dis-
(increase the deceler-
tance was shorter
ation rate).
than the decelera-
The registration dis-
tion distance when
Insufficient Reg- tance can be set by
the /RGRT signal
executing the RDST
E23A A.AEF istration Dis- went ON to start Gr.1 Available
command or chang-
tance Alarm registration opera-
ing the RDST param-
tion. (The current
eter in the program
position will exceed
table.
the position speci-
The deceleration rate
fied by registration.)
can be changed by
executing the DEC
command or chang-
ing parameter PnB2B.
*1. These alarms can be reset, but a Canceled Program Table Error (E44E) will occur the next time you attempt to
start program table operation, so program table operation will not be possible.
*2. These alarms can be reset, but it is possible that the zone signals (POUT0 to POUT7) will be output incorrectly.
When using the zone table, correct the zone table without resetting.
*3. These alarms can be reset, but a Canceled JOG Speed Table Error (E46E) will occur the next time you attempt
to start JOG speed table operation, so JOG speed table operation will not be possible.
3-180

Warnings are displayed to warn you before an alarm occurs. If a warning occurs in the SERVO-
PACK, the status is displayed as described below.
 Status Display
SERVOPACK Panel Display Σ-7-Series Σ-7S SERVOPACK Command Option Attachable
Type with INDEXER Module Product Manual (Manual No.:
SIEP S800001 64)
Green indicator: Remains unlit

Red indicator: Remains lit
Indicator Refer to the following section for details.
Σ-7-Series Σ-7S SERVOPACK Command Option Attachable
Type with INDEXER Module Product Manual (Manual No.:
SIEP S800001 64)
When a warning occurs, the warning code is displayed at the

Digital Operator
top left of the screen.

Warning code
Command (ALM)

No change
Command (ERR)
ALM Signal No change
/WARN Signal Turns ON.

 Troubleshooting Warnings
This section gives the warning names, warning meanings, and warning code outputs in order
of the warning numbers.
Warning Warning Code Output
Number /ALO1 /ALO2 /ALO3
Position Deviation
A.900 with the following formula:
H H H
A.901 Overflow Alarm at ON exceeded the percentage set with the following
Servo ON formula: (Pn526 × Pn528/100)
A.910 Overload (A.710 or A.720) occurs. If the warning is ignored
Abnormal vibration was detected during motor L H H
operation. The detection level is the same as A.520.
A.911 Vibration
Set whether to output an alarm or a warning by set-
Maintenance
ting Pn310 (Vibration Detection Switch).

3-181

A.912
Error)
A.913
Error)
This warning occurs before an A.320 alarm (Regen- H L H
A.920 Regenerative Overload erative Overload) occurs. If the warning is ignored
A.921
occur.
SERVOPACK Built-in
Fan Stopped
A.930 L L H
A.93B Overheat Warning protection input (TH) signal exceeded the setting of L L H
Pn61C (Overheat Warning Level).
in the encoder does not agree with the speed ripple
compensation information stored in the SERVO-
Disagreement PACK.
This warning occurs before an A.410 alarm (Under-
A.971 Undervoltage voltage) occurs. If the warning is ignored and oper- L L L
ation is continued, an alarm may occur.
A.9b0 H L H
Some kind of error has occurred at the INDEXER
A.A9F Error L H H
Module.*
Σ-7-Series Σ-7S SERVOPACK Command Option Attachable Type with INDEXER Module Product Manual (Manual
No.: SIEP S800001 64)
codes).
A.942
A.971
A.9A0
3-182

Warning Number:
Warning Name
and encoder.
the position reference with
one of the following meth-
ods.
Reduce the reference • Reduce the acceleration
The acceleration
acceleration and try rate (ACC) and decelera-
of the position ref- –
operating the SERVO- tion rate (DEC) in the pro-
erence is too high.
PACK. gram table.
A.900:
• Reduce the settings of
Position Deviation PnB29 (Acceleration Rate)
Overflow and PnB2B (Deceleration
Rate).
The excessive
Pn520 and Pn51E.
tions.
A failure occurred
PACK.
SERVOPACK.
The position devi-
ation when the
servo was turned
ON exceeded the
with the following
Servo ON Servo ON).
formula:
(Pn526 × Pn528/
100)
Maintenance
3-183

Warning Number:
Warning Name
The wiring is not
encoder wiring.
Operation was
performed that
exceeded the
overload protec-
tion characteris-
tics.
Check the operation
speed.
driven because of
mechanical prob-
lems.
The overload
suitable.
suitable.
PACK. PACK.
Check for abnormal
Abnormal vibra-
tion was detected
during motor
operation.
ation.
The setting of
Pn103 (Moment of
inertia or was
greatly changed.
The vibration
detection level
(Pn312 or Pn384)
is not suitable.
3-184

Warning Number:
Warning Name
temperature using a
tion conditions.
ment monitor.
An overload alarm
times.
–
The SERVOPACK
installation orien-
around the SER-
VOPACK.
PACK. PACK.
temperature using a
tion conditions.
ment monitor.
An overload alarm
times.
The SERVOPACK
installation orien-
Maintenance
around the SER-

VOPACK.
PACK. PACK.
3
3-185

Warning Number:
Warning Name
The power supply
range.
range.
There is insuffi-
Check the operating
conditions or the
maJunmaSize+ Capac-
or another means.
regeneration means.
state.
There was a con-
during operation.
applied.
The Servomotor
external force.
nal force.
When the Servo-
tor to see how –
being used.
resistor.
PACK. PACK.
The battery con-
*
absolute encoder
The battery volt-
battery voltage was
(2.7 V).
only when an abso-
nected.) in the SERVO- – faulty. Replace the SERVO- –
PACK. PACK.
3-186

Warning Number:
Warning Name
high. thermostat.
machine.
PACK. PACK.
The sensor
machine is faulty.
to the machine.
compensation
information stored
ripple.
For a 200-V SER-
Measure the power
supply voltage.
age dropped range.
below 140 V.
For a 100-V SER-
Measure the power
supply voltage.
age dropped range.
below 60 V.
during operation.
A momentary
power interrup- *
tion occurred.
– *
PACK. PACK.
Maintenance
3-187

Warning Number:
Warning Name
A.9A0: precautions.
controller.
overtravel signals.
One of the con-
sumable parts has
reached the end
Use the SigmaWin+ to
Observe the processing
An error occurred check the serial com-
A.A9F: method for serial command
in the INDEXER mand negative *
Error negative responses from
Module. response of the
the INDEXER Module.
INDEXER Module.
Σ-7-Series Σ-7S SERVOPACK Command Option Attachable Type with INDEXER Module Product Manual (Manual
No.: SIEP S800001 64)
3-188
3.4.8 INDEXER Module Error Displays and Troubleshooting

Negative responses (error responses) to input signals, serial commands, or operations from the
Digital Operator are known as errors.
The servo will not be turned OFF when an error occurs.
 Status Displays
SERVOPACK Panel Display “A.A9F” is displayed for 2 seconds.
Red indicator: Flashes for 2 seconds.

Indicator S-7-Series S-7S SERVOPACK Command Option
Attachable Type with INDEXER Module Product Manual
“A.A9F” is displayed for 2 seconds at the top left of the

Digital Operator
screen.

No change
Command (ALM)

Error code (the most recent (closest) error code)
Command (ERR)
/WARN Signal The signal is valid for 2 seconds.
The INDEXER Module error displays and the corrective actions are shown below.
Serial
Command Alarm
Error Name Meaning Corrective Action
Negative Number
Response
While writing data to the flash memory, a

failure occurred during one of the following
operation.
• While saving a program table by using a
PGMSTORE command
Program Table Repair the hard-
E41E A.A9F • While saving a program table by using
Save Failure Error ware.
FnB03
• While initializing a program table by using
a PGMINIT command
FnB06

operation.
• While saving a zone table by using a
Zone Table Save ZONESTORE command Repair the hard-
E42E A.A9F
Failure Error • While saving a zone table by using FnB04 ware.
• While initializing a zone table by using a
ZONEINIT command
• While initializing a zone table by using
Maintenance
FnB07
3-189
Serial
Command Alarm
Negative Number
Response

operation.
• While saving a JOG speed table by using
a JSPDSTORE command
JOG Speed Table Repair the hard-
E43E A.A9F • While saving a JOG speed table by using
FnB05
• While initializing a JOG speed table by
using a JSPDINIT command
using FnB08
There was a request to start program table

Remove the
Canceled Pro- operation even though an E19A or E1BA
E44E A.A9F cause of the
gram Table Error alarm occurred when the control power
alarm.
supply was turned ON.
There was a request to start JOG speed

Remove the
Canceled JOG table operation even though an E1FA or
E46E A.A9F cause of the
Speed Table Error E22A alarm occurred when the control
alarm.
power supply was turned ON.
There was an overflow in the reception buf-

fer used for serial commands.
Wait for a
• An error will occur if too many serial com-
response to be
mands are sent consecutively without
Serial Communi- received before
waiting for the responses.
sending the next
cations Receiv- (Normally, the reception buffer will not
E47E A.A9F command.
ing Buffer overflow if there is command/response
The reception
Overflow Error handshaking.)
buffer can con-
• When an overflow has occurred, error
tain up to 100
code E47E will be returned and all of the
commands.
data that has accumulated in the recep-
tion buffer will be discarded.
• Check the serial

communica-
tions protocol
(PnB00) and bit
A parity check error occurred with the serial
rate (PnB01)
command.
settings.
• This error will occur if even parity is not
• Check the wir-
Serial Communi- being used.
ing.
• The command that caused this error will
E48E A.A9F cations Parity • If noise may be
be discarded and no response will be
Error causing the
returned.
problem, take
• There will be no response, but the
steps to reduce
/WARN output and LED indicators will
noise such as
indicate that an error has occurred.
using commu-
nications
cables with fer-
rite cores.
3-190
Serial
Command Alarm
Negative Number
Response
• Check the serial

communica-
tions protocol
(PnB00) and bit
rate (PnB01)
A stop bit detection error occurred with the
settings.
serial command.
• Check the wir-
Serial Communi- • The command that caused this error will
ing.
be discarded and no response will be
E49E A.A9F cations Framing • If noise may be
returned.
Error causing the
• There will be no response, but the
problem, take
/WARN output and LED indicators will
steps to reduce
indicate that an error has occurred.
noise such as
using commu-
nications
cables with fer-
rite cores.
Serial command reception failed.

Serial Communi- • The hardware’s reception buffer was over-
Repair the hard-
E4AE A.A9F cations Overrun written with the subsequent data.
ware.
Error (Normally, data is read before it is over-
written, so this error does not occur.)
• When P-OT is
being used,
move to a posi-
tion where the
Travel in the forward direction was
P-OT is not in
Moving Disabled requested when P-OT was in effect. (For-
E4BE A.A9F effect.
Error due to P-OT ward movement is disabled when P-OT
• When P-OT is
(forward overtravel) is in effect.)
not being used,
disable P-OT in
the parameter
(PnB0F = 3).
• When N-OT is
being used,
move to a posi-
tion where the
Travel in the reverse direction was
N-OT is not in
Moving Disabled requested when N-OT was in effect.
E4CE A.A9F effect.
Error due to N-OT (Reverse movement is disabled when N-OT
• When N-OT is
(reverse overtravel) is in effect.)
not being used,
disable N-OT in
the parameter
(PnB10 = 3).

Maintenance
3-191
Serial
Command Alarm
Negative Number
Response
• Check the tar-

get position
specification.
• Check the for-
ward software
limit in PnB21.
• Check the mov-
ing mode
(rotary or lin-
The specified target position exceeds the ear) set in
Moving Disabled
E4DE A.A9F position reference of forward software limit PnB20.
Error due to P-LS set in PnB21. • If software lim-
its are not being
used, either
select a rotary
moving mode in
PnB20 or dis-
able the soft-
ware limits by
setting PnB21
= PnB23 = 0.
• Check the tar-

get position
specification.
• Check the
reverse soft-
ware limit in
PnB23.
• Check the mov-
ing mode
(rotary or lin-
The specified target position exceeds the
Moving Disabled ear) set in
E4EE A.A9F position reference of reverse software limit
Error due to N-LS PnB20.
set in PnB23.
• If software lim-
its are not being
used, either
select a rotary
moving mode in
PnB20 or dis-
able the soft-
ware limits by
setting PnB21
= PnB23 = 0.
• Check the tar-

get position
specification.
• Check the posi-
Position Refer- The moving method is set to rotary (PnB20 tioning range
= 1, 2, or 3) and the target position specifi- set with PnB21
E4FE A.A9F ence Out-of-
cation exceeds the position reference limits and PnB23.
range Error in PnB21 and PnB23. • Check the mov-
ing method
(rotary or lin-
ear) set in
PnB20.
3-192
Serial
Command Alarm
Negative Number
Response
Specify a target
position with a
Even though the target position was not
command such
specified even once, there was a request by
Target Position as the POS com-
E51E A.A9F the ST command to start positioning or a
Unspecified Error mand, STnnnnn-
request by the RS command to start regis-
nnn command, or
tration positioning.
RSnnnnnnnn
command.
Registration Dis- Even though the registration distance was Specify a regis-
not specified even once, there was a tration distance
E52E A.A9F tance Unspecified
request by the RS command to start regis- with the RDST
Error tration positioning. command.
• Send the next

move reference
request only
after the current
movement is
completed
(Position refer-
ence distribu-
tion is
completed).
There was a new move reference requested
• A movement
Move Reference even though the system was already mov-
E53E A.A9F can be inter-
Duplication Error ing in a positioning or other traveling opera-
rupted or can-
tion.
celed with the
HOLD or SKIP
commands.
Also, STOP can
be specified in
the target posi-
tion specifica-
tion (POS) with
the program
table.
Maintenance
3-193
Serial
Command Alarm
Negative Number
Response
Send the move

reference request
only after turning
the servo ON by
turning ON the /
S-ON signal, set-
ting PnB0E = 2
so that the
/S-ON signal is
always ON, or
The servo is not ON.
executing the
• There was a positioning request or other
SVON command.
move reference request in servo OFF sta-
There are two
tus.
possibilities.
Servo ON Incom- The servo went OFF during program table
E54E A.A9F • The program
plete Error operation.
can be can-
(Program table operation will be interrupted
celed with the /
while just the step that was being executed
PGMRES sig-
is canceled (If LOOP ≠ 1, the first LOOP is
nal or PGM-
canceled.))
RES command.
• The servo can
be turned ON
and the pro-
gram can be
restarted with
the /START-
STOP signal or
the START
command.
• Turn the servo

ON when the
motor is
The servo could not be turned ON within 2 stopped.
s after turning ON the /S-ON signal or exe- • Check the main
cuting the SVON command. power supply.
• The motor is rotating during servo ON • Turn ON signals
execution. /HWBB1,
• The main power supply went OFF during /HWBB2. After
Servo ON Failure servo ON execution. that, temporar-
E55E A.A9F
Error • Hard wire base block status (HWBB sta- ily establish the
tus) servo OFF sta-
Error E5BE will occur if there was an alarm tus by turning
when the servo ON request was sent using the /S-ON sig-
the SVON command. Error E5CE will occur nal OFF or
if the main power supply was OFF when the sending the
servo ON request was sent. SVOFF com-
mand, then turn
the servo ON
again.
• There was a syntax error in the serial

Check the serial
Undefined Serial command.
E56E A.A9F command’s char-
Command Error • There was a number in the serial com-
acter string.
mand longer than 8 digits or 10 digits.
The specified address was incorrect for a

Address Out-of- parameter, program table, zone table, JOG Check the
E57E A.A9F
range Error speed table, alarm history, or monitor read/ address.
write command.
3-194
Serial
Command Alarm
Negative Number
Response
The specified setting was incorrect in a

Data Out-of- Check the set-
E58E A.A9F parameter or program table write com-
range Error ting.
mand.
Communication
Failure Error Check the ver-
Communications between the INDEXER
E59E A.A9F between sion of the SER-
Module and the SERVOPACK have failed.
INDEXER Module VOPACK.
and SERVOPACK
Some of the utility functions, such as

parameter initialization, has been requested
while still in the servo ON status. For safety,
Execution Dis- the following functions cannot be executed Execute these
in the servo ON status. functions after
E5AE A.A9F abled while Servo
• Serial commands: Parameter initializa- turning the servo
ON Error tion, absolute encoder OFF.
reset, motor current
zero adjustment
• SigmaWin+: Parameter initialization
Turn the servo

Execution Dis- ON after eliminat-
Servo ON was requested (the SVON com-
ing the cause of
E5BE A.A9F abled while Alarm mand was executed) while there was an
the alarm and
Activated Error alarm.
clearing the
alarm.
Execution Dis- Turn the servo

Servo ON was requested (the SVON com-
ON after turning
E5CE A.A9F abled while Main mand was executed) while the main power
ON the main
Power OFF Error supply was OFF.
power supply.
The origin return method is not specified.

Specify the ori-
Origin Return • An origin return start was requested (/
gin return
E5DE A.A9F Method Unspeci- HOME signal was turned ON or ZRN
method in
fied Error command was executed) without setting
PnB31.
the origin return method.
• There was a request to execute a process

Request execu-
that is not allowed during program table
tion of the pro-
operation while program table operation
Execution Dis- cess again after
was in progress or on hold.
canceling pro-
abled during Pro- • There was an attempt to change the pro-
E5EE A.A9F gram table oper-
gram Table gram table while program table operation
ation by turning
Operation Error was in progress or on hold.
the
• There was a request to start positioning
/PGMRES signal
by a serial command while program table
ON.
operation was in progress or on hold.
There was a request that could not be exe-

Execute the
cuted at the same time as the function that
operation again
Session Conflict was being executed.
after the execu-
Maintenance
E5FE A.A9F Example:

Error tion of the current
function is com-
operation while the program table was
pleted.
being initialized.
3-195
Serial
Command Alarm
Negative Number
Response
There was a request that was incompatible

with the connected encoder.
Examples:
• An Absolute Encoder Reset (ABSPGRES
command) was requested when an incre-
mental encoder is connected.
Encoder Mis- Check the
E61E A.A9F • An origin return start was requested (/
match Error encoder.
HOME signal was turned ON or ZRN
command was executed) when an abso-
lute encoder is connected.
(An absolute encoder can be used as an
incremental encoder if parameter
Pn002.2 = 1.)
Use the Multi-

A Multi-turn Limit Setting (MLTLIMSET
turn Limit Setting
command) was requested even though
operation to
alarm A.CC0 has not occurred.
adjust the setting
No A.CC0 Alarm (Alarm A.CC0 indicates that Pn205 does
E62E A.A9F in the encoder to
Occurred Error not match the setting in the encoder after
match Pn205
the multi-turn limit setting in Pn205 was
only after alarm
changed and the control power supply was
A.CC0 has
turned OFF and ON.)
occurred.
An attempt was made to execute a continu-

ous stop under conditions where it could
not be executed.
Examples:
• The coordinates have been set to linear Execute a contin-
Continuous Stop moving method. uous stop under
E63E A.A9F Execution Dis- • The immediately-preceding table target conditions where
abled Error position is not ±INFINITE. it can be exe-
• The immediately-preceding table target cuted.
position is ±INFINITE, but the registration
distance is set.
• A value other than 1 has been set for the
execution count.
Execution Error Program table operation, JOG speed table Clear the status
E65E A.9F9 during Position operation, or homing was executed during of position devia-
Deviation Clear position deviation clear. tion clear.
3-196

of the Servomotor
Turn OFF the power
supply to the servo
Measure the voltage
supply terminals.
Turn OFF the power
supply to the servo
ON.
nector (CN1) pins.
Turn OFF the power
supply to the servo
system. –
Wire the cable cor-
nected.
rectly.
Turn OFF the power
supply to the servo
Servomotor Operate the Servomotor system.
Does Not with no load and check Reduce the load or –
Servomotor.
Start the load status. replace the Servomo-
tor with a Servomotor
*
Settings for input signals Correct the settings of
Check settings of input
PnB03 to PnB12 are incor- input signals PnB03 to *
signals PnB03 to PnB12.
rect. PnB12.
Check the commands Turn ON the /S-ON sig-
sent from the host con- nal from the host con- *
was not received.
troller. troller.
*
OFF.
Check the motor posi-
tion and software limit
The current position of the setting (PnB21,
Check the error at the
servomotor is outside the PnB23), then move the –
INDEXER Module.
software limit setting range. servomotor into the
Maintenance
software limit setting

range.
There is no position refer- Check the error at the Set the program table
–
ence, or it is incorrect. INDEXER Module. correctly.
3-197

Turn ON the /HWBB1
not turned ON.
Jumper Connector
Servomotor sory) to CN8.
Moves Turn OFF the power
Instanta- supply to the servo
neously, A failure occurred in the SER-
– system. –
and Then VOPACK.
Replace the SERVO-
Stops PACK.
ply to the servo system. –
Check the wiring.
There is a mistake in the wir- Turn OFF the power sup-
Wire the Serial Con-
verter Unit correctly.
ing.
Turn OFF the power
Servomotor
supply to the servo
– system. –
Replace the SERVO-
ence Input
PACK.
–
Check the moment of
Turn OFF the power
supply to the servo
system.
Not Operate load.
nected.
Turn OFF the power
supply to the servo
system.
– –
Replace the SERVO-
PACK.
3-198

Reduce the load so
that the moment of
tings.
Tighten the mounting
screws.
any loose mounting
screws.
The machine mounting is not ply to the servo system.
secure. Check to see if there is Align the coupling. –
pling.
pling is balanced.
tor.
ings.
Abnormal There is a vibration source at Check for any foreign Consult with the
Noise from the driven machine. matter, damage, or defor- machine manufacturer.
–
Servomotor mation in the machine’s
moving parts.
the specifications.
0.12 mm2.
is too long. 3 m.
I/O signal cables.
the specifications.
Maintenance
is too long.
Encoder Cable. max. 3
3-199

Replace the Encoder
ronment.
lines.
rent line.
Properly ground the
them from the FG of
the encoder.
welder. grounded.
Abnormal Turn OFF the power
Noise from Check to see if there is supply to the servo
Servomotor There is a SERVOPACK
noise.
tion. Improve the
the Servomotor.
alignment).
Turn OFF the power
supply to the servo
– system. –
encoder.
tor.
anced.
rectly tuned. ence.
–
40.0 Hz.
Servomotor
Vibrates at
Frequency –
of Approx.
= 40.0/s.
200 to 400
20.0 ms.
–
ate.
3-200

anced.
rectly tuned. ence.
–
40.0 Hz.
–
Speed = 40.0/s.
ping 20.0 ms.
–
ate.
Set Pn483 and Pn484
values. 30% and Pn484 = 30%.
Absolute a screened twisted-pair
Encoder cable with conductors of
Position at least 0.12 mm2.
Deviation Turn OFF the power sup- Rotary Servomotors:
Error (The Noise interference occurred
position because the Encoder Cable –
that was is too long.
Encoder Cable. max.
saved in the
host con- Turn OFF the power sup-
Replace the Encoder
troller when Noise interference occurred ply to the servo system.
the power because the Encoder Cable Check the Encoder Cable –
was turned is damaged. to see if it is pinched or
ronment.
OFF is dif- the sheath is damaged.
ferent from Turn OFF the power sup-
the posi- ply to the servo system.
tion when Noise interference occurred Check to see if the
the power because the Encoder Cable Encoder Cable is bundled –
was next is damaged. with a high-current line or
lines.
turned ON.) installed near a high-cur-
rent line.
Properly ground the
them from the FG of
the encoder.
welder. grounded.
Maintenance
3-201

Absolute noise. I/O signal line from the Serial Converter Unit
Encoder encoder or Serial Con- wiring.
Position verter Unit.
Error (The ply to the servo system.
position Check to see if vibration
that was Reduce machine vibra-
saved in the tion. Or, improve the
host con- mounting conditions of
troller when the Servomotor.
the power face precision, securing
was turned state, and alignment).
OFF is dif-
ferent from Turn OFF the power
the posi- supply to the servo
tion when – system. –
encoder.
the power Replace the Servomo-
was next tor.
turned ON.) Turn OFF the power
supply to the servo
– system. –
VOPACK.
Replace the SERVO-
PACK.
the input signals.
signals.
The P-OT/N-OT (Forward Check the operating con- Make sure that the
Drive Prohibit or Reverse dition of the overtravel overtravel limit switches –
Drive Prohibit) signal was limit switches. operate correctly.
switches.
Check the settings of Set the parameters to
*
PnB0F and PnB10. correct values.
Overtravel the external power supply from the external power
Occurred –
screws).
Check the servo OFF
The selection of the Servo- Select a Servomotor
motor stopping method is stopping method other *
Pn001 = n.X or
not correct. than coasting to a stop.
PnB1F.
tion for
3-202

Noise interference occurred to see if is satisfies speci-
the specifications.
at least 0.12 mm2.
is too long.
Encoder Cable. max.
Turn OFF the power sup- Replace the Encoder
Noise interference occurred ply to the servo system. Cable and correct the
is damaged. to see if it is pinched or ronment.
ply to the servo system. Correct the cable lay-
interference. with a high-current line or lines.
rent line.
There is variation in the FG Turn OFF the power sup- Properly ground the
potential because of the ply to the servo system. machines to separate
them from the FG of
Servomotor side, such as a machines are correctly the encoder.
Position welder. grounded.
(without ply to the servo system. Implement counter-
Alarm) There is a SERVOPACK Check to see if there is measures against noise
verter Unit.
ply to the servo system. Reduce machine vibra-
Check to see if vibration tion. Or, improve the
The encoder was subjected from the machine mounting conditions of
the Servomotor.
shock. Check the Servomotor Replace the Servomo-
installation (mounting sur- tor.
not suitable.
and Servomotor.
Maintenance

isfy specifications. Use a Use cables that satisfy
because of incorrect I/O sig- –
shielded twisted-pair wire the specifications.
nal cable specifications.
cable or a screened
0.12 mm2. 3
3-203

is too long. 3 m.
I/O signal cables.
Turn OFF the power
Position An encoder fault occurred. supply to the servo
Deviation (The pulse count does not – system. –
(without change.) Replace the Servomo-
Alarm) tor.
Turn OFF the power
supply to the servo
– system. –
VOPACK.
Replace the SERVO-
PACK.
ture is too high.
–
for dirt.
SERVOPACK and Ser-
vomotor with larger
capacities.
related parameters.
tance.
failed. estimation.
3-204

If an error occurs in the SERVOPACK, the status is displayed as described below.
 Status Display
SERVOPACK Panel Display Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse
Train References Product Manual
Digital Operator The alarm code is displayed at the top left of the screen.
ALM Signal The alarm signal turns ON. (The photocoupler turns OFF.)
/WARN Signal No change

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.


List of Alarms
Alarm
motor
Alarm Reset
ping
ble?
Method
Parameter Checksum There is an error in the parameter data in
A.020 Gr.1 No
Parameter Format There is an error in the parameter data
A.021 Gr.1 No
Error format in the SERVOPACK.
System Checksum There is an error in the parameter data in
A.022 Gr.1 No
Maintenance

A.024 System Alarm Gr.1 No H H H
SERVOPACK.
SERVOPACK.
Main Circuit Detector There is an error in the detection data for
A.030 Gr.1 Yes
Error the main circuit.
A.040
Parameter Setting A parameter setting is outside of the set-
Gr.1 No
3
Error ting range.
3-205

Alarm
motor
Alarm Reset
ping
ble?
Method
The setting of Pn212 (Encoder Output
Encoder Output Pulse Pulses) or Pn281 (Encoder Output Reso-
A.041 Gr.1 No
Setting Error lution) is outside of the setting range or
does not satisfy the setting conditions.
Parameter Combina- The combination of some parameters
A.042 Gr.1 No
tion Error exceeds the setting range.
Semi-Closed/Fully-
The settings of the Option Module and
Closed Loop Control
A.044 Pn002 = n.X (External Encoder Gr.1 No
Parameter Setting Usage) do not match.
Error
H H H
Parameter Setting There is an error in setting of parameters
A.04A Gr.1 No
Error 2 reserved by the system.
The capacities of the SERVOPACK and
Servomotor do not match.
Unsupported Device
Alarm
The /S-ON (Servo ON) signal was input
Invalid Servo ON from the host controller after a utility func-
A.0b0 Gr.1 Yes
Command Alarm tion that turns ON the Servomotor was
executed.
An overcurrent flowed through the power
transformer or the heat sink overheated.
L H H
Motor Overcurrent The current to the motor exceeded the
A.101 Gr.1 No
Detected allowable current.
Regenerative Over-
A.320 A regenerative overload occurred. Gr.2 Yes
load
• The AC power supply input setting or L L H
Main Circuit Power DC power supply input setting is not
A.330 Gr.1 Yes
Supply Wiring Error correct.
• The power supply wiring is not correct.
H H L
The motor exceeded the maximum
A.510 Overspeed Gr.1 Yes
speed.
The pulse output speed for the setting of
Encoder Output Pulse
A.511 Pn212 (Encoder Output Pulses) was Gr.1 Yes
Overspeed exceeded.
Abnormal oscillation was detected in the
motor speed.
Vibration was detected during autotuning
for the tuning-less function.
The setting of Pn385 (Maximum Motor
Maximum Speed Set-
A.550 Speed) is greater than the maximum Gr.1 Yes
ting Error motor speed.
3-206

Alarm
motor
Alarm Reset
ping
ble?
Method
The Servomotor was operating for several
Instantaneous Over-
A.710 seconds to several tens of seconds under Gr.2 Yes
load a torque that largely exceeded the rating.
The Servomotor was operating continu-
A.720 Continuous Overload ously under a torque that exceeded the Gr.1 Yes
rating.
A.730 When the dynamic brake was applied,
Dynamic Brake Over- the rotational or linear kinetic energy
Gr.1 Yes
A.731 load exceeded the capacity of the dynamic
brake resistor.
Inrush Current Limit- The main circuit power supply was fre-
A.740 Gr.1 Yes
ing Resistor Overload quently turned ON and OFF. L L L
The surrounding temperature of the con-
A.7A1 Error 1 (Control Board Gr.2 Yes
trol PCB is abnormal.
Temperature Error)
The surrounding temperature of the
A.7A2 Error 2 (Power Board Gr.2 Yes
power PCB is abnormal.
Temperature Error)
Internal Temperature An error occurred in the temperature sen-
A.7A3 Gr.2 No
Sensor Error sor circuit.
SERVOPACK Built-in
Fan Stopped
Encoder Backup The power supplies to the encoder all
A.810 Gr.1 No
Alarm failed and the position data was lost.
Encoder Checksum There is an error in the checksum results
A.820 Gr.1 No
Alarm for encoder memory.
The battery voltage was lower than the
Encoder Battery
A.830 specified level after the control power Gr.1 Yes
Alarm supply was turned ON.
There is an internal data error in the
A.840 Encoder Data Alarm Gr.1 No
encoder.
The encoder was operating at high speed
when the power was turned ON.
The internal temperature of encoder is
A.860 Encoder Overheated Gr.1 No
too high.
The internal temperature of motor is too
A.861 Motor Overheated Gr.1 No
high.
The input voltage (temperature) for the
overheat protection input (TH) signal H H H
A.862 Overheat Alarm Gr.1 Yes
exceeded the setting of Pn61B (Overheat
Alarm Level).
External Encoder
Error
External Encoder An error occurred in the Serial Converter
A.8A1 Gr.1 Yes
Module Error Unit.
Maintenance
External Absolute
An error occurred in the position data of
A.8A3 Encoder Position Gr.1 Yes
the external encoder.
Error
External Encoder An overspeed error occurred in the exter-
A.8A5
Overspeed nal encoder.
Gr.1 Yes 3
External Encoder An overheating error occurred in the
A.8A6 Gr.1 Yes
3-207

Alarm
motor
Alarm Reset
ping
ble?
Method
Current Detection An error occurred in the current detection
A.b33 Gr.1 No
Error 3 circuit.
SERVOPACK.
SERVOPACK.
SERVOPACK.
SERVOPACK.
H H H
SERVOPACK.
SERVOPACK.
SERVOPACK.
SERVOPACK.
SERVOPACK.
Servomotor Out of
A.C10 The Servomotor ran out of control. Gr.1 Yes
Control
The multiturn data for the absolute
A.C80 Multiturn Limit Set- Gr.1 No L H L
encoder was not correctly cleared or set.
ting Error
Encoder Communica- Communications between the encoder
A.C90 Gr.1 No
tions Error and SERVOPACK is not possible.
Encoder Communica-
tions Position Data An error occurred in calculating the posi-
A.C91 Gr.1 No
Acceleration Rate tion data of the encoder.
Error
An error occurred in the communications
Encoder Communica-
A.C92 timer between the encoder and SERVO- Gr.1 No
tions Timer Error PACK.
Encoder Parameter The parameters in the encoder are cor-
A.CA0 Gr.1 No
Error rupted.
Encoder Echoback The contents of communications with the
A.Cb0 Gr.1 No
Error encoder are incorrect. L H L
Multiturn Limit Dis- Different multiturn limits have been set in
A.CC0 Gr.1 No
agreement the encoder and the SERVOPACK.
Reception Failed Error
in Feedback Option Receiving data from the Feedback Option
A.CF1 Gr.1 No
Module Communica- Module failed.
tions
Timer Stopped Error
An error occurred in the timer for commu-
in Feedback Option
A.CF2 nications with the Feedback Option Mod- Gr.1 No
Module Communica- ule.
tions
3-208

Alarm
motor
Alarm Reset
ping
ble?
Method
The setting of Pn520 (Excessive Position
Position Deviation Deviation Alarm Level) was exceeded by
A.d00 Gr.1 Yes
Overflow the position deviation while the servo was
ON.
The servo was turned ON after the posi-
Position Deviation tion deviation exceeded the setting of
A.d01 Overflow Alarm at Pn526 (Excessive Position Deviation Gr.1 Yes
Servo ON Alarm Level at Servo ON) while the servo
was OFF.
If position deviation remains in the devia-
tion counter, the setting of Pn529 or
Position Deviation L L H
Pn584 (Speed Limit Level at Servo ON)
Overflow Alarm for limits the speed when the servo is turned
A.d02 Gr.2 Yes
Speed Limit at Servo ON. This alarm occurs if a position refer-
ON ence is input and the setting of Pn520
(Excessive Position Deviation Alarm Level)
There was too much position deviation
Motor-Load Position
A.d10 between the motor and load during fully- Gr.2 Yes
Deviation Overflow closed loop control.
Position Data Over- The position feedback data exceeded
A.d30 Gr.1 No
flow ±1,879,048,192.
Safety Option Module Detection of the safety option module
A.E71 Gr.1 No
Detection Failure failed.
Feedback Option
Detection of the Feedback Option Mod-
ule failed.
Failure
Unsupported Safety An unsupported safety option module
A.E74 Gr.1 No
Option Module was connected. H L L
Unsupported Feed- An unsupported feedback option module
A.E75 Gr.1 No
back Option Module was connected.
Safety Function Sig- An error occurred in the input timing of
A.Eb1 Gr.1 No
nal Input Timing Error the safety function signal.
A.EF9 INDEXER Alarm An alarm occurred in the INDEXER. Gr.1 No
The voltage was low for more than one H L H
Power Supply Line
A.F10 second for phase R, S, or T when the Gr.2 Yes
Open Phase main power supply was ON.
FL-1*
FL-2*
FL-3* An internal program error occurred in the
System Alarm – No
FL-4* SERVOPACK.
FL-5* Undefined.
FL-6*
Maintenance
Digital Operator Com- Communications were not possible

CPF00
munications Error 1 between the Digital Operator (model:
– No
Digital Operator Com- JUSP-OP05A-1-E) and the SERVOPACK
CPF01 (e.g., a CPU error occurred).
munications Error 2
3-209
AC Servo Drive Σ-V-Series/Σ-V-Series for Large-Capacity Models/Σ-7-Series User’s Manual Safety Module

Alarm Number:
Alarm Name
The power supply
voltage suddenly
dropped.
The power supply
was shut OFF while
tings.
that parameters were parameters were fre- VOPACK. *1
Parameter ters.
to the SERVOPACK
OFF and ON again. If Implement countermea-
data in the SER- the AC power supply, –
noise may be the
cause.
conditions.
to the SERVOPACK
VOPACK.
the SERVOPACK may
have failed.
of the SERVOPACK
ware version of the
to write.
data format in the
the SERVOPACK.
VOPACK.
3-210

Alarm Number:
Alarm Name
Measure the power
supply voltage.
dropped. VOPACK.
supply. VOPACK.
VOPACK.
the SERVOPACK may
have failed.
A.024:
VOPACK.
occurred in the
SERVOPACK.)
A.025:
VOPACK.
occurred in the
SERVOPACK.)
the SERVOPACK.
The SERVOPACK and
ties do not match
each other.
the SERVOPACK.
VOPACK.
A.040:
Check the setting
Parameter Set- A parameter setting is Set the parameters to val-
ting Error outside of the setting ues within the setting –
ters that have been
(A parameter set- range. ranges.
changed.
ting is outside of
the setting Check the electronic
range.) gear ratio. The ratio Set the electronic gear
The electronic gear
setting range.
(Pn20E/Pn210) < Pn210) < 64,000.
64,000.
See if the origin is
Out-of-Range Origin Set the origin between
between the settings of –
Setting Pn638 and Pn63A.
Pn638 and Pn63A.
(Encoder Output
Encoder Output (Encoder Output Res- Check the setting of Set Pn212 or Pn281 to an
Maintenance
*1
setting conditions.
3-211

Alarm Number:
Alarm Name
jogging went below
*1
motor was changed.
bination Error
Speed) was changed.
The movement speed
or the Servomotor
was changed.
Set the following reserved
parameters to the default
settings.
Pn200.2
A.04A: A parameter reserved
Pn207.1
Parameter Set- by the system was – –
Pn50A.0
ting Error 2 changed.
Pn50A.1
Pn50A.2
Pn50C
Pn50D
each other. ties.
the SERVOPACK.
VOPACK.
Converter Unit or
Device Alarm tions.
connected to the
SERVOPACK.
A.0b0: the host controller
Invalid Servo ON after a utility function – –
Command Alarm that turns ON the Ser-
software reset.
vomotor was exe-
cuted.
3-212

Alarm Number:
Alarm Name
The Main Circuit
Cable is not wired
faulty contact.
across Servomotor
between the ground
U, V, and W.
*1
across Servomotor
between the ground
U, V, or W.
former or the heat
sink overheated.)
so frequently.
occurred.
The regenerative load ratio in the Sig-
Select a regenerative
resistor value maWin+ Motion Monitor
resistance value that is
exceeded the SER- Tab Page to see how
appropriate for the oper-
VOPACK regenerative frequently the regenera-
ating conditions and load.
processing capacity. tive resistor is being
used. *4
used.
Maintenance
3-213

Alarm Number:
Alarm Name
A heavy load was
or running at a low
speed.
ronment, e.g. by
alarm still occurs.
– –
SERVOPACK.
The Main Circuit
Cable is not wired
faulty contact.
phases U, V, and W.
between the ground
U, V, or W.
or running at a low
speed.
ronment, e.g. by
alarm still occurs.
size.
– –
SERVOPACK.
3-214

Alarm Number:
Alarm Name
Pn600 (Regenerative
*1
or -2R8F.
Check to see if the
jumper is connected
the regenerative resis- terminals.
erative Resistor or
and B3, the SERVO-
PACK may be dam-
A.300: aged. *1
Regeneration
correctly, or was
and B3, the SERVO-
PACK may be dam-
aged.
the SERVOPACK.
PACK may be faulty.
Replace the SERVO-
PACK.
Maintenance
3-215

Alarm Number:
Alarm Name
Measure the power
supply voltage.
tor capacity is too
small, or there has
been a continuous
regeneration state.
other means.
conditions.
ously applied.
tor Capacity) is
smaller than the
setting of Pn600.
nal Regenerative
Resistor.
Check to see if a
tor Capacity) is
smaller than the
nal Regenerative
Resistor.
resistance.
the SERVOPACK.
VOPACK.
3-216

Alarm Number:
Alarm Name
–
DC power was sup-
Pn600 (Regenerative
*1
2R8A SERVOPACKs.
the SERVOPACK.
VOPACK.
Measure the power
supply voltage.
The power supply is
ning surge.
SERVOPACK may be
VOPACK.
fied range.
–
Maintenance

the SERVOPACK.
PACK may be faulty.
Replace the SERVO- 3
PACK.
3-217

Alarm Number:
Alarm Name
Measure the power
supply voltage.
The power supply
voltage dropped –
during operation.
The SERVOPACK
fuse is blown out.
the SERVOPACK.
the SERVOPACK.
VOPACK.
The order of phases
–
correct.
(The motor *1
conditions.
the SERVOPACK.
VOPACK.
put pulse setting.
A.511: tion).
Encoder Output
speed was too high.
Check for abnormal
Pn100 (Speed Loop
Gain).
ation.
A.520: (Moment of Inertia
Check the moment of Set Pn103 (Moment of
changed.
tion level (Pn312 or detection level (Pn312 or
(Pn312 or Pn384) is
Pn384) is not suitable. Pn384).
suitable.
3-218

Alarm Number:
Alarm Name
custom tuning,
tom tuning or Easy
corrections.
FFT.
resolution setting.
correctly wired.
or encoder wiring.
Overload
Check the operation
speed.
driven due to
the SERVOPACK.
VOPACK.
The Servomotor was
force.
external force.
A.730 and
stopping with the
dynamic brake.
the SERVOPACK.
VOPACK.
The allowable fre-
A.740:
Maintenance
quency of the inrush

power supply was
was frequently
turned ON and
OFF.)
– faulty. Replace the SER- – 3
the SERVOPACK.
VOPACK.
3-219

Alarm Number:
Alarm Name
monitor.
An overload alarm
overload alarm.
ply too many times.
A.7A1:
Use the accumulated
capacity.
cessing capacity.
The SERVOPACK
tions.
around the SERVO-
PACK.
the SERVOPACK.
VOPACK.
monitor.
An overload alarm
overload alarm.
ply too many times.
A.7A2:
Use the accumulated
capacity.
cessing capacity.
The SERVOPACK
tions.
around the SERVO-
PACK.
the SERVOPACK.
VOPACK.
A.7A3:
Internal Tempera-
the SERVOPACK.
temperature sen-
sor circuit.)
3-220

Alarm Number:
Alarm Name
The fan inside the
SERVOPACK –
stopped.
VOPACK.
Set up the encoder.
time. time.
encoder. *1
A.810: again. time.
– –
the Servomotor.
the SERVOPACK.
VOPACK.
lute Encoder
– motor.
motor.
the SERVOPACK.
VOPACK.
The battery connec-
Alarm
fied value (2.7 V).
voltage was lower
the SERVOPACK.
Maintenance
VOPACK.
3-221

Alarm Number:
Alarm Name
– –
Alarm
– –
ing the encoder.
The Servomotor
was turned ON.
A.850:
Encoder Over-
speed
encoder when
the control power
Servomotor.
supply is turned
– –
SERVOPACK.
high. less.
rated load. load.
fied range.
A.860:
– –
Servomotor.
– –
SERVOPACK.
3-222

Alarm Number:
Alarm Name
perature around the
Servomotor is too
high.
fied range.
maWin+.
verter Unit.
– –
SERVOPACK.
temperature using a
thermostat.
of the machine.
signal.
maWin+.
An overload alarm
overload alarm.
ply too many times.
the SERVOPACK.
SERVOPACK.
The sensor attached
the machine may be
faulty.
*1
Maintenance
– –
– –
verter Unit.
Unit.
3-223

Alarm Number:
Alarm Name
A.8A2:
– –
Sensor Error
encoder.
tions.
encoder.
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
3-224

Alarm Number:
Alarm Name
– –
SERVOPACK.
– –
SERVOPACK.
– –
SERVOPACK.
The order of phases
–
correct.
rect and an alarm still
A.C10:
turned ON.)
– –
SERVOPACK.
– –
– –
SERVOPACK.
Maintenance
3-225

Alarm Number:
Alarm Name
the encoder.
fications.
ance is outside the
specified values.
sion caused by
environment.
nector caused by
vibration.
–
ing the encoder.
the SERVOPACK.
SERVOPACK.
*1
damaged.
Encoder Cable.
such as a welder.
3-226

Alarm Number:
Alarm Name
*1
the encoder.
vomotor.
– –
Servomotor.
– –
SERVOPACK.
– –
A.CA0: Servomotor.
Encoder Parame-
– –
SERVOPACK.
Maintenance
3-227

Alarm Number:
Alarm Name
encoder.
– –
entered on it.
at least 0.12 mm2.
A.Cb0: connectors.
the encoder.
vomotor.
– –
Servomotor.
– –
SERVOPACK.
When using a Direct
does not agree with
the encoder.
alarm occurs.
SERVOPACK has
been changed.
– –
SERVOPACK.
3-228

Alarm Number:
Alarm Name
The cable between
contact.
back Option
is too long. Unit.
less.
The sheath on cable
Replace the cable
PACK.
ken.
Noise entered the
cable between the
and SERVOPACK.
verter Unit.
nications Unit.
– –
Maintenance
3-229

Alarm Number:
Alarm Name
and encoder.
Reduce the position
VOPACK.
gear ratio.
A.d00: of the position reference
Position Devia- with one of the following
tion Overflow methods.
(The setting of Reduce the reference • Reduce the accelera-
The acceleration of
Pn520 (Exces- acceleration and try tion rate (ACC) and *1
the position reference
sive Position operating the SERVO- deceleration rate (DEC)
is too high.
Deviation Alarm PACK. in the program table.
Level) was • Reduce the settings of
exceeded by the Pn63E (Acceleration
position devia- Rate) and Pn640 (Decel-
tion while the eration Rate).
servo was ON.) The setting of Pn520 Check Pn520 (Exces-
(Excessive Position sive Position Deviation
Pn520.
– –
SERVOPACK.
A.d01:
servo was OFF.
*1
ting of Pn529 or
Pn584 (Speed Limit
Alarm Level) is
exceeded.
3-230

Alarm Number:
Alarm Name
setting of Pn002 =
connection between
coupling.
Overflow ±1,879,048,192.
The connection
between the SERVO-
PACK and the safety –
PACK and the safety safety option module.
option module is
option module.
faulty.
A.E71: ting configuration error of
Safety Option The safety option option module) using the
*1
Module Detec- module was discon- – digital operator or Sig-
tion Failure nected. maWin+ and turn the
power supply OFF and
then ON again.
– –
– –
nection between the
Feedback Option
back Option Module.
Module.
Option Module.
Module.
– –
A.E74: – –
Unsupported
Safety Option A unsupported safety
Connect a compatible
Module option module was – –
safety option module.
connected.
Maintenance
A feedback option
Replace the feedback
*3 option module.
A.E75 : occurred.
Unsupported Refer to the catalog of
Feedback Option A unsupported feed- the connected feed-
back option module back option module or –
feedback option module.
was connected. the manual of the SER-
VOPACK.
3
3-231

Alarm Number:
Alarm Name
connected.
– –
A.EC8:
Gate Drive Error 1
– –
occurred in the
Use the SigmaWin+ to
A.EF9: An alarm occurred in Use the correction for the *1
identify the INDEXER
INDEXER Alarm the INDEXER. INDEXER alarm.
alarm.
The three-phase
not correct.
The three-phase
ply.
Line Open Phase
setting.
– –
SERVOPACK.
FL-1*5:
System Alarm
FL-2*5:
System Alarm
– –
SERVOPACK.
FL-5*5:
System Alarm
FL-6*5:
System Alarm
3-232

Alarm Number:
Alarm Name
SERVOPACK.
Communications
A malfunction was
caused by noise.
sources of noise.
Communications
– –
SERVOPACK.
Pn533 [min-1]  
6 105 Pn210

Approx. 3.66  1012 Pn210

6105 Pn210

Approx. 3.66  1012 Pn210

Σ-7-Series AC Servo Drive Peripheral Device Selection Manual (Manual No.: SIEP S800001 32)
Maintenance
3-233
3.5.4 INDEXER Alarm Displays and Troubleshooting

INDEXER alarms and corrections for them are given in the following table.
Servo-
Error Alarm motor Alarm
Number Number Stop Reset
Method
• Upgrade the firm-

The firmware pro- ware version.
E12A A.EF9 System Alarm cessing time was • Reduce the number Gr.1 N/A
too long. of functions being
used.

VOPACK software
The SERVOPACK version.
Firmware does not support • Use the SERVO-
this function, PACK that supports
E13A A.EF9 Version Gr.1 N/A
because the soft- the corresponding
Unmatched ware version do not function.
match. • Use the SERVO-
PACK with the func-
tion set disabled.
Incorrect or cor-
rupted parameters
Parameter are stored in
Checksum EEPROM. • Initialize the param-
Alarm (This alarm can eters. (Fn005)
E14A A.EF9 (Detected only occur if the control • If the problem is not Gr.1 N/A
when control power supply is solved, correct the
power supply is turned OFF while the parameters.
turned ON.) parameters are
being initialized or
changed.)
Parameter
Version The combination of
ware version.
• Change the param-
E15A A.EF9 (Detected only number and the Gr.1 N/A
eter version to
when the control parameter version
match the firmware
power supply is number is wrong.
version.
turned ON.)
Parameter Out- The origin position

(Pn63C) exceeded
of-range Alarm Correct the origin set-
the position range
(Detected only ting (Pn63C) or the
E16A A.EF9 (Pn638 and Pn63A) Gr.1 N/A
when control position range (Pn638
for rotational coordi-
power supply is and Pn63A).
nates (Pn637 not set
turned ON.) to n.0).
3-234
Servo-
Method
• The INDEXER
failed in parame-
ter calculation
during initial com-
munications with
• Connect the
the SERVOPACK
Initial Communi- encoder and then
when the control
cation Alarm change the parame-
power was turned
between ter.
ON.
• Cancel the A.040
INDEXER Mod- This can happen in
alarm and then
A.C90 or ule and SERVO- the following
E17A change the parame- Gr.1 N/A
A.040 PACK cases:
ter.
(Detected only • When a parame-
(If the alarm display
when control ter has been
is other than A.E00,
power supply is changed while
it can be reset by
turned ON.) the encoder is
turning the power
not connected
OFF and back ON.)
• When a parame-
ter has been
changed during
occurrence of
A.040 alarm
The program table

stored in flash mem-
Program Table ory was not
Checksum recorded properly. • Initialize the pro-
Alarm (This alarm can gram table. (Fn063)
E19A A.EF9 (Detected only occur if the control • If the problem is not Gr.1 Available*1
power supply is turned OFF while the program table.
turned ON.) program table is
being saved or ini-
tialized.)
Program Table • Change the firm-

The combination of
Version ware version.
Unmatched • Change the pro-
E1AA A.EF9 and the program
gram table version
Gr.1 Available*1
(Detected only table version is
when the control to match the firm-
wrong.
power is ON.) ware version.
Program Out- • Change the firm-

(Detected only program table is not • Change the pro-
E1BA A.EF9
within the allowed gram table version
Gr.1 Available*1
when control
power supply is setting range. to match the firm-
turned ON.) ware version.
The zone table

Zone Table stored in flash mem-
ory was not
Checksum • Initialize the zone
Maintenance
recorded properly.
Alarm table. (Fn064)
(This alarm can
E1CA A.EF9 (Detected only occur if the control
• If the problem is not Gr.1 Available*2
when control solved, correct the
power supply is
power supply is zone table.
turned OFF while the
turned ON.) zone table is being
saved or initialized.)

3
3-235
Servo-
Method
ZONE Table
Version
The combination of ware version.
Unmatched the firmware version • Change the ZONE
E1DA A.EF9 (Detected only and the ZONE table table version to
Gr.1 Available*2
when the control version is wrong. match the firmware
power supply is version.
turned ON.)
Zone Table Out- • Change the firm-

(Detected only zone table is not • Change the ZONE
E1EA A.EF9
within the allowed table version to
Gr.1 Available*2
when control
power supply is setting range. match the firmware
turned ON.) version.
The JOG speed

table stored in flash
JOG Speed memory was not
Table Check- recorded properly. • Initialize the JOG
sum Alarm (This alarm can speed table. (Fn065)
E1FA A.EF9 (Detected only occur if the control • If the problem is not Gr.1 Available*3
power supply is turned OFF while the JOG speed table.
turned ON.) JOG speed table is
being saved or ini-
tialized.)
JOG Speed
Table Version The combination of
ware version.
• Change the JOG
E21A A.EF9 (Detected only and the JOG speed
speed table version
Gr.1 Available*3
when the control table version is
to match the firm-
power supply is wrong.
ware version.
turned ON.)
JOG Speed
Table Out-of- A value set in the
ware version.
range Alarm JOG speed table is
• Change the JOG
E22A A.EF9 (Detected only not within the
speed table version
Gr.1 Available*3
when control allowed setting
to match the firm-
power supply is range.
ware version.
turned ON.)
The registration dis- Either increase the

tance was shorter registration distance
than the decelera- or reduce the deceler-
tion distance when ation distance
Insufficient Reg- the /RGRT signal (increase the deceler-
E23A A.EF9 istration Dis- went ON to start ation rate). Gr.1 Available
tance Alarm registration opera- Registration dis-
tion. (The current tance: RDST in the
position will exceed program table
the position speci- Deceleration Rate:
fied by registration.) Pn640
3-236
Servo-
Method
The torque limit was

cleared after torque
Change the setting
was increased to the
value of Pn652
E24A A.9F9 Homing Failure torque limit or before Gr.1 Available
(Pressing Time for
homing completed
Pressing Homing).
during pressing
homing.
Fix the mechanical

Excessive position
cause and implement
Homing Over- deviation due to a
E25A A.9F9 countermeasures to Gr.1 Available
speed mechanical cause
prevent excessive
during homing.
position deviation.
*1. These alarms can be reset, but a Canceled Program Table Error (E44E) will occur the next time you attempt to
start program table operation, so program table operation will not be possible.
*2. These alarms can be reset, but it is possible that the zone signals (POUT0 to POUT4) will be output incorrectly.
When using the zone table, correct the zone table without resetting.
*3. These alarms can be reset, but a Canceled JOG Speed Table Error (E46E) will occur the next time you attempt
to start JOG speed table operation, so JOG speed table operation will not be possible.
Maintenance
3-237

Warnings are displayed to warn you before an alarm occurs. If a warning occurs in the SERVO-
PACK, the status is displayed as described below.
 Status Display
SERVOPACK Panel Display Σ-7-Series Σ-7S SERVOPACK with Analog Voltage/Pulse
Train References Product Manual
When a warning occurs, the warning code is displayed at the

Digital Operator
top left of the screen.
/WARN Signal Turns ON.

This section gives the warning names, warning meanings, and warning code outputs in order
of the warning numbers.
Position Deviation
A.900 with the following formula:
H H H
A.901 Overflow Alarm at ON exceeded the percentage set with the following
Servo ON formula: (Pn526 × Pn528/100)
A.910 Overload (A.710 or A.720) occurs. If the warning is ignored
Abnormal vibration was detected during motor L H H
operation. The detection level is the same as A.520.
A.911 Vibration
Set whether to output an alarm or a warning by set-
ting Pn310 (Vibration Detection Switch).
A.912
Error)
A.913
Error)
This warning occurs before an A.320 alarm (Regen- H L H
A.920 Regenerative Overload erative Overload) occurs. If the warning is ignored
A.921
occur.
SERVOPACK Built-in
Fan Stopped
A.930 L L H
3-238

A.93B Overheat Warning protection input (TH) signal exceeded the setting of L L H
Pn61C (Overheat Warning Level).
Change of Parameters Parameters have been changed that require the
A.941 H H L
Requires Restart power supply to be turned OFF and ON again.

in the encoder does not agree with the speed ripple
compensation information stored in the SERVO-
Disagreement PACK.
This warning occurs before an A.410 alarm (Under-
A.971 Undervoltage voltage) occurs. If the warning is ignored and oper- L L L
ation is continued, an alarm may occur.
A.9b0 H L H
A.9F9 INDEXER Warning A warning occurred in the INDEXER. L H H
codes).
Warning Parameters That Must Be Set to Select Warning Detection Reference
A.911 Pn310 = n.X (Vibration Detection Setting) −
A.930 Pn008 = n.X (Low Battery Voltage Alarm/Warning Selection) −
Pn423 = n.X (Speed Ripple Compensation Information Dis-
A.942 −
agreement Warning Detection Selection)
A.971 −
A.9A0 −
A.9b0 Pn00F = n.X (Preventative Maintenance Selection) −
Maintenance
3-239

Warning Number:
Warning Name
and encoder.
e.g., by using autotuning –
the position reference with
one of the following meth-
ods.
Reduce the reference • Reduce the acceleration
The acceleration
acceleration and try rate (ACC) and decelera-
of the position ref- –
operating the SERVO- tion rate (DEC) in the pro-
erence is too high.
PACK. gram table.
A.900:
• Reduce the settings of
Position Deviation Pn63F (Acceleration Rate)
Overflow and Pn640 (Deceleration
Rate).
The excessive
× Pn51E/100) is level (Pn520 × Pn51E/ –
Pn520 and Pn51E.
tions.
A failure occurred
PACK.
SERVOPACK.
The position devi-
ation when the
servo was turned
ON exceeded the
with the following
Servo ON Servo ON).
formula:
(Pn526 × Pn528/
100)
3-240

Warning Number:
Warning Name
The wiring is not
encoder wiring.
Operation was
performed that
exceeded the
overload protec-
tion characteris-
tics.
Check the operation
speed.
driven because of
mechanical prob-
lems.
The overload
warning level (Pn52B) is –
suitable.
suitable.
PACK. PACK.
Check for abnormal
Abnormal vibra-
tion was detected
the speed and torque Or, reduce the servo gain –
during motor
operation.
ation.
The setting of
Pn103 (Moment of
Vibration greater than the inertia ratio or mass tia Ratio) to an appropriate –
inertia or was
greatly changed.
The vibration
detection level
detection level (Pn312 detection level (Pn312 or –
(Pn312 or Pn384)
is not suitable.
Maintenance
3-241

Warning Number:
Warning Name
temperature using a
temperature is too the operating status –
tion conditions.
ment monitor.
An overload alarm
times.
–
The SERVOPACK
installation orien-
rect or there is PACK installation con- –
around the SER-
VOPACK.
PACK. PACK.
temperature using a
temperature is too the operating status –
tion conditions.
ment monitor.
An overload alarm
times.
The SERVOPACK
installation orien-
rect or there is PACK installation con- –
around the SER-
VOPACK.
PACK. PACK.
3-242

Warning Number:
Warning Name
The power supply
range.
range.
There is insuffi-
Check the operating
conditions or the
maJunmaSize+ Capac-
or another means.
regeneration means.
state.
There was a con-
during operation.
applied.
The Servomotor
external force.
nal force.
When the Servo-
tor to see how –
being used.
resistor.
PACK. PACK.
The battery con-
–
absolute encoder
The battery volt-
battery voltage was
lower than the spec- Replace the battery. –
(2.7 V).
only when an abso-
Maintenance
nected.)
PACK. PACK.
3-243

Warning Number:
Warning Name
high. thermostat.
machine.
PACK. PACK.
The sensor
machine is faulty.
to the machine.
Parameters have
A.941: been changed
Change of Parame- that require the
– the SERVOPACK OFF and –
ters Requires power supply to
ON again.
Restart be turned OFF
and ON again.
– compensation value on the –
compensation
information stored
A.942: not detect A.942 alarms).
in the encoder
– However, changing the set- –
ripple.
VOPACK. – pensation). However, –
For a 200-V SER-
Measure the power
supply voltage.
age dropped range.
below 140 V.
For a 100-V SER-
Measure the power
supply voltage.
age dropped range.
below 60 V.
during operation.
A momentary
power interrup- –
tion occurred.
– –
PACK. PACK.
3-244

Warning Number:
Warning Name
A.9A0: precautions.
detected while the overtravel signals on –
controller.
overtravel signals.
One of the con-
sumable parts has
Preventative Mainte- – your Yaskawa representa- –
reached the end
A warning Use the SigmaWin+ to
A.9F9: Use the correction for the
occurred in the identify the INDEXER page 3-246
INDEXER Warning INDEXER warning.
INDEXER. warning.
Maintenance
3-245
3.5.8 INDEXER Warning Displays and Troubleshooting

INDEXER warning displays and corrections for them are given in the following table.
Alarm
Error No. Error Name Meaning Corrective Action
Number
While writing data to the flash memory, a fail-
ure occurred during one of the following
operation.
Program Table Repair the hard-
E41E A.9F9 • While saving a program table by using
Fn060
Fn063
Zone Table Save operation. Repair the hard-
E42E A.9F9
Failure Error • While saving a zone table by using Fn061 ware.
• While initializing a zone table by using
Fn064
operation.
JOG Speed Table Repair the hard-
E43E A.9F9 • While saving a JOG speed table by using
Fn061
using Fn065
Canceled Pro- operation even though an E19A or E1BA Remove the cause
E44E A.9F9
gram Table Error alarm occurred when the control power sup- of the alarm.
ply was turned ON.
There was a request to start JOG speed
Canceled JOG table operation even though an E1FA or Remove the cause
E46E A.9F9
Speed Table Error E22A alarm occurred when the control of the alarm.
power supply was turned ON.
• When P-OT is
being used,
move to a posi-
Travel in the forward direction was requested tion where the
Moving Disabled when P-OT was in effect. (Forward move- P-OT is not in
E4BE A.9F9
Error due to P-OT ment is disabled when P-OT (forward over- effect.
travel) is in effect.) • When P-OT is
not being used,
disable P-OT in
the parameter.
• When N-OT is
being used,
move to a posi-
Travel in the reverse direction was requested tion where the
Moving Disabled when N-OT was in effect. (Reverse move- N-OT is not in
E4CE A.9F9
Error due to N-OT ment is disabled when N-OT (reverse over- effect.
travel) is in effect.) • When N-OT is
not being used,
disable N-OT in
the parameter.
3-246

Alarm
Number
• Check the tar-
get position
specification.
• Check the for-
ward software
limit in Pn638.
• Check the Mov-
ing Mode (rota-
tional/linear
coordinates)
(Pn637=
Moving Disabled n.X)
E4DE A.9F9 position reference of forward software limit
Error due to P-LS • If the software
set in Pn638.
limits are not
being used,
select rotational
coordinates with
Pn637=
n.X (Mov-
ing Mode) or dis-
able the
software limits
by setting Pn638
= Pn63A = 0.
• Check the tar-
get position
specification.
• Check the
reverse soft-
ware limit in
Pn63A.
• Check the set-
ting of the Mov-
ing Mode
(rotational/linear
coordinates)
Moving Disabled (Pn637=
E4EE A.9F9 position reference of reverse software limit
Error due to N-LS n.X).
set in Pn63A.
• If the software
limits are not
being used,
select rotational
coordinates for
the (i.e., set
Pn637 to
n.1) or dis-
able the soft-
ware limits by
setting Pn638 =
Pn63A = 0.
• Check the tar-
get position
specification.
• Check the posi-
tioning range set
Maintenance
Position Refer- The Moving Mode is set to rotational coordi- with Pn638 and
nates (i.e., Pn637 is not set to n.0) and Pn63A.
E4FE A.9F9 ence Out-of-range
the target position designation exceeded the • Check the set-
Error position range setting (Pn638 and Pn63A). ting of the Mov-
ing Mode
(rotational/linear
coordinates)
(Pn637=
3
n.X).
3-247

Alarm
Number
• Send the next
move reference
request only
after the current
movement is
There was a new move reference requested completed.
Move Reference
E53E A.9F9 even though the system was already moving • Also, STOP can
Duplication Error in a positioning or other traveling operation. be specified in
the target posi-
tion specifica-
tion (POS) with
the program
table.
Request position-
ing and other
operations after
turning ON the
The servo is not ON.
servo by turning
There was a positioning request or other
ON the /S-ON sig-
move reference request in servo OFF status.
nal or setting the /
The servo went OFF during program table
S-ON signal to
operation.
always be ON.
(Program table operation will be interrupted
Either just cancel
while just the step that was being executed
the operation with
is canceled (If LOOP ≠ 1, the first LOOP is
the /PGMRES sig-
canceled.))
nal or turn ON the
Servo ON Incom- servo and restart
E54E A.9F9
plete Error with the /START-
STOP signal.
Increase the regis-
tration distance or
shorten the decel-
eration distance
(i.e., increase the
An E23A alarm (Insufficient Registration Dis-
deceleration rate).
tance Alarm) occurred.
Registration dis-
tance: RDST in the
program table
Deceleration rate:
Pn640
• Turn the servo
ON when the
The servo could not be turned ON within 2 s
motor is
of when the /S-ON signal turned ON.
stopped.
• The motor is rotating during servo ON exe-
• Check the main
cution.
power supply.
• The main power supply went OFF during
• Turn ON the /
servo ON execution.
Servo ON Failure HWBB1 and /
E55E A.9F9 • Hard wire base block status (HWBB sta-
Error HWBB2 signals.
tus)
Then turn OFF
If there was already an alarm when a servo
the /S-ON sig-
ON request made by turning ON the /S-ON
nal to first turn
signal is received, an E5BE error will occur
OFF the servo
instead. If the main power supply was OFF,
and then turn
an E5CE error will occur.
ON the servo
again.
Data Out-of-range The specified setting was incorrect in a
E58E A.9F9 Check the setting.
Error parameter or program table write command.
Origin Return The origin return method is not specified. Specify the origin
A.9F9 Starting an origin return operation was return method
E5DE Method Unspeci-
requested by turning ON the /HOME signal with Pn642 =
fied Error without setting the origin return method. n.X.
3-248

Alarm
Number
Request execution
• There was a request to execute a process
of the process
Execution Dis- that is not allowed during program table
again after cancel-
operation while program table operation
abled during Pro- ing program table
E5EE A.9F9 was in progress or on hold.
gram Table operation by turn-
• There was an attempt to change the pro-
Operation Error ing the
gram table while program table operation
/PGMRES signal
was in progress or on hold.
ON.
There was a request that could not be exe-
cuted at the same time as the function that Execute the oper-
was being executed. ation again after
Session Conflict
E5FE A.9F9 Example: the execution of
Error There was a request to start program table the current func-
operation while the program table was being tion is completed.
initialized.
An attempt was made to execute a continu-
ous stop under conditions where it could not
be executed.
Examples:
• The coordinates have been set to linear Execute a continu-
Continuous Stop moving method. ous stop under
E63E A.9F9 Execution Dis- • The immediately-preceding table target conditions where
abled Error position is not ±INFINITE. it can be exe-
• The immediately-preceding table target cuted.
position is ±INFINITE, but the registration
distance is set.
• A value other than 1 has been set for the
execution count.
Execution Error Program table operation, JOG speed table Clear the status of
E65E A.9F9 during Position operation, or homing was executed during position deviation
Deviation Clear position deviation clear. clear.
Maintenance
3-249

of the Servomotor
Turn OFF the power
supply to the servo
Measure the voltage
supply terminals.
Turn OFF the power
supply to the servo
ON.
(CN1) pins are not wired cor- Check the wiring condi- the I/O signal connec- –
nector (CN1) pins.
Turn OFF the power
supply to the servo
system. –
Wire the cable cor-
nected.
rectly.
Turn OFF the power
supply to the servo
Servomotor Operate the Servomotor system.
Does Not with no load and check Reduce the load or –
Servomotor.
Start the load status. replace the Servomo-
tor with a Servomotor
–
Settings for input signals Correct the settings of
Check settings of input
Pn630 to Pn64D are incor- input signals Pn630 to –
signals Pn630 to Pn64D.
rect. Pn64D.
Check the commands Turn ON the /S-ON sig-
sent from the host con- nal from the host con- –
was not received.
troller. troller.
–
OFF.
Check the motor posi-
tion and software limit
The current position of the setting (Pn638 and
Check for INDEXER
servomotor is outside the Pn63A), then move the –
errors.
software limit setting range. servomotor into the
software limit setting
range.
There is no position refer- Check for INDEXER Set the program table
–
ence, or it is incorrect. errors. correctly.
3-250

Turn ON the /HWBB1
(/HWBB1 or /HWBB2) were –
not turned ON.
Servomotor Jumper Connector
Does Not (provided as an acces-
Start sory) to CN8.
Turn OFF the power
supply to the servo
– system. –
VOPACK.
Replace the SERVO-
PACK.
ing.
Turn OFF the power
Servomotor
supply to the servo
– system. –
Replace the SERVO-
ence Input
PACK.
–
Check the moment of
Turn OFF the power
supply to the servo
system.
Not Operate load.
nected.
Turn OFF the power
supply to the servo
system.
– –
Replace the SERVO-
PACK.
Maintenance
3-251

Reduce the load so
that the moment of
able value, or increase –
tings.
Tighten the mounting
screws.
any loose mounting
screws.
The machine mounting is not ply to the servo system.
secure. Check to see if there is Align the coupling. –
pling.
pling is balanced.
tor.
ings.
Abnormal There is a vibration source at Check for any foreign Consult with the
Noise from the driven machine. matter, damage, or defor- machine manufacturer.
–
Servomotor mation in the machine’s
moving parts.
the specifications.
0.12 mm2.
is too long. 3 m.
I/O signal cables.
the specifications.
is too long.
Encoder Cable. max.
3-252

Replace the Encoder
ronment.
lines.
rent line.
Properly ground the
them from the FG of
the encoder.
welder. grounded.
Abnormal Turn OFF the power
Noise from Check to see if there is supply to the servo
Servomotor There is a SERVOPACK
noise.
tion. Improve the
the Servomotor.
alignment).
Turn OFF the power
supply to the servo
– system. –
encoder.
tor.
Maintenance
3-253

gains have been cor- without a host refer- –
anced.
rectly tuned. ence.
–
40.0 Hz.
Servomotor
Vibrates at
Frequency –
of Approx.
= 40.0/s.
200 to 400
20.0 ms.
–
ate.
gains have been cor- without a host refer- –
anced.
rectly tuned. ence.
–
40.0 Hz.
–
Speed = 40.0/s.
ping 20.0 ms.
–
ate.
Set Pn483 and Pn484
Pn484) are set to the default force limits and Pn483 = –
values. 30% and Pn484 = 30%.
3-254

at least 0.12 mm2.
is too long.
Encoder Cable. max.
Replace the Encoder
ronment.
Absolute ply to the servo system.
Encoder Correct the cable lay-
Noise interference occurred Check to see if the
Position out so that no surge is
because the Encoder Cable Encoder Cable is bundled –
Deviation applied by high-current
is damaged. with a high-current line or
Error (The lines.
position rent line.
that was
saved in the There is variation in the FG Turn OFF the power sup-
Properly ground the
host con- potential because of the ply to the servo system.
troller when influence of machines on the Check to see if the –
them from the FG of
the power Servomotor side, such as a machines are correctly
the encoder.
was turned welder. grounded.
OFF is dif- Turn OFF the power sup-
ferent from ply to the servo system. Implement counter-
the posi- There is a SERVOPACK Check to see if there is measures against noise
tion when pulse counting error due to noise interference on the for the encoder or –
the power noise. I/O signal line from the Serial Converter Unit
was next encoder or Serial Con- wiring.
turned ON.) verter Unit.
the Servomotor.
Turn OFF the power
supply to the servo
– system. –
encoder.
tor.
Turn OFF the power
supply to the servo
– system. –
VOPACK.
Replace the SERVO-
Maintenance
PACK.
3-255

the input signals.
signals.
The P-OT/N-OT (Forward Check the operating con- Make sure that the
Drive Prohibit or Reverse dition of the overtravel overtravel limit switches –
Drive Prohibit) signal was limit switches. operate correctly.
the overtravel limit –
switches.
Check the settings of Set the parameters to
–
PnB0F and PnB10. correct values.
Overtravel the external power supply from the external power
Occurred –
screws).
Check the servo OFF
The selection of the Servo- Select a Servomotor
motor stopping method is stopping method other –
Pn001 = n.X or
not correct. than coasting to a stop.
PnB1F.
tion for
Noise interference occurred to see if is satisfies speci-
Cable specifications. twisted-pair wire cable or the specifications.
at least 0.12 mm2.
is too long.
Encoder Cable. max.
Position Turn OFF the power sup-
Deviation Replace the Encoder
(without Cable and correct the
Alarm) cable installation envi-
ronment.
lines.
rent line.
Properly ground the
them from the FG of
the encoder.
welder. grounded.
3-256

verter Unit.
the Servomotor.
not suitable.
Position and Servomotor.
(without ply to the servo system.
Alarm) Check the I/O signal
the specifications.
0.12 mm2.
is too long. 3 m.
I/O signal cables.
Turn OFF the power
tor.
Turn OFF the power
supply to the servo
– system. –
VOPACK.
Replace the SERVO-
PACK.
ture is too high.
–
for dirt.
Maintenance

SERVOPACK and Ser-
vomotor with larger
capacities.
related parameters.
position is between ±10°. 3
tion rate and travel dis-
tance.
failed. estimation.
3-257
Parameter Lists
4
This chapter provides information on the parameters.
4.2 FT82 SERVOPACK with MECHATROLINK-II Communications References . .4-32

4.3.1 List of Servo Parameters . . . . . . . . . . . . . . . . . . 4-67
4.3.2 List of MECHATROLINK-III Common
Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-106
4.4 Command Option Attachable-type FT82 SERVOPACKs with INDEXER Modules . .4-114


The following table lists the parameters.
Note: Do not change the following parameters from their default settings.
• Reserved parameter
• Parameters not given in this manual
• Parameters that are not valid for the Servomotor that you are using, as given in the parameter table
Parameter Setting Setting Default Applicable When Classi- Refer-

Size
Name
No. Range Unit Setting Motors Enabled fication ence
Basic Function Selec- 0000h to After
2 – 0000h All Setup –
tions 0 10B1h restart
Rotation Direction Selection Reference

n.X 0 Use CCW as the forward direction.
*1
1 Use CW as the forward direction. (Reverse Rotation Mode)
Control Method Selection Reference

0 Speed control with analog references
1 Position control with pulse train references
2 Torque control with analog references
3 Internal set speed control with contact commands
Switching between internal set speed control with contact refer-
4
ences and speed control with analog references
5
Pn000 ences and position control with pulse train references
n.X 6
ences and torque control with analog references *1
Switching between position control with pulse train references and

7
speed control with analog references
8
torque control with analog references
Switching between torque control with analog references and
9
Switching between speed control with analog references and
A
speed control with zero clamping
B
position control with reference pulse inhibition
n.X Reserved parameter (Do not change.)
n.X Reserved parameter (Do not change.)
4-2

Size
Name
Application Function 0000h to After
Selections 1 1142h restart
Motor Stopping Method for Servo OFF and Group 1 Alarms Reference
0 Stop the motor by applying the dynamic brake.
n.X Stop the motor by the applying dynamic brake and then release
1 *1
the dynamic brake.
2 Coast the motor to a stop without the dynamic brake.
Overtravel Stopping Method Reference

Apply the dynamic brake or coast the motor to a stop (use the
0
stopping method set in Pn001 = n.X).
Decelerate the motor to a stop using the torque set in Pn406 as
1
the maximum torque and then servo-lock the motor.
n.X Decelerate the motor to a stop using the torque set in Pn406 as
2 *1
the maximum torque and then let the motor coast.
Decelerate the motor to a stop using the deceleration time set in
3
Pn001 Pn30A and then servo-lock the motor.
4
Pn30A and then let the motor coast.
Main Circuit Power Supply AC/DC Input Selection Reference

Input AC power as the main circuit power supply using the L1, L2,
0
and L3 terminals (do not use shared converter).
n.X
*1
Input DC power as the main circuit power supply using the B1/
1 and 2 terminals or the B1 and 2 terminals (use an external
converter or the shared converter).
Warning Code Output Selection Reference

Output only alarm codes on the ALO1, ALO2, and ALO3 termi-
0
nals.
n.X
Output both warning codes and alarm codes on the ALO1, ALO2, *1
and ALO3 terminals. However, while an warning code is being
1
output, the ALM (Servo Alarm) output signal will remain ON (nor-
mal state).
Parameter Lists
4-3

Size
Name
2 – 0000h – Setup –
Applicable
Speed/Position Control Option (T-REF Input Allocation) Reference
Motors
0 Do not use T-REF. –
n.X 1 Use T-REF as an external torque limit input. *1
2 Use T-REF as a torque feedback input. All *1
Use T-REF as an external torque limit input when *1

3
/P-CL or /N-CL is ON.
Applicable
Torque Control Option (V-REF Input Allocation) Reference
Motors
n.X
0 Do not use V-REF.
All *1
1 Use V-REF as an external speed limit input.
Applicable
Pn002 Encoder Usage Reference
Motors
Use the encoder according to encoder specifica-
0
n.X tions. All
1 Use the encoder as an incremental encoder. *1
Use the encoder as a single-turn absolute

2 Rotary
encoder.
Applicable
External Encoder Usage Reference
Motors
0 Do not use an external encoder.
The external encoder moves in the forward direc-
1
n.X tion for CCW motor rotation.
2 Reserved setting (Do not use.) Rotary *1
The external encoder moves in the reverse direc-

3
tion for CCW motor rotation.
4 Reserved setting (Do not use.)
4-4

Size
Name
Application Function 0000h to Immedi- *1
2 – 0002h All Setup
Selections 6 105Fh ately
Analog Monitor 1 Signal Selection

00 Motor speed (1 V/1,000 min-1)
01 Speed reference (1 V/1,000 min-1)
02 Torque reference (1 V/100% rated torque)
03 Position deviation (0.05 V/reference unit)
04 Position amplifier deviation (after electronic gear) (0.05 V/encoder pulse unit)
05 Position reference speed (1 V/1,000 min-1)
07 Load-motor position deviation (0.01 V/reference unit)
Positioning completion (positioning completed: 5 V, positioning not com-
n. XX 08
pleted: 0 V)
Pn006
09 Speed feedforward (1 V/1,000 min-1)
0A Torque feedforward (1 V/100% rated torque)
0B Active gain (1st gain: 1 V, 2nd gain: 2 V)
Completion of position reference distribution (completed: 5 V, not com-
0C
pleted: 0 V)
0D External encoder speed (1 V/1,000 min-1: value at the motor shaft)
0E Reserved setting (Do not use.)
0F Reserved setting (Do not use.)
10 Main circuit DC voltage
11 to 5F Reserved settings (Do not use.)
n. X Reserved parameter (Do not change.)
Parameter Lists
4-5

Size
Name

n.XX 08
pleted: 0 V)
Pn007
0C
pleted: 0 V)

2 – 0000h Rotary Setup –
Low Battery Voltage Alarm/Warning Selection Reference

n.X 0 Output alarm (A.830) for low battery voltage.
*1
1 Output warning (A.930) for low battery voltage.
Function Selection for Undervoltage Reference

0 Do not detect undervoltage.
Pn008 n.X 1 Detect undervoltage warning and limit torque at host controller. *1
Detect undervoltage warning and limit torque with Pn424 and
2
Pn425 (i.e., only in SERVOPACK).
Warning Detection Selection Reference

n.X 0 Detect warnings.
*1
1 Do not detect warnings except for A.971.
4-6

Size
Name
2 – 0010h All Tuning –
n. X Reserved parameter (Do not change.)
Current Control Mode Selection Reference

0 Use current control mode 1.
• SERVOPACK Models SGD7S-R70A, -R90A, -1R6A, -2R8A,
n. X -3R8A, -5R5A, and -7R6A: Use current control mode 1.
1 *1
Pn009 • SERVOPACK Models SGD7S-120A, -180A, -200A, -330A, -
470A, -550A, -590A, and -780A: Use current control mode 2.
Speed Detection Method Selection Reference

n. X 0 Use speed detection 1.
*1
1 Use speed detection 2.

2
Selections A 0044h
– 0001h All
restart
Setup –
Motor Stopping Method for Group 2 Alarms Reference

0
1 the maximum torque. Use the setting of Pn001 = n.X for the
status after stopping.
n.X Decelerate the motor to a stop using the torque set in Pn406 as
2 *1
3 Pn30A. Use the setting of Pn001 = n.X for the status after
stopping.
4
Pn00A Stopping Method for Forced Stops Reference

0
2 *1
stopping.
4
n.X
Parameter Lists
Reserved parameter (Do not change.)
4-7

Size
Name
Selections B 1121h restart
Operator Parameter Display Selection Reference

n. X 0 Display only setup parameters.
*1
1 Display all parameters.

0 Stop the motor by setting the speed reference to 0.
Pn00B n. X Apply the dynamic brake or coast the motor to a stop (use the
1 *1
2 Set the stopping method with Pn00A = n.X.
Power Input Selection for Three-phase SERVOPACK Reference

0 Use a three-phase power supply input.
n. X
*1
Use a three-phase power supply input as a single-phase power
1
supply input.
2 Application Function 0000h to – 0000h – After Setup *1

Selections C 0131h restart
Applicable
Function Selection for Test without a Motor
Motors
n.X
0 Disable tests without a motor.
All
1 Enable tests without a motor.
Applicable
Encoder Resolution for Tests without a Motor
Motors
0 Use 13 bits.
Pn00C n.X 1 Use 20 bits.
Rotary
2 Use 22 bits.
3 Use 24 bits.
Applicable
Encoder Type Selection for Tests without a Motor
Motors
n.X
0 Use an incremental encoder.
All
1 Use an absolute encoder.
Application Function 0000h to After *1

Selections D 1001h restart
n.X Reserved parameter (Do not change.)
n.X Reserved parameter (Do not change.)

Pn00D
Overtravel Warning Detection Selection

n.X 0 Do not detect overtravel warnings.
1 Detect overtravel warnings.
4-8

Size
Name
2
Selections F 2011h
– 0000h All
restart
Setup –
Preventative Maintenance Warning Selection Reference

n. X 0 Do not detect preventative maintenance warnings.
*1
Pn00F 1 Detect preventative maintenance warnings.
n. X Reserved parameter (Do not change.)
Axis Address Selection 0000h to After

Pn010 2 for UART/USB Commu- – 0001h All Setup –
nications 007Fh restart
Pn021 2 Reserved parameter (Do – – 0000h All – – –

not change.)
Reserved parameter (Do
Pn022 2 – – 0000h All – – –
not change.)
Pn040 2 not change.) – – 0000h – – – –
2 Application Function 0000h to – 0000h All After Setup *1

Phase-C Pulse Output Selection

n. X 0 Output phase-C pulses only in the forward direction.
1 Output phase-C pulses in both the forward and reverse directions.
Pn081
Pn100 2 Speed Loop Gain 10 to 20,000 0.1 Hz 400 All Immedi- Tuning *1
ately
Speed Loop Integral Immedi- *1
Pn101 2 15 to 51,200 0.01 ms 2000 All Tuning
Time Constant ately
Immedi- *1
Pn102 2 Position Loop Gain 10 to 20,000 0.1/s 400 All ately Tuning
Pn103 2 Moment of Inertia Ratio 0 to 20,000 1% 100 All Immedi- Tuning *1

ately
Second Speed Loop Immedi- *1
Pn104 2 10 to 20,000 0.1 Hz 400 All Tuning
Gain ately
Pn105 2 Integral Time Constant 15 to 51,200 0.01 ms 2000 All ately Tuning
Pn106 2 Second Position Loop 10 to 20,000 0.1/s 400 All Immedi- Tuning *1
Gain ately
Immedi- *1
Pn109 2 Feedforward 0 to 100 1% 0 All Tuning
ately
Feedforward Filter Time Immedi- *1
Pn10A 2 Constant 0 to 6,400 0.01 ms 0 All ately Tuning
Parameter Lists
4-9

Size
Name
Gain Application Selec- 0000h to
2 – 0000h All – Setup –
tions 5334h
When
Mode Switching Selection Reference
Enabled
Use the internal torque reference as the condition
0
(level setting: Pn10C).
Use the speed reference as the condition (level set-
ting: Pn10D).
1
n.X ting: Pn181).
Immedi- *1
Use the acceleration reference as the condition (level ately
setting: Pn10E).
2
Use the acceleration reference as the condition (level
Pn10B setting: Pn182).
Use the position deviation as the condition (level set-
3
ting: Pn10F).
4 Do not use mode switching.
When
Speed Loop Control Method Reference
Enabled
n.X 0 PI control
After *1
1 I-P control restart
2 to 3 Reserved settings (Do not use.)
Pn10C 2 Mode Switching Level 0 to 800 1% 200 All Immedi- Tuning *1

for Torque Reference ately
Mode Switching Level Immedi-
Pn10D 2
for Speed Reference
0 to 10,000 1 min-1 0 Rotary
ately
Tuning *1
Mode Switching Level Immedi- *1

Pn10E 2 0 to 30,000 1 min-1/s 0 Rotary Tuning
for Acceleration ately
1 refer-
Pn10F 2 Mode Switching Level 0 to 10,000 ence 0 All Immedi- Tuning *1
for Position Deviation ately
unit
Position Integral Time Immedi- *1
Pn11F 2 Constant 0 to 50,000 0.1 ms 0 All ately Tuning
Pn121 2 Friction Compensation 10 to 1,000 1% 100 All Immedi- Tuning *1

Gain ately
Second Friction Com- Immedi- *1
Pn122 2 10 to 1,000 1% 100 All Tuning
pensation Gain ately
Friction Compensation Immedi- *1
Pn123 2 Coefficient 0 to 100 1% 0 All ately Tuning
Pn124 2 Friction Compensation -10,000 to 0.1 Hz 0 All Immedi- Tuning *1

Frequency Correction 10,000 ately
Pn125 2 1 to 1,000 1% 100 All Tuning
Gain Correction ately
Immedi- *1
Pn131 2 Gain Switching Time 1 0 to 65,535 1 ms 0 All ately Tuning
Pn132 2 Gain Switching Time 2 0 to 65,535 1 ms 0 All Immedi- Tuning *1

ately
Gain Switching Waiting Immedi- *1
Pn135 2 0 to 65,535 1 ms 0 All Tuning
Time 1 ately
Pn136 2 Time 2 0 to 65,535 1 ms 0 All ately Tuning
4-10

Size
Name
Automatic Gain Switch- 0000h to Immedi-
2 – 0000h All Tuning *1
ing Selections 1 0052h ately
Gain Switching Selection

Use manual gain switching.
0
The gain is switched manually with the /G-SEL (Gain Selection) signal.
n. X 1 Reserved setting (Do not use.)
Use automatic gain switching pattern 1.
The gain is switched automatically from the first gain to the second gain when
2
switching condition A is satisfied. The gain is switched automatically from the
second gain to the first gain when switching condition A is not satisfied.
Pn139 Gain Switching Condition A

0 /COIN (Positioning Completion Output) signal turns ON.
1 /COIN (Positioning Completion Output) signal turns OFF.
n. X 2 /NEAR (Near Output) signal turns ON.
3 /NEAR (Near Output) signal turns OFF.
4 Position reference filter output is 0 and reference pulse input is OFF.
5 Position reference pulse input is ON.
Immedi- *1
Pn13D 2 Current Gain Level 100 to 2,000 1% 2000 All Tuning
ately
Model Following Con- 0000h to Immedi-
2 trol-Related Selections 1121h – 0100h All ately Tuning –
Model Following Control Selection Reference

n. X 0 Do not use model following control.
*1
1 Use model following control.
Vibration Suppression Selection Reference

0 Do not perform vibration suppression.
n. X
1 Perform vibration suppression for a specific frequency. *1
2 Perform vibration suppression for two specific frequencies.

Pn140
Vibration Suppression Adjustment Selection Reference
Do not adjust vibration suppression automatically during execu-
0 tion of autotuning without a host reference, autotuning with a
n. X host reference, and custom tuning.
*1
Adjust vibration suppression automatically during execution of
1 autotuning without a host reference, autotuning with a host ref-
erence, and custom tuning.
Speed Feedforward (VFF)/Torque Feedforward (TFF) Selection Reference

Do not use model following control and speed/torque feedfor-
0
n.X ward together.
*1
Use model following control and speed/torque feedforward
1
together.
Parameter Lists
Model Following Con- Immedi- *1

Pn141 2 trol Gain 10 to 20,000 0.1/s 500 All ately Tuning
Pn142 2 Model Following Con- 500 to 2,000 0.1% 1000 All Immedi- Tuning *1
trol Gain Correction ately
Model Following Con-
Immedi- *1
Pn143 2 trol Bias in the Forward 0 to 10,000 0.1% 1000 All ately Tuning
Direction
4
4-11

Size
Name
Immedi- *1
Pn144 2 trol Bias in the Reverse 0 to 10,000 0.1% 1000 All ately Tuning
Direction
Vibration Suppression 1 Immedi- *1
Frequency A ately
Pn146 2 Frequency B 10 to 2,500 0.1 Hz 700 All ately Tuning
Model Following Con- Immedi-

Pn147 2 trol Speed Feedforward 0 to 10,000 0.1% 1000 All Tuning *1
Compensation ately
Pn148 2 Second Model Follow- 10 to 20,000 0.1/s 500 All Immedi- Tuning *1
ing Control Gain ately
Second Model Follow-
Immedi- *1
Pn149 2 ing Control Gain Correc- 500 to 2,000 0.1% 1000 All ately Tuning
tion
Pn14A 2 10 to 2,000 0.1 Hz 800 All Tuning
Frequency ately
Pn14B 2 Correction 10 to 1,000 1% 100 All ately Tuning
2 Control-Related Selec- 0000h to – 0021h All After Tuning –

tions 0021h restart
Model Following Control Type Selection Reference

n.X 0 Use model following control type 1.
*1
1 Use model following control type 2.
Pn14F Tuning-less Type Selection Reference

0 Use tuning-less type 1.
n.X
1 Use tuning-less type 2. *1
Anti-Resonance Con- 0000h to Immedi-

Anti-Resonance Control Selection Reference

n.X 0 Do not use anti-resonance control.
*1
1 Use anti-resonance control.
Anti-Resonance Control Adjustment Selection Reference

Pn160 Do not adjust anti-resonance control automatically during execu-
0 tion of autotuning without a host reference, autotuning with a host
n.X reference, and custom tuning.
*1
Adjust anti-resonance control automatically during execution of
1 autotuning without a host reference, autotuning with a host refer-
ence, and custom tuning.
Anti-Resonance Fre- Immedi- *1

quency ately
Anti-Resonance Gain Immedi- *1
Pn162 2 1 to 1,000 1% 100 All Tuning
Correction ately
Anti-Resonance Damp- Immedi- *1
Pn163 2 ing Gain 0 to 300 1% 0 All ately Tuning
4-12

Size
Name
Anti-Resonance Filter
-1,000 to Immedi- *1
Pn164 2 Time Constant 1 Cor- 1,000 0.01 ms 0 All ately Tuning
rection
rection
Pn166 2 0 to 1,000 1% 0 All Tuning
ing Gain 2 ately
Tuning-less Function- 0000h to *1
2 Related Selections 2711h – 1401h All – Setup
When
Tuning-less Selection
Enabled
n. X
0 Disable tuning-less function. After
1 Enable tuning-less function. restart
When
Speed Control Method
Enabled
n. X
0 Use for speed control. After
Pn170 restart
1 Use for speed control and use host controller for position control.
When
Rigidity Level
Enabled
n. X
Immedi-
0 to 7 Set the rigidity level.
ately
When
Tuning-less Load Level
Enabled
n.X
Immedi-
0 to 2 Set the load level for the tuning-less function.
ately
Parameter Lists
4-13

Size
Name
Position Control Refer- 0000h to After
ence For Selections 2236h restart
Reference Pulse Form Reference

0 Sign and pulse train, positive logic.
1 CW and CCW pulse trains, positive logic
Two-phase pulse trains with 90° phase differential (phase A and
2
phase B) ×1, positive logic
n.X Two-phase pulse trains with 90° phase differential (phase A and
3 *1
4
5 Sign and pulse train, negative logic.
6 CW and CCW pulse trains, negative logic
Clear Signal Form Reference

0 Clear position deviation when the signal is at high level.
Pn200
n.X 1 Clear position deviation on the rising edge of the signal.
*1
2 Clear position deviation when the signal is at low level.
3 Clear position deviation on the falling edge of the signal.
Clear Operation Reference

Clear position deviation at a base block (at servo OFF or when
0
alarm occurs).
n.X
Do not clear position error (cleared only with CLR (Clear Position *1
1
Deviation) signal).
2 Clear position deviation when an alarm occurs.
Filter Selection Reference

0 Use the reference input filter for a line-driver signal. (1 Mpps max.)
n.X Use the reference input filter for an open-collector signal. (200
1 *1
kpps max.)
2 Use reference input filter 2 for a line-driver signal. (1 to 4 Mpps)
After *1
Pn205 2 Multiturn Limit 0 to 65,535 1 rev 65535 Rotary restart Setup
2 Position Control Func- 0000h to – 0000h All After Setup –

tion Selections 2210h restart
Position Control Option Reference

n.X 0 Do not use V-REF.
*1
1 Use V-REF as a speed feedback input.
Pn207 Refer-
/COIN (Positioning Completion Output) Signal Output Timing
ence
Output when the absolute value of the position deviation is the
0 same or less than the setting of Pn522 (Positioning Completed
Width).
n.X Output when the absolute value of the position error is the same
1 or less than the setting of Pn522 (Positioning Completed Width) *1
and the reference after the position reference filter is 0.
Output when the absolute value of the position error is the same
2 or less than the setting of Pn522 (Positioning Completed Width)
and the reference input is 0.
4-14

Size
Name
1 scale
Pn20A 4 Number of External 4 to pitch/ 32768 Rotary After Setup *1
Encoder Scale Pitches 1,048,576 revolu- restart
tion
Pn20E 4 Electronic Gear Ratio 1 to 1 64 All After Setup *1

(Numerator) 1,073,741,824 restart
Electronic Gear Ratio 1 to After *1
Pn210 4 1 1 All Setup
(Denominator) 1,073,741,824 restart
Number of Encoder 16 to After *1
Pn212 4 Output Pulses 1,073,741,824 1 P/Rev 2048 Rotary restart Setup
Position Reference Immedi-

ately after *1
Pn216 2 Acceleration/Decelera- 0 to 65,535 0.1 ms 0 All the motor Setup
tion Time Constant
stops
Immedi-
Average Position Refer- ately after *1
Pn217 2 0 to 10,000 0.1 ms 0 All Setup
ence Movement Time the motor
stops
Reference Pulse Input Immedi-
Pn218 2 1 to 100 ×1 1 All Setup *1
Multiplier ately
Fully-closed Control 0000h to After *1
2 Selections 1003h – 0000h Rotary restart Setup

Pn22A
Fully-closed Control Speed Feedback Selection

n.X 0 Use motor encoder speed.
1 Use external encoder speed.
Encoder Output Resolu- 1 edge/ After *1

Pn281 2 tion 1 to 4,096 pitch 20 All restart Setup
0.01 V/
Speed Reference Input Rated Immedi- *1
Pn300 2 Gain 150 to 3,000 motor 600 All ately Setup
speed
Rotary:
1 min-1
Direct Immedi- *1
Pn301 2 Internal Set Speed 1 0 to 10,000 100 Rotary Setup
Drive: ately
0.1
min-1
Rotary:
1 min-1
Pn302 2 Internal Set Speed 2 0 to 10,000 Direct 200 Rotary Immedi- Setup *1
Drive: ately
0.1
min-1
Rotary:
1 min-1
Direct Immedi- *1
Pn303 2 Internal Set Speed 3 0 to 10,000 Drive: 300 Rotary ately Setup
0.1
min-1
Rotary:
Parameter Lists
1 min-1
Direct Immedi- *1
Pn304 2 Jogging Speed 0 to 10,000 500 Rotary Setup
Drive: ately
0.1
min-1
Soft Start Acceleration Immedi- *1
Pn305 2 0 to 10,000 1 ms 0 All Setup
Time ately
Soft Start Deceleration Immedi- *1
Pn306 2 0 to 10,000 1 ms 0 All Setup
Time ately 4
4-15

Size
Name
Speed Reference Filter Immedi- *1
Pn307 2 0 to 65,535 0.01 ms 40 All Setup
Time Constant ately
Speed Feedback Filter Immedi- *1
Pn308 2 Time Constant 0 to 65,535 0.01 ms 0 All ately Setup
Deceleration Time for Immedi-

Pn30A 2 Servo OFF and Forced 0 to 10,000 1 ms 0 All Setup *1
Stops ately
Speed Feedforward Immedi-

Pn30C 2 Average Movement 0 to 5,100 0.1 ms 0 All Setup *1
Time ately
2 Vibration Detection 0000h to – 0000h All Immedi- Setup *1

Selections 0002h ately
Vibration Detection Selection

0 Do not detect vibration.
n.X
1 Output a warning (A.911) if vibration is detected.
Pn310 2 Output an alarm (A.520) if vibration is detected.
Vibration Detection Sen- Immedi- *1

Pn311 2 50 to 500 1% 100 All Tuning
sitivity ately
Vibration Detection Immedi-
Pn312 2 Level 0 to 5,000 1 min-1 50 Rotary ately Tuning *1
After
Pn316 2 Maximum Motor Speed 0 to 65,535 1 min-1 10000 Rotary
restart
Setup *1
Moment of Inertia Cal- Immedi- *1

Pn324 2 0 to 20,000 1% 300 All Setup
culation Starting Level ately
0.1 V/
Pn400 2 Torque Reference Input 10 to 100 rated 30 All Immedi- Setup *1
Gain ately
torque
First Stage First Torque
Pn401 2 Reference Filter Time 0 to 65,535 0.01 ms 100 All Immedi- Tuning *1
ately
Constant
Immedi-
Pn402 2 Forward Torque Limit 0 to 800 1%*2 800 Rotary ately Setup *1
Immedi-
Pn403 2 Reverse Torque Limit 0 to 800 1%*2 800 Rotary
ately
Setup *1
Forward External Torque Immedi-

Pn404 2
Limit
0 to 800 1%*2 100 All
ately
Setup *1
Reverse External Torque Immedi-

Pn405 2 Limit 0 to 800 1%*2 100 All ately Setup *1
Immedi-
Pn406 2 Emergency Stop Torque 0 to 800 1%*2 800 All
ately
Setup *1
Speed Limit during Immedi-

Pn407 2
Torque Control
0 to 10,000 1 min-1 10000 Rotary
ately
Setup *1
4-16

Size
Name
Torque-Related Func- 0000h to
2 – 0000h All – Setup –
tion Selections 1111h
When
Notch Filter Selection 1 Reference
Enabled
n. X
0 Disable first stage notch filter. Immedi- *1
1 Enable first stage notch filter. ately
When
Speed Limit Selection Reference
Enabled
Use the smaller of the maximum motor speed and the
setting of Pn407 as the speed limit.
0
n. X
setting of Pn480 as the speed limit. After *1
Pn408 Use the smaller of the overspeed alarm detection restart
speed and the setting of Pn407 as the speed limit.
1
Use the smaller of the overspeed alarm detection
When
Enabled
n. X
0 Disable second stage notch filter. Immedi- *1
1 Enable second stage notch filter. ately
When
Friction Compensation Function Selection Reference
Enabled
n.X
0 Disable friction compensation. Immedi- *1
1 Enable friction compensation. ately
First Stage Notch Filter Immedi- *1

Pn409 2 50 to 5,000 1 Hz 5000 All Tuning
Frequency ately
Pn40A 2 Q Value 50 to 1,000 0.01 70 All ately Tuning
Pn40B 2 First Stage Notch Filter 0 to 1,000 0.001 0 All Immedi- Tuning *1
Depth ately
Second Stage Notch Fil- Immedi- *1
Pn40C 2 50 to 5,000 1 Hz 5000 All Tuning
ter Frequency ately
Pn40D 2 ter Q Value 50 to 1,000 0.01 70 All ately Tuning
Pn40E 2 Second Stage Notch Fil- 0 to 1,000 0.001 0 All Immedi- Tuning *1
ter Depth ately
Second Stage Second
Immedi- *1
Pn40F 2 Torque Reference Filter 100 to 5,000 1 Hz 4000 All ately Tuning
Frequency
Second Stage Second
Immedi- *1
Pn410 2 Torque Reference Filter 50 to 100 0.01 50 All ately Tuning
Q Value
First Stage Second
Immedi- *1
Pn412 2 Torque Reference Filter 0 to 65,535 0.01 ms 100 All ately Tuning
Time Constant
T-REF Filter Time Con- Immedi- *1
Pn415 2 0 to 65,535 0.01 ms 0 All Setup
stant ately
Parameter Lists
4-17

Size
Name
Torque-Related Func- 0000h to Immedi-
2 – 0000h All Setup *1
tion Selections 2 1111h ately
Notch Filter Selection 3

n.X 0 Disable third stage notch filter.
1 Enable third stage notch filter.

Pn416 n.X 0 Disable fourth stage notch filter.
1 Enable fourth stage notch filter.

n.X 0 Disable fifth stage notch filter.
1 Enable fifth stage notch filter.
Pn417 2 Third Stage Notch Filter 50 to 5,000 1 Hz 5000 All Immedi- Tuning *1
Frequency ately
Third Stage Notch Filter Immedi- *1
Pn418 2 50 to 1,000 0.01 70 All Tuning
Q Value ately
Pn419 2 Depth 0 to 1,000 0.001 0 All ately Tuning
Pn41A 2 Fourth Stage Notch Fil- 50 to 5,000 1 Hz 5000 All Immedi- Tuning *1
ter Frequency ately
Fourth Stage Notch Fil- Immedi- *1
Pn41B 2 50 to 1,000 0.01 70 All Tuning
ter Q Value ately
Pn41C 2 ter Depth 0 to 1,000 0.001 0 All ately Tuning
Pn41D 2 Fifth Stage Notch Filter 50 to 5,000 1 Hz 5000 All Immedi- Tuning *1
Frequency ately
Fifth Stage Notch Filter Immedi- *1
Pn41E 2 50 to 1,000 0.01 70 All Tuning
Q Value ately
Pn41F 2 Depth 0 to 1,000 0.001 0 All ately Tuning
2 Speed Ripple Compen- 0000h to – 0000h Rotary – Setup *1

sation Selections 1111h
When
Speed Ripple Compensation Function Selection
Enabled
n.X
0 Disable speed ripple compensation. Immedi-
1 Enable speed ripple compensation. ately
Speed Ripple Compensation Information Disagreement Warning Detec- When

tion Selection Enabled
Pn423 n.X
0 Detect A.942 alarms. After
1 Do not detect A.942 alarms. restart
When
Speed Ripple Compensation Enable Condition Selection
Enabled
n.X
0 Speed reference After
1 Motor speed restart
Torque Limit at Main Cir- Immedi-

Pn424 2 cuit Voltage Drop 0 to 100 1%*2 50 All ately Setup *1
4-18

Size
Name
Release Time for Torque
Immedi- *1
Pn425 2 Limit at Main Circuit 0 to 1,000 1 ms 100 All ately Setup
Voltage Drop
Torque Feedforward
Immedi- *1
Pn426 2 Average Movement 0 to 5,100 0.1 ms 0 All ately Setup
Time
Speed Ripple Compen- Rotary Ser- Immedi-
Pn427 2
sation Enable Speed
0 to 10,000 1 min-1 0
vomotor ately
Tuning *1
Sweep Torque Refer- Immedi- *1

Pn456 2 ence Amplitude 1 to 800 1% 15 All ately Tuning
2 Notch Filter Adjustment 0000h to – 0101h All Immedi- Tuning *1

Selections 1 0101h ately
Notch Filter Adjustment Selection 1

Do not adjust the first stage notch filter automatically during execution of auto-
0 tuning without a host reference, autotuning with a host reference, and custom
n. X
tuning.
Adjust the first stage notch filter automatically during execution of autotuning
1
without a host reference, autotuning with a host reference, and custom tuning.
Pn460 n. X Reserved parameter (Do not change.)

Do not adjust the second stage notch filter automatically when the tuning-less
0 function is enabled or during execution of autotuning without a host reference,
n. X autotuning with a host reference, and custom tuning.
Adjust the second stage notch filter automatically when the tuning-less func-
1 tion is enabled or during execution of autotuning without a host reference,
autotuning with a host reference, and custom tuning.
Gravity Compensation- 0000h to After *1

2 Related Selections 0001h – 0000h All restart Setup
n.X Gravity Compensation Selection

0 Disable gravity compensation.
1 Enable gravity compensation.
Pn475
Pn476 2 Gravity Compensation -1,000 to 0.1% 0 All Immedi- Tuning *1

Torque 1,000 ately
Immedi-
Pn501 2 Zero Clamping Level 0 to 10,000 1 min-1 10 Rotary
ately
Setup *1
Immedi-
Pn502 2 Rotation Detection Level 1 to 10,000 1 min-1 20 Rotary ately Setup *1
Speed Coincidence Immedi-

Pn503 2 Detection Signal Output 0 to 100 1 min-1 10 Rotary
ately
Setup *1
Width
Brake Reference-Servo Immedi-
Parameter Lists
Pn506 2 0 to 50 10 ms 0 All Setup *1

OFF Delay Time ately
Brake Reference Out- Immedi-
Pn507 2
put Speed Level
0 to 10,000 1 min-1 100 Rotary
ately
Setup *1
Servo OFF-Brake Com- Immedi- *1

Pn508 2 mand Waiting Time 10 to 100 10 ms 50 All ately Setup
Pn509 2 Momentary Power Inter- 20 to 50,000 1 ms 20 All Immedi- Setup *1

ruption Hold Time ately
4-19

Size
Name
Input Signal Selections 0000h to After
1 FFF2h restart
Input Signal Allocation Mode Reference

Use the sequence input signal terminals with the default alloca-
0
n.X tions.
*1
1 Change the sequence input signal allocations.
/S-ON (Servo ON) Signal Allocation Reference

0 Active when CN1-40 input signal is ON (closed).
n.X 7 The signal is always active.
*1
8 The signal is always inactive.
9 Active when CN1-40 input signal is OFF (open).
A Active when CN1-41 input signal is OFF (open).
B Active when CN1-42 input signal is OFF (open).
C Active when CN1-43 input signal is OFF (open).
D Active when CN1-44 input signal is OFF (open).
Pn50A E Active when CN1-45 input signal is OFF (open).
F Active when CN1-46 input signal is OFF (open).
/P-CON (Proportional Control) Signal Allocation Reference

n.X The allocations are the same as the /S-ON (Servo ON) signal allo-
0 to F *1
cations.
P-OT (Forward Drive Prohibit) Signal Allocation Reference

0 Enable forward drive when CN1-40 input signal is ON (closed).
n.X 7 Set the signal to always prohibit forward drive.
*1
8 Set the signal to always enable forward drive.
9 Enable forward drive when CN1-40 input signal is OFF (open).
A Enable forward drive when CN1-41 input signal is OFF (open).
B Enable forward drive when CN1-42 input signal is OFF (open).
C Enable forward drive when CN1-43 input signal is OFF (open).
D Enable forward drive when CN1-44 input signal is OFF (open).
E Enable forward drive when CN1-45 input signal is OFF (open).
F Enable forward drive when CN1-46 input signal is OFF (open).
4-20

Size
Name
2 FFFFh restart
N-OT (Reverse Drive Prohibit) Signal Allocation Reference

0 Enable reverse drive when CN1-40 input signal is ON (closed).
n. X 7 Set the signal to always prohibit reverse drive.
*1
8 Set the signal to always enable reverse drive.
9 Enable reverse drive when CN1-40 input signal is OFF (open).
A Enable reverse drive when CN1-41 input signal is OFF (open).
B Enable reverse drive when CN1-42 input signal is OFF (open).
C Enable reverse drive when CN1-43 input signal is OFF (open).
D Enable reverse drive when CN1-44 input signal is OFF (open).
E Enable reverse drive when CN1-45 input signal is OFF (open).
F Enable reverse drive when CN1-46 input signal is OFF (open).
/ALM-RST (Alarm Reset) Signal Allocation Reference

Active on signal edge when CN1-40 input signal changes from
0
OFF (open) to ON (closed).
1
2
Pn50B
3
4
5
6
n. X 7 Reserved setting (Do not use.)
*1
Active on signal edge when CN1-40 input signal changes from ON
9
(closed) to OFF (open).
A
B
C
D
E
Parameter Lists
F
/P-CL (Forward External Torque Limit Input) Signal Allocation Reference

n. X
0 to F The allocations are the same as the /S-ON (Servo ON) signal allocations. *1
/N-CL (Reverse External Torque Limit Input) Signal Allocation Reference

n.X
4
4-21

Size
Name
3 FFFFh restart
/SPD-D (Motor Direction) Signal Allocation Reference

n.X 7 The signal is always active.
*1
Pn50C C Active when CN1-43 input signal is OFF (open).
E Active when CN1-45 input signal is OFF (open).
/SPD-A (Internal Set Speed Selection Input) Signal Allocation Reference

n.X The allocations are the same as the /SPD-D (Motor Direction) sig-
0 to F *1
nal allocations.
/SPD-B (Internal Set Speed Selection Input) Signal Allocation Reference

n.X The allocations are the same as the /SPD-D (Motor Direction) sig-
0 to F *1
nal allocations.
/C-SEL (Control Selection Input) Signal Allocation Reference

n.X The allocations are the same as the /SPD-D (Motor Direction) sig-
0 to F *1
nal allocations.
4-22

Size
Name
2 – 8888h – Setup –
4 FFFFh restart
Applicable
/ZCLAMP (Zero Clamping Input) Signal Allocation Reference
Motors
n. X
7 The signal is always active.
All *1
Pn50D A Active when CN1-41 input signal is OFF (open).

Applicable
/INHIBIT (Reference Pulse Inhibit Input) Signal Allocation Reference
Motors
n. X
The allocations are the same as the /ZCLAMP *1
0 to F All
(Zero Clamping Input) signal allocations.
Applicable
/G-SEL (Gain Selection Input) Signal Allocation Reference
Motors
n. X
0 to F All
Parameter Lists
4-23

Size
Name
Output Signal Selec- 0000h to After
tions 1 6666h restart
/COIN (Positioning Completion Output) Signal Allocation Reference

0 Disabled (the above signal output is not used).
1 Output the signal from the CN1-25 or CN1-26 output terminal.
n.X 2 Output the signal from the CN1-27 or CN1-28 output terminal.
3 Output the signal from the CN1-29 or CN1-30 output terminal. *1
4 Output the signal from the CN1-37 output terminal.

Pn50E
/V-CMP (Speed Coincidence Detection Output) Signal Allocation Reference
n.X The allocations are the same as the /COIN (Positioning Comple-
0 to 6 *1
tion) signal allocations.
/TGON (Rotation Detection Output) Signal Allocation Reference

n.X The allocations are the same as the /COIN (Positioning Comple-
0 to 6 *1
/S-RDY (Servo Ready) Signal Allocation Reference

n.X The allocations are the same as the /COIN (Positioning Comple-
0 to 6 *1
2 Output Signal Selec- 0000h to – 0000h All After Setup –

/CLT (Torque Limit Detection Output) Signal Allocation Reference

n.X

Pn50F
/VLT (Speed Limit Detection) Signal Allocation Reference
n.X The allocations are the same as the /CLT (Torque Limit Detection
0 to 6 *1
Output) signal allocations.
/BK (Brake Output) Signal Allocation Reference

n.X The allocations are the same as the /CLT (Torque Limit Detection
0 to 6 *1
/WARN (Warning Output) Signal Allocation Reference

n.X The allocations are the same as the /CLT (Torque Limit Detection
0 to 6 *1
4-24

Size
Name
/NEAR (Near Output) Signal Allocation Reference

n. X

Pn510 5 Output the signal from the CN1-38 output terminal.
/PSELA (Reference Pulse Input Multiplication Switching Output) Signal

Reference
Allocation
n. X
The allocations are the same as the /NEAR (Near) signal alloca- *1
0 to 6
tions.
Output Signal Inverse 0000h to After *1

Settings 1111h restart
Output Signal Inversion for CN1-25 and CN1-26 Terminals

n. X 0 The signal is not inverted.
1 The signal is inverted.

n. X 0 The signal is not inverted.
Pn512 1 The signal is inverted.

n. X 0 The signal is not inverted.
Output Signal Inversion for CN1-37 Terminal

n.X 0 The signal is not inverted.

Settings 2 0011h restart

Pn513 Output Signal Inversion for CN1-39 Terminal

Parameter Lists

4
4-25

Size
Name
/PM (Preventative Maintenance Output) Signal Allocation Reference

Pn514 1 Output the signal from the CN1-25 or CN1-26 output terminal.
n.X

4-26

Size
Name
6 FFFFh restart
SEN (Absolute Data Request Input) Signal Allocation Reference

n. X 7 The signal is always active.
*1
8 Enable when 5 V is input to CN1-4.
Pn515 /PSEL (Reference Pulse Input Multiplication Switching Input) Signal Allo-
Reference
cation
n.X
7 The signal is always enabled.
*1

Parameter Lists
4-27

Size
Name
7 FFFFh restart
FSTP (Forced Stop Input) Signal Allocation Reference

0 Enable drive when CN1-40 input signal is ON (closed).
Set the signal to always prohibit drive (always force the motor to
7
n.X stop).
*1
Set the signal to always enable drive (always disable forcing the
Pn516 8
motor to stop).
9 Enable drive when CN1-40 input signal is OFF (open).
A Enable drive when CN1-41 input signal is OFF (open).
B Enable drive when CN1-42 input signal is OFF (open).
C Enable drive when CN1-43 input signal is OFF (open).
D Enable drive when CN1-44 input signal is OFF (open).
E Enable drive when CN1-45 input signal is OFF (open).
F Enable drive when CN1-46 input signal is OFF (open).
Output Signal Selec- 0000h to After *1

2 tions 5 0666h – 0654h All restart Setup
ALO1 (Alarm Code Output) Signal Allocation

n.X
Pn517

n.X The allocations are the same as the ALO1 (Alarm Code Output) signal alloca-
0 to 6
tions.

n.X The allocations are the same as the ALO1 (Alarm Code Output) signal alloca-
0 to 6
tions.
Safety Module-Related
Pn518*3 – – – – All – – –
Parameters
4-28

Size
Name
Motor-Load Position 1 refer-
0 to Immedi- *1
Pn51B 4 Deviation Overflow 1,073,741,824 ence 1000 Rotary ately Setup
Detection Level unit
Position Deviation Over- Immedi- *1
Pn51E 2 10 to 100 1% 100 All Setup
flow Warning Level ately
1 refer-
Pn520 4 Position Deviation Over- 1 to ence 524288 All Immedi- Setup *1
flow Alarm Level 1,073,741,823 0 ately
unit
1 refer-
Pn522 4 Positioning Completed 0 to ence 7 All Immedi- Setup *1
Width 1,073,741,824 ately
unit
1 refer-
Pn524 4 Near Signal Width 1 to ence 107374 All Immedi- Setup *1
1,073,741,824 1824 ately
unit
Position Deviation Over- 1 refer-
Pn526 4 flow Alarm Level at 1 to ence 524288 All Immedi- Setup *1
1,073,741,823 0 ately
Servo ON unit
Pn528 2 flow Warning Level at 10 to 100 1% 100 All Immedi- Setup *1
ately
Servo ON
Speed Limit Level at Immedi-
Pn529 2 Servo ON 0 to 10,000 1 min-1 10000 Rotary ately Setup *1
Pn52A 2 Multiplier per Fully- 0 to 100 1% 20 Rotary Immedi- Tuning *1

closed Rotation ately
Immedi- *1
Pn52B 2 Overload Warning Level 1 to 100 1% 20 All Setup
ately
Base Current Derating
Pn52C 2 at Motor Overload 10 to 100 1% 100 All After Setup *1
restart
Detection
Monitor Display at 0000h to Immedi- *1
Pn52F 2 Startup 0FFFh – 0FFFh All ately Setup
2 Program Jogging- 0000h to – 0000h All Immedi- Setup *1

Related Selections 0005h ately
Program Jogging Operation Pattern

(Waiting time in Pn535 → Forward by travel distance in Pn531) × Number of
0
movements in Pn536
(Waiting time in Pn535 → Reverse by travel distance in Pn531) × Number of
1
movements in Pn536
movements in Pn536
2
movements in Pn536
n. X
movements in Pn536
Pn530 3
movements in Pn536
(Waiting time in Pn535 → Forward by travel distance in Pn531 → Waiting time
4 in Pn535 → Reverse by travel distance in Pn531) × Number of movements in
Pn536
(Waiting time in Pn535 → Reverse by travel distance in Pn531 → Waiting time
5 in Pn535 → Forward by travel distance in Pn531) × Number of movements in
Pn536

Parameter Lists
1 refer-
Program Jogging Travel 1 to Immedi- *1
Pn531 4 Distance 1,073,741,824 ence 32768 All ately Setup
unit
4
4-29

Size
Name
Rotary:
1 min-1
Pn533 2 Program Jogging Move- 1 to 10,000 Direct 500 Rotary Immedi- Setup *1
ment Speed Drive: ately
0.1
min-1
Program Jogging Accel- Immedi-
Pn534 2 eration/Deceleration 2 to 10,000 1 ms 100 All Setup *1
Time ately
Pn535 2 Program Jogging Wait- 0 to 10,000 1 ms 100 All Immedi- Setup *1

ing Time ately
Program Jogging Num- Immedi- *1
Pn536 2 0 to 1,000 Times 1 All Setup
ber of Movements ately
Analog Monitor 1 Offset -10,000 to Immedi- *1
Pn550 2 Voltage 10,000 0.1 V 0 All ately Setup
Pn551 2 Analog Monitor 2 Offset -10,000 to 0.1 V 0 All Immedi- Setup *1

Voltage 10,000 ately
Analog Monitor 1 Mag- -10,000 to Immedi-
Pn552 2 × 0.01 100 All Setup *1
nification 10,000 ately
Pn553 2 nification 10,000 × 0.01 100 All ately Setup *1
Pn55A 2 Power Consumption 1 to 1,440 1 min 1 All Immedi- Setup −

Monitor Unit Time ately
Residual Vibration Immedi- *1
Pn560 2 1 to 3,000 0.1% 400 All Setup
Detection Width ately
Overshoot Detection Immedi- *1
Pn561 2 Level 0 to 100 1% 100 All ately Setup
Regenerative Resistor Depends on Immedi- *1

Pn600 2 10 W 0 All Setup
Capacity*4 model.*5 ately
Dynamic Brake Resis-
Pn601 2 tor Allowable Energy 0 to 65,535 10 J 0 All After Setup *6
restart
Consumption
Regenerative Resis- Immedi- *1
Pn603 2 tance 0 to 65,535 10 mΩ 0 All ately Setup
Pn604 2 Dynamic Brake Resis- 0 to 65,535 10 mΩ 0 All After Setup *6

tance restart
Overheat Protection 0000h to After *1
2 – 0000h Linear Setup
Selections 0003h restart
n.X Overheat Protection Selection

0 Disable overheat protection.
1 Use overheat protection in the Yaskawa Linear Servomotor.*7
Monitor a negative voltage input from a sensor attached to the machine and
2
Pn61A use overheat protection.
Monitor a positive voltage input from a sensor attached to the machine and
3
use overheat protection.
Pn61B Immedi-
2 Overheat Alarm Level 0 to 500 0.01 V 250 All Setup *1
*8 ately
Pn61C Immedi-
2 Overheat Warning Level 0 to 100 1% 100 All Setup *1
*8 ately
Pn61D Overheat Alarm Filter Immedi-
2 0 to 65,535 1s 0 All Setup *1
*8 Time ately
Pn621 to Safety Module-Related

– – – – All – – –
Pn628*3 Parameters
4-30

S800001 26)
*2. Set a percentage of the motor rated torque.
*3. These parameters are for SERVOPACKs with a Safety Module. Refer to the following manual for details.
C720829 06)
*4. Normally set this parameter to 0. If you use an External Regenerative Resistor, set the capacity (W) of the Exter-
nal Regenerative Resistor.
*5. The upper limit is the maximum output capacity (W) of the SERVOPACK.
*6. These parameters are for SERVOPACKs with the dynamic brake option. Refer to the following manual for details.
*7. The SGLFW2 is the only Yaskawa Linear Servomotor that supports this function.
*8. Enabled only when Pn61A is set to n.2 or n.3.
Parameter Lists
4-31

• Reserved parameters

Size
Name

*1
Pn000

1 *1
the dynamic brake.

0
1
Pn001 n.X Decelerate the motor to a stop using the torque set in Pn406 as
2 *1
3
Pn30A and then servo-lock the motor.
4

0
n.X
*1
4-32

Size
Name
2 – 0000h – Setup –
MECHATROLINK Command Position and Speed Control Applicable

Reference
Option Motors
0 Ignore the settings of P_TLIM, NTLIM, and TFF.
n. X 1 Use P_TLIM and N_TLIM as torque limits.
All *2
2 Use TFF as a torque feedback input.
Use P_TLIM or N_TLIM as the torque limit when
3
P_CL or N_CL in the OPTION field is ON.
Applicable
Torque Control Option Reference
Motors
Ignore the setting of the speed limit for torque con-
n. X 0
trol (VLIM).
All *2
Use the speed limit for torque control (VLIM) as the
1
speed limit.
Pn002
Applicable
Encoder Usage Reference
Motors
0
n. X tions. All

2 Rotary
encoder.
Applicable
Motors
1

3
Parameter Lists
4-33

Size
Name

n.XX 08
pleted: 0 V)
Pn006
0C
pleted: 0 V)
4-34

Size
Name

n. XX 08
pleted: 0 V)
Pn007
0C
pleted: 0 V)

2 Selections 8 7121h – 4000h Rotary restart Setup –

n. X 0 Output alarm (A.830) for low battery voltage.
*1

Pn008 n. X 1 Detect undervoltage warning and limit torque at host controller. *1
2

n. X 0 Detect warnings.
*1

Parameter Lists
4-35

Size
Name

1 *1

*1

2
Selections A 0044h
– 0001h All
restart
Setup –

0
2 *1
stopping.
4

0
2 *1
stopping.
4
4-36

Size
Name

*1

1 *1

n. X
*1
1
supply input.

Applicable
Motors
n. X
All
Applicable
Motors
0 Use 13 bits.
Rotary
2 Use 22 bits.
3 Use 24 bits.
Applicable
Motors
n. X
All


Pn00D
Parameter Lists


4
4-37

Size
Name
2
Selections F 2011h
– 0000h All
restart
Setup –

n.X 0 Do not detect preventative maintenance warnings.
*1

not change.)
Pn022 2 – – 0000h All – – –
not change.)
Pn040 2 not change.) – – 0000h – – – –


n.X 0 Output phase-C pulses only in the forward direction.
Pn081
Immedi- *1
Pn100 2 Speed Loop Gain 10 to 20,000 0.1 Hz 400 All ately Tuning
Pn101 2 Speed Loop Integral 15 to 51,200 0.01 ms 2000 All Immedi- Tuning *1
Time Constant ately
Immedi- *1
Pn102 2 Position Loop Gain 10 to 20,000 0.1/s 400 All Tuning
ately
Immedi- *1
Pn103 2 Moment of Inertia Ratio 0 to 20,000 1% 100 All Tuning
ately
Pn104 2 Gain 10 to 20,000 0.1 Hz 400 All ately Tuning
Pn105 2 Second Speed Loop 15 to 51,200 0.01 ms 2000 All Immedi- Tuning *1
Integral Time Constant ately
Second Position Loop Immedi- *1
Pn106 2 10 to 20,000 0.1/s 400 All Tuning
Gain ately
Immedi- *1
Pn109 2 Feedforward 0 to 100 1% 0 All ately Tuning
Pn10A 2 Feedforward Filter Time 0 to 6,400 0.01 ms 0 All Immedi- Tuning *1

Constant ately
4-38

Size
Name
2 – 0000h All – Setup –
tions 5334h
When
Enabled
0
ting: Pn10D).
1
n. X ting: Pn181).
Immedi- *1
setting: Pn10E).
2
3
ting: Pn10F).
When
Enabled
n. X 0 PI control
After *1

Pn10D 2
for Speed Reference
0 to 10,000 1 min-1 0 Rotary
ately
Tuning *1

1 refer-
unit

Gain ately
Pn122 2 10 to 1,000 1% 100 All Tuning

Pn125 2 1 to 1,000 1% 100 All Tuning
Immedi- *1

ately
Parameter Lists

Time 1 ately
4-39

Size
Name
Automatic Gain Switch- 0000h to Immedi- *1
2 – 0000h All Tuning

0
The gain is switched manually with G_SEL in the Option field.
n.X 1 Reserved setting (Do not use.)
2

n.X 2 /NEAR (Near Output) signal turns ON.
4 Position reference filter output is 0 and position reference input is OFF.
5 Position reference input is ON.
Immedi- *1
Pn13D 2 Current Gain Level 100 to 2,000 1% 2000 All ately Tuning
2 Model Following Con- 0000h to – 0100h All Immedi- Tuning –

trol-Related Selections 1121h ately

n.X 0 Do not use model following control.
*1

n.X

Pn140
n.X host reference, and custom tuning.
*1

0
*1
1
together.

Immedi- *1
Direction
4-40

Size
Name
Immedi- *1
Direction
Frequency A ately

Compensation ately
Immedi- *1
tion
Frequency ately

tions 0021h restart

n. X 0 Use model following control type 1.
*1

n. X


n. X 0 Do not use anti-resonance control.
*1

n. X reference, and custom tuning.
*1

Parameter Lists

quency ately
Pn162 2 1 to 1,000 1% 100 All Tuning
Correction ately
4-41

Size
Name
rection
rection
Pn166 2 0 to 1,000 1% 0 All Tuning
ing Gain 2 ately
When
Enabled
n.X
When
Enabled
n.X
Pn170 restart
When
Rigidity Level
Enabled
n.X
Immedi-
ately
When
Enabled
n.X
Immedi-
ately
After *1

Refer-
Pn207 /COIN (Positioning Completion Output) Signal Output Timing
ence
Width).
1 scale
tion

4-42

Size
Name
Pn212 4 1 P/Rev 2048 Rotary Setup
Output Pulses 1,073,741,824 restart

Pn22A

Position Control Expan- 0000h to After *1

2 sion Function Selections 0001h – 0000h All restart Setup
Backlash Compensation Direction

n. X 0 Compensate forward references.
Pn230 1 Compensate reverse references.
-500,000 to 0.1 ref- Immedi-

Pn231 4 Backlash Compensation erence 0 All Setup *1
500,000 units ately
Pn233 2 Backlash Compensa- 0 to 65,535 0.01 ms 0 All Immedi- Setup *1

tion Time Constant ately
Pn281 2 1 to 4,096 20 All Setup
tion pitch restart
Rotary:
1 min-1
Direct Immedi- *1
Drive: ately
0.1
min-1
Pn305 2 0 to 10,000 1 ms 0 All Setup
Time ately
Pn306 2 Time 0 to 10,000 1 ms 0 All ately Setup
Pn308 2 Speed Feedback Filter 0 to 65,535 0.01 ms 0 All Immedi- Setup *1

Time Constant ately
Deceleration Time for
Immedi- *1
Pn30A 2 Servo OFF and Forced 0 to 10,000 1 ms 0 All ately Setup
Stops
Speed Feedforward
Immedi- *1
Pn30C 2 Average Movement 0 to 5,100 0.1 ms 0 All Setup
Time ately
Parameter Lists
4-43

Size
Name
Vibration Detection 0000h to Immedi- *1

n.X

Pn311 2 sitivity 50 to 500 1% 100 All ately Tuning

Pn312 2
Level
0 to 5,000 1 min-1 50 Rotary
ately
Tuning *1
After
restart
Setup *1

Pn324 2 culation Starting Level 0 to 20,000 1% 300 All ately Setup
First Stage First Torque Immedi-

Pn401 2 Reference Filter Time 0 to 65,535 0.01 ms 100 All Tuning *1
Constant ately
Immedi-
Pn402 2 Forward Torque Limit 0 to 800 1%*3 800 Rotary
ately
Setup *1
Immedi-
ately
Setup *1


Pn405 2
Limit
0 to 800 1%*3 100 All
ately
Setup *1
Immedi-
ately
Setup *1

Pn407 2 Torque Control 0 to 10,000 1 min-1 10000 Rotary ately Setup *1
4-44

Size
Name
2 – 0000h All – Setup –
When
Enabled
n. X
When
Enabled
0
n. X
1
When
Enabled
n. X
When
Enabled
n.X

Frequency ately
Depth ately
ter Frequency ately
ter Depth ately
Second Stage Second
Immedi- *1
Frequency
Second Stage Second
Immedi- *1
Q Value
First Stage Second
Immedi- *1
Time Constant
Parameter Lists
4-45

Size
Name
Torque-Related Func- 0000h to Immedi- *1


Pn416
n.X 0 Disable fourth stage notch filter.

Frequency ately
Pn418 2 50 to 1,000 0.01 70 All Tuning
Q Value ately
ter Frequency ately
Pn41B 2 50 to 1,000 0.01 70 All Tuning
ter Q Value ately
Frequency ately
Pn41E 2 50 to 1,000 0.01 70 All Tuning
Q Value ately

When
Enabled
n.X

Pn423 n.X
When
Enabled
n.X

Release Time for Torque Immedi-

Pn425 2 Limit at Main Circuit 0 to 1,000 1 ms 100 All Setup *1
Voltage Drop ately
4-46

Size
Name
Torque Feedforward
Immedi- *1
Time
Pn427 2
sation Enable Speed
0 to 10,000 1 min-1 0
vomotor ately
Tuning *1



n. X
tuning.
1



Pn475

Torque 1,000 ately
Immedi-
Pn502 2 Rotation Detection Level 1 to 10,000 1 min-1 20 Rotary
ately
Setup *1
Speed Coincidence
Immedi-
ately
Setup *1
Width
Brake Reference-Servo Immedi- *1
Pn506 2 OFF Delay Time 0 to 50 10 ms 0 All ately Setup

Pn507 2
put Speed Level
0 to 10,000 1 min-1 100 Rotary
ately
Setup *1

Pn508 2 10 to 100 10 ms 50 All Setup
mand Waiting Time ately
Parameter Lists
Momentary Power Inter- Immedi- *1

Pn509 2 ruption Hold Time 20 to 50,000 1 ms 20 All ately Setup
4-47

Size
Name
1 FFF2h restart

Pn50A
*1
4-48

Size
Name
2 FFFFh restart

*1

Pn50B
n. X 7 The signal is always active.
*1

n.X The allocations are the same as the /P-CL (Forward External
0 to F *1
Torque Limit Input) signal allocations.

Parameter Lists
4-49

Size
Name


4 to 6 Reserved setting (Do not use.)
Pn50E /V-CMP (Speed Coincidence Detection Output) Signal Allocation Reference

0 to 6 *1

0 to 6 *1

0 to 6 *1


n.X

Pn50F /VLT (Speed Limit Detection) Signal Allocation Reference

0 to 6 *1

0 to 6 *1

0 to 6 *1


n.X
4-50

Size
Name
Input Signal Selections 0000h to After *1
5 FFFFh restart
/DEC (Origin Return Deceleration Switch Input) Signal Allocation

Pn511 E Active when CN1-11 input signal is OFF (open).
/EXT1 (External Latch Input 1) Signal Allocation

0 to 3 The signal is always inactive.
n. X 6 Active when CN1-12 input signal is ON (closed).
7 to C The signal is always inactive.

n. X The allocations are the same as the /EXT1 (External Latch Input 1) signal allo-
0 to F
cations.

n.X The allocations are the same as the /EXT1 (External Latch Input 1) signal allo-
0 to F
cations.

Parameter Lists
4-51

Size
Name

n.X 0 The signal is not inverted.

Pn512
n.X 0 The signal is not inverted.

n.X 0 The signal is not inverted.


Pn514
n.X

4-52

Size
Name
7 FFFFh restart

7
n.X stop).
*1
Pn516 Set the signal to always enable drive (always disable forcing the
8
motor to stop).
Pn518*4 – Parameters – – – All – – –

0 to Immedi- *1
Pn51E 2 10 to 100 1% 100 All Setup
1 refer-
unit
1 refer-
unit
1 refer-
1,073,741,824 1824 ately
unit
1,073,741,823 0 ately
Servo ON unit
ately
Servo ON
Parameter Lists


Immedi- *1
ately
4
4-53

Size
Name
After *1
Pn52C 2 at Motor Overload 10 to 100 1% 100 All restart Setup
Detection
Program Jogging- 0000h to Immedi- *1

0
movements in Pn536
1
movements in Pn536
movements in Pn536
2
movements in Pn536
n.X
movements in Pn536
Pn530 3
movements in Pn536
Pn536
Pn536
1 refer-
Pn531 4 Program Jogging Travel 1 to ence 32768 All Immedi- Setup *1
Distance 1,073,741,824 ately
unit
Rotary:
1 min-1
Program Jogging Move- Direct Immedi- *1
Pn533 2 1 to 10,000 500 Rotary Setup
0.1
min-1
Program Jogging Accel-
Immedi- *1
Pn534 2 eration/Deceleration 2 to 10,000 1 ms 100 All ately Setup
Time
Program Jogging Wait- Immedi- *1
Pn535 2 0 to 10,000 1 ms 100 All Setup
ing Time ately
Pn536 2 ber of Movements 0 to 1,000 Times 1 All ately Setup

Pn551 2 0.1 V 0 All Setup
Pn553 2 Analog Monitor 2 Mag- -10,000 to × 0.01 100 All Immedi- Setup *1
Power Consumption Immedi-
Pn55A 2 1 to 1,440 1 min 1 All Setup −
Pn560 2 Detection Width 1 to 3,000 0.1% 400 All ately Setup
Pn561 2 Overshoot Detection 0 to 100 1% 100 All Immedi- Setup *1

Level ately
4-54

Size
Name
After *7
Pn601 2 tor Allowable Energy 0 to 65,535 10 J 0 All restart Setup
Consumption
Pn603 2 0 to 65,535 10 mΩ 0 All Setup
tance ately
Dynamic Brake Resis- After *7
Pn604 2 tance 0 to 65,535 10 mΩ 0 All restart Setup
2 Overheat Protection 0000h to – 0000h Linear After Setup *1


2
3
Pn61B Immedi-
*9 ately
Pn61C Immedi-
*9 ately
2 0 to 65,535 1s 0 All Setup *1
*9 Time ately

– – – – All – – –
Pn628*4 Parameters
Communications Con- 0000h to Immedi- *2

2 trols 0F73h – 0040h All ately Setup
MECHATROLINK Communications Check Mask for Debugging

0 Do not mask.
1 Ignore MECHATROLINK communications errors (A.E60).
n. X
2 Ignore WDT errors (A.E50).
Ignore both MECHATROLINK communications errors (A.E60) and WDT
3
errors (A.E50).
Warning Check Masks

0 Do not mask.
Pn800
1 Ignore data setting warnings (A.94).
2 Ignore command warnings (A.95).
n. X 3 Ignore both A.94 and A.95 warnings.
4 Ignore communications warnings (A.96).
5 Ignore both A.94 and A.96 warnings.
Parameter Lists

7 Ignore A.94, A.95, and A.96 warnings.
4-55

Size
Name
Application Function
0000h to Immedi- *1
2 Selections 6 (Software 0103h – 0003h All ately Setup
Limits)
Software Limit Selection

0 Enable both forward and reverse software limits.
n.X 1 Disable forward software limit.
2 Disable reverse software limit.
Pn801 3 Disable both forward and reverse software limits.
Software Limit Check for References

n.X 0 Do not perform software limit checks for references.
1 Perform software limit checks for references.
1 refer-
Immedi- *2
Pn803 2 Origin Range 0 to 250 ence 10 All ately Setup
unit
-1,073,741,823 1 refer-
107374 Immedi- *1
Pn804 4 Forward Software Limit to ence 1823 All ately Setup
1,073,741,823 unit
-1,073,741,823 1 refer-
-10737 Immedi- *1
Pn806 4 Reverse Software Limit to ence 41823 All ately Setup
1,073,741,823 unit
-1,073,741,823 1 refer- Immedi-
Absolute Encoder Origin *1
Pn808 4 to ence 0 All Setup
Offset
1,073,741,823 unit ately *10
10,000
First Stage Linear Accel- refer- Immedi- *2
Pn80A 2 1 to 65,535 100 All Setup
eration Constant ence ately *11
units/s2
10,000
Second Stage Linear refer- Immedi- *2
Pn80B 2 1 to 65,535 100 All Setup
Acceleration Constant ence ately *11
units/s2
Acceleration Constant 100 ref- Immedi-

Pn80C 2 0 to 65,535 erence 0 All Setup *2
Switching Speed units/s ately *11
10,000
First Stage Linear refer- Immedi- *2
Pn80D 2 1 to 65,535 100 All Setup
Deceleration Constant ence ately *11
units/s2
10,000
Pn80E 2 1 to 65,535 100 All Setup
units/s2
Deceleration Constant 100 ref- Immedi-

Pn80F 2 0 to 65,535 erence 0 All Setup *2
Switching Speed units/s ately *11
Exponential Accelera- 100 ref- Immedi-

Pn810 2 0 to 65,535 erence 0 All Setup *2
tion/Deceleration Bias units/s ately *12
Exponential Accelera- Immedi-
Pn811 2 tion/Deceleration Time 0 to 5,100 0.1 ms 0 All Setup *2
Constant ately *12
Movement Average Immedi- *2

Pn812 2 0 to 5,100 0.1 ms 0 All Setup
Time ately *12
-1,073,741,823 1 refer-
Pn814 4 External Positioning to ence 100 All Immedi- Setup *2
Final Travel Distance ately
1,073,741,823 unit
4-56

Size
Name
Origin Return Mode Set- 0000h to Immedi- *2
tings 0001h ately
Origin Return Direction

n. X 0 Return in forward direction.
Pn816 1 Return in reverse direction.
Pn817 100 ref- Immedi-

2 Origin Approach Speed 0 to 65,535 erence 50 All Setup *2
*13 1
units/s ately *11

2 Origin Approach Speed 0 to 65,535 erence 5 All Setup *2
*14 2
units/s ately *11
-1,073,741,823 1 refer-
Pn819 4 Final Travel Distance for to ence 100 All Immedi- Setup *2
Origin Return ately
1,073,741,823 unit
Input Signal Monitor 0000h to Immedi- *2
2 Selections AAAAh – 0000h All ately Setup
IO12 Signal Mapping

0 Do not map.
1 Monitor CN1-13 input terminal.
n. X 3 Monitor CN1-8 input terminal.
Pn81E 5 Monitor CN1-10 input terminal.
IO13 Signal Mapping

n. X
0 to 7 The mappings are the same as the IO12 signal mappings.
IO14 Signal Mapping

n. X
IO15 Signal Mapping

n.X

Parameter Lists
4-57

Size
Name
Command Data Alloca- 0000h to After *2
tions 1111h restart
Option Field Allocation

n.X 0 Disable option field allocation.
1 Enable option field allocation.
Pn81F
Position Control Command TFF/TLIM Allocation
n.X 0 Disable allocation.
1 Enable allocation.
-2,147,483,648 1 refer- Immedi-

Pn820 4 Forward Latching Area to ence 0 All Setup *2
2,147,483,647 unit ately
-2,147,483,648 1 refer- Immedi-

Pn822 4 Reverse Latching Area to ence 0 All Setup *2
2,147,483,647 unit ately
4-58

Size
Name
Option Monitor 1 Selec- 0000h to Immedi- *2
2 – 0000h – Setup
tion FFFFh ately
Setting Monitor Applicable Motors

High-Speed Monitor Region
0000h Motor speed [1000000h/overspeed detection speed] All
0001h Speed reference [1000000h/overspeed detection speed] All
0002h Torque [1000000h/maximum torque] All
0003h Position deviation (lower 32 bits) [reference units] All
0004h Position deviation (upper 32 bits) [reference units] All
000Ah Encoder count (lower 32 bits) [reference units] All
000Bh Encoder count (upper 32 bits) [reference units] All
000Ch FPG count (lower 32 bits) [reference units] All
000Dh FPG count (upper 32 bits) [reference units] All
Low-Speed Monitor Region
0010h Un000: Motor speed [min-1] All
0011h Un001: Speed Reference [min-1] All
0012h Un002: Torque Reference [%] All
Un003: Rotational Angle 1 [encoder pulses]
0013h Number of encoder pulses from origin within one encoder rotation All
displayed in decimal
Un004: Rotational Angle 2 [deg]
0014h All
Electrical angle from polarity origin
0015h Un005: Input Signal Monitor All
0016h Un006: Output Signal Monitor All
Pn824 0017h Un007: Input Reference Speed [min-1] All
0018h Un008: Position Deviation [reference units] All
0019h Un009: Accumulated Load Ratio [%] All
001Ah Un00A: Regenerative Load Ratio [%] All
001Bh Un00B: Dynamic Brake Resistor Power Consumption [%] All
001Ch Un00C: Input Reference Pulse Counter [reference units] All
001Dh Un00D: Feedback Pulse Counter [encoder pulses] All
Un00E: Fully-closed Loop Feedback Pulse Counter [external encoder
001Eh
resolution]
Rotary
0023h Initial multiturn data [Rev] Rotary
0024h Initial incremental data [pulses] Rotary
0040h Un025: SERVOPACK Installation Environment Monitor All
0041h Un026: Servomotor Installation Environment Monitor All
0042h Un027: Built-in Fan Remaining Life Ratio All
0043h Un028: Capacitor Remaining Life Ratio All
0044h Un029: Surge Prevention Circuit Remaining Life Ratio All
0045h Un02A: Dynamic Brake Circuit Remaining Life Ratio All
0046h Un032: Instantaneous Power All
0047h Un033: Power Consumption All
0048h Un034: Cumulative Power Consumption All
Communications Module Only
Parameter Lists
0080h Previous value of latched feedback position (LPOS) [encoder pulses] All
All Areas
Other
Reserved settings (Do not use.) All
values
4-59

Size
Name
tion FFFFh ately
Pn825
0000h to
The settings are the same as those for the Option Monitor 1 Selection.
0080h
10,000
Linear Deceleration refer- Immedi- *2
Pn827 2 1 to 65,535 100 All Setup
Constant 1 for Stopping ence ately *11
units/s2
SVOFF Waiting Time (for Immedi-
Pn829 2 SVOFF at Deceleration 0 to 65,535 10 ms 0 All Setup *2
to Stop) ately *11
Option Field Allocations 0000h to After *2
2 1 1E1Eh – 1813h All restart Setup
ACCFIL Allocation (Option)

0 Allocate bits 0 and 1 to ACCFIL.
n.X
A Allocate bits 10 and 11 to ACCFIL.
Pn82A B Allocate bits 11 and 12 to ACCFIL.
C Allocate bits 12 and 13 to ACCFIL.
D Allocate bits 13 and 14 to ACCFIL.
E Allocate bits 14 and 15 to ACCFIL.
ACCFIL Allocation Enable/Disable Selection

n.X 0 Disable ACCFIL allocation.
1 Enable ACCFIL allocation.
G_SEL Allocation (Option)

n.X
0 to E The settings are the same as for the ACCFIL allocations.
G_SEL Allocation Enable/Disable Selection

n. X 0 Disable G_SEL allocation.
1 Enable G_SEL allocation.
4-60

Size
Name
2 – 1D1Ch All Setup
2 1F1Fh restart
V_PPI Allocation (Option)

0 Allocate bit 0 to V_PPI.
n. X 7 Allocate bit 7 to V_PPI.
A Allocate bit 10 to V_PPI.
B Allocate bit 11 to V_PPI.
Pn82B
C Allocate bit 12 to V_PPI.
D Allocate bit 13 to V_PPI.
E Allocate bit 14 to V_PPI.
F Allocate bit 15 to V_PPI.
V_PPI Allocation Enable/Disable Selection

n. X 0 Disable V_PPI allocation.
1 Enable V_PPI allocation.
P_PI_CLR Allocation (Option)

n. X
0 to F The settings are the same as for the V_PPI allocations.
P_PI_CLR Allocation Enable/Disable Selection

n.X 0 Disable P_PI_CLR allocation.
1 Enable P_PI_CLR allocation.

2 3 1F1Fh – 1F1Eh All restart Setup
P_CL Allocation (Option)

n. X
P_CL Allocation Enable/Disable Selection

n. X 0 Disable P_CL allocation.
Pn82C 1 Enable P_CL allocation.
N_CL Allocation (Option)

n. X
N_CL Allocation Enable/Disable Selection

n.X
Parameter Lists
0 Disable N_CL allocation.

1 Enable N_CL allocation.
4-61

Size
Name
4 1F1Ch restart
BANK_SEL1 Allocation (Option)

0 Allocate bits 0 to 3 to BANK_SEL1.
n.X
Pn82D A Allocate bits 10 to 13 to BANK_SEL1.
B Allocate bits 11 to 14 to BANK_SEL1.
C Allocate bits 12 to 15 to BANK_SEL1.
BANK_SEL1 Allocation Enable/Disable Selection

n.X 0 Disable BANK_SEL1 allocation.
1 Enable BANK_SEL1 allocation.
LT_DISABLE Allocation (Option)

n.X
LT_DISABLE Allocation Enable/Disable Selection

n.X 0 Disable LT_DISABLE allocation.
1 Enable LT_DISABLE allocation.
4-62

Size
Name
5 1D1Fh restart
OUT_SIGNAL Allocation (Option)

0 Allocate bits 0 to 2 to OUT_SIGNAL.
Pn82E
n. X 6 Allocate bits 6 to 8 to OUT_SIGNAL.
A Allocate bits 10 to 12 to OUT_SIGNAL.
B Allocate bits 11 to 13 to OUT_SIGNAL.
C Allocate bits 12 to 14 to OUT_SIGNAL.
D Allocate bits 13 to 15 to OUT_SIGNAL.
OUT_SIGNAL Allocation Enable/Disable Selection

n.X 0 Disable OUT_SIGNAL allocation.
1 Enable OUT_SIGNAL allocation.
0000h to After *2
2 Motion Settings – 0000h All Setup
0001h restart
Linear Acceleration/Deceleration Constant Selection

Use Pn80A to Pn80F and Pn827. (The settings of Pn834 to Pn840 are
0
n. X ignored.)
Pn833 Use Pn834 to Pn840. (The settings of Pn80A to Pn80F and Pn827 are
1
ignored.)
10,000
First Stage Linear Accel- 1 to refer- Immedi- *2
Pn834 4 100 All Setup
eration Constant 2 20,971,520 ence ately *11
units/s2
10,000
Second Stage Linear 1 to refer- Immedi- *2
Acceleration Constant 2 20,971,520 ence ately *11
units/s2
Parameter Lists
1 refer- Immedi-
Pn838 4 Acceleration Constant 0 to
ence 0 All Setup *2
Switching Speed 2 2,097,152,000
unit/s ately *11
10,000
First Stage Linear 1 to refer- Immedi- *2
Pn83A 4 100 All Setup
Deceleration Constant 2 20,971,520 ence ately *11
units/s2
4
4-63

Size
Name
10,000
Pn83C 4 100 All Setup
units/s2
1 refer- Immedi-
Deceleration Constant 0 to *2
Pn83E 4 ence 0 All Setup
unit/s ately *11
10,000
Linear Deceleration 1 to refer- Immedi- *2
Constant 2 for Stopping 20,971,520 ence ately *11
units/s2
Second Origin 0 to *2
4 erence 0 All Setup
*13 Approach Speed 1 20,971,520
units/s ately *11

units/s ately *11
Number of Latch Immedi- *2
Pn850 2 0 to 8 – 0 All Setup
Sequences ately
Continuous Latch Immedi- *2
Pn851 2 Sequence Count 0 to 255 – 0 All ately Setup
2 Latch Sequence 1 to 4 0000h to – 0000h All Immedi- Setup *2

Settings 3333h ately
Latch Sequence 1 Signal Selection

0 Phase C
n.X 1 EXT1 signal
2 EXT2 signal
3 EXT3 signal
Pn852 Latch Sequence 2 Signal Selection

n.X The settings are the same as those for the Latch Sequence 1 Signal Selec-
0 to 3
tion.

n.X The settings are the same as those for the Latch Sequence 1 Signal Selec-
0 to 3
tion.

n.X The settings are the same as those for the Latch Sequence 1 Signal Selec-
0 to 3
tion.
4-64

Size
Name
Latch Sequence 5 to 8 0000h to Immedi- *2

0 Phase C
n. X 1 EXT1 signal
2 EXT2 signal
3 EXT3 signal

n. X The settings are the same as those for the Latch Sequence 5 Signal Selec-
0 to 3
tion.

n. X The settings are the same as those for the Latch Sequence 5 Signal Selec-
0 to 3
tion.

0 to 3
tion.
Station Address Moni-

Pn880 2 tor (for maintenance, 40h to 5Fh – – All – Setup –
read only)
Set Transmission Byte
Count Monitor [bytes]
Pn881 2 17, 32 – – All – Setup –
(for maintenance, read
only)
Transmission Cycle Set-
Pn882 2 ting Monitor [× 0.25 μs] 0h to FFFFh – – All – Setup –
only)
Communications Cycle
Setting Monitor [trans-
Pn883 2 mission cycles] (for 0 to 32 – – All – Setup –
maintenance, read only)
Communications Con- 0000h to Immedi-
2 trols 2 0001h – 0000h All ately Setup –
MECHATROLINK Communications Error Holding Brake Signal Setting

Maintain the status set by the BRK_ON or BRK_OFF command when a MECHA-
n.X 0
TROLINK communications error occurs.
Pn884 1 Apply the holding brake when a MECHATROLINK communications error occurs.
MECHATROLINK
Receive Error Counter Immedi-
Pn88A 2 Monitor 0 to 65,535 – 0 All Setup –
(for maintenance, read ately
Parameter Lists
only)
Command Data Moni-
Pn890 to tor during Alarm/Warn-
0h to Immedi- *2
4 ing FFFFFFFFh – 0h All ately Setup
Pn89E (for maintenance, read
only)
4-65

Size
Name
Response Data Monitor
Pn8A0 to during Alarm/Warning 0h to Immedi- *2
4 – 0h All Setup
Pn8AE (for maintenance, read FFFFFFFFh ately
only)
Pn900 2 Number of Parameter 0 to 16 – 0 All After Setup *2

Banks restart
Number of Parameter After *2
Bank Members restart
Pn902 to Parameter Bank Mem- 0000h to After *2
2 – 0h All Setup
Pn910 ber Definition 08FFh restart
Pn920 to Parameter Bank Data

2 (Not saved in nonvolatile 0000h to – 0h All Immedi- Setup *2
Pn95F FFFFh ately
memory.)
Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-II Communications References Product Manual (Manual
No.: SIEP S800001 27)
Σ-7-Series AC Servo Drive MECHATROLINK-II Communications Command Manual (Manual No.: SIEP S800001
30)
C720829 06)
*7. These parameters are for SERVOPACKs with the dynamic brake option. Refer to the following manual for details.
*10.The parameter setting is enabled after SENS_ON command execution is completed.
*11. Change the setting when the reference is stopped (i.e., while DEN is set to 1). If you change the setting during
operation, the reference output will be affected.
*12.The settings are updated only if the reference is stopped (i.e., only if DEN is set to 1).
*13.The setting of Pn842 is valid while Pn817 is set to 0.
4-66
4.3.1 List of Servo Parameters


Size
Name

n. X 0 Use CCW as the forward direction.
*1
Pn000

1 *1
the dynamic brake.

0
1
Pn001 n.X Decelerate the motor to a stop using the torque set in Pn406 as
2 *1
3
Pn30A and then servo-lock the motor.
4

0
n.X
*1
Parameter Lists
4-67

Size
Name
2 – 0011h – Setup –
MECHATROLINK Command Position and Speed Control Applicable

Reference
Option Motors
n.X
1 Use TLIM as the torque limit.
All *2
Applicable
Torque Control Option Reference
Motors
n.X 0 Reserved setting (Do not use.)
All *2
Use the speed limit for torque control (VLIM) as the
1
speed limit.
Applicable
Motors
0

2 Rotary
encoder.
Applicable
Motors
1

3
4-68

Size
Name

n. XX 08
pleted: 0 V)
Pn006
0C
pleted: 0 V)
Parameter Lists
4-69

Size
Name

n.XX 08
pleted: 0 V)
Pn007
0C
pleted: 0 V)
2 Application Function 0000h to – 4000h Rotary After Setup –


*1

2

*1
4-70

Size
Name

1 *1

*1

2 Selections A 0044h – 0001h All restart Setup –

0
2 *1
stopping.
4

0
2 *1
stopping.
4

Parameter Lists
4-71

Size
Name

*1

1 *1

n. X
*1
1
supply input.

Applicable
Motors
n.X
All
Applicable
Motors
0 Use 13 bits.
Rotary
2 Use 22 bits.
3 Use 24 bits.
Applicable
Motors
n.X
All


Pn00D

4-72

Size
Name
2
Selections F 2011h
– 0000h All
restart
Setup –

*1

not change.)
Pn022 2 – – 0000h All – – –
not change.)
Pn040 2 not change.) – – 0000h – – – –


Pn081
Immedi- *1
Pn100 2 Speed Loop Gain 10 to 20,000 0.1 Hz 400 All ately Tuning
Pn101 2 Speed Loop Integral 15 to 51,200 0.01 ms 2000 All Immedi- Tuning *1
Time Constant ately
Immedi- *1
Pn102 2 Position Loop Gain 10 to 20,000 0.1/s 400 All Tuning
ately
Immedi- *1
Pn103 2 Moment of Inertia Ratio 0 to 20,000 1% 100 All Tuning
ately
Pn104 2 Gain 10 to 20,000 0.1 Hz 400 All ately Tuning
Pn105 2 Second Speed Loop 15 to 51,200 0.01 ms 2000 All Immedi- Tuning *1
Pn106 2 10 to 20,000 0.1/s 400 All Tuning
Gain ately
Immedi- *1
Pn109 2 Feedforward 0 to 100 1% 0 All ately Tuning
Pn10A 2 Feedforward Filter Time 0 to 6,400 0.01 ms 0 All Immedi- Tuning *1

Constant ately
Parameter Lists
4-73

Size
Name
2 – 0000h All – Setup –
tions 5334h
When
Enabled
0
ting: Pn10D).
1
Immedi- *1
setting: Pn10E).
2
3
ting: Pn10F).
When
Enabled
After *1
4-74

Size
Name
Pn10C 2 0 to 800 1% 200 All Tuning
Pn10D 2 for Speed Reference 0 to 10,000 1 min-1 0 Rotary ately Tuning *1

1 refer-
Pn10F 2 for Position Deviation 0 to 10,000 ence 0 All ately Tuning
unit
Pn11F 2 0 to 50,000 0.1 ms 0 All Tuning
Constant ately
Pn121 2 Gain 10 to 1,000 1% 100 All ately Tuning
Pn122 2 Second Friction Com- 10 to 1,000 1% 100 All Immedi- Tuning *1

Pn123 2 0 to 100 1% 0 All Tuning
Coefficient ately
Friction Compensation -10,000 to Immedi- *1
Pn124 2 Frequency Correction 10,000 0.1 Hz 0 All ately Tuning

Immedi- *1
Pn131 2 Gain Switching Time 1 0 to 65,535 1 ms 0 All Tuning
ately
Immedi- *1
Pn135 2 Gain Switching Waiting 0 to 65,535 1 ms 0 All Immedi- Tuning *1

Time 1 ately
Time 2 ately
2 ing Selections 1 0052h – 0000h All ately Tuning

0 The gain is switched manually with G-SEL in the servo command output sig-
nals (SVCMD_IO).
2

Parameter Lists
Pn13D 2 Current Gain Level 100 to 2,000 1% 2000 All Immedi- Tuning *1
ately
4-75

Size
Name

n.X 0 Do not use model following control.
*1

n.X

Pn140
n.X host reference, and custom tuning.
*1

0
*1
1
together.

Pn141 2 10 to 20,000 0.1/s 500 All Tuning
trol Gain ately
Pn142 2 trol Gain Correction 500 to 2,000 0.1% 1000 All ately Tuning

Pn143 2 trol Bias in the Forward 0 to 10,000 0.1% 1000 All Tuning *1
Direction ately

Pn144 2 trol Bias in the Reverse 0 to 10,000 0.1% 1000 All Tuning *1
Direction ately
Pn145 2 Vibration Suppression 1 10 to 2,500 0.1 Hz 500 All Immedi- Tuning *1

Frequency A ately
Frequency B ately
Pn147 2 trol Speed Feedforward 0 to 10,000 0.1% 1000 All Immedi- Tuning *1
ately
Compensation
Second Model Follow- Immedi- *1
Pn148 2 ing Control Gain 10 to 20,000 0.1/s 500 All ately Tuning
Second Model Follow- Immedi-

Pn149 2 ing Control Gain Correc- 500 to 2,000 0.1% 1000 All Tuning *1
tion ately
Pn14A 2 Vibration Suppression 2 10 to 2,000 0.1 Hz 800 All Immedi- Tuning *1

Frequency ately
Pn14B 2 Vibration Suppression 2 10 to 1,000 1% 100 All Immedi- Tuning *1

Correction ately
4-76

Size
Name
Control-Related Selec- 0000h to After
tions 0021h restart

n. X 0 Use model following control type 1.
*1

n. X
2 Anti-Resonance Con- 0000h to – 0010h All Immedi- Tuning –


n. X 0 Do not use anti-resonance control.
*1

n. X reference, and custom tuning.
*1

Pn161 2 quency 10 to 20,000 0.1 Hz 1000 All ately Tuning
Pn162 2 Anti-Resonance Gain 1 to 1,000 1% 100 All Immedi- Tuning *1

Correction ately
ing Gain ately
Pn164 2 Time Constant 1 Cor- -1,000 to 0.01 ms 0 All Immedi- Tuning *1
1,000 ately
rection
Pn165 2 Time Constant 2 Cor- -1,000 to 0.01 ms 0 All Immedi- Tuning *1
1,000 ately
rection
Pn166 2 ing Gain 2 0 to 1,000 1% 0 All ately Tuning

Parameter Lists
4-77

Size
Name
2 – 1401h All – Setup
Related Selections 2711h
When
Enabled
n.X
When
Enabled
n.X
Pn170 restart
When
Rigidity Level
Enabled
n.X
0 to 7 Set the rigidity level. Immedi-
ately
When
Enabled
n.X
0 to 2 Set the load level for the tuning-less function. Immedi-
ately
After *1
Pn205 2 Multiturn Limit 0 to 65,535 1 rev 65535 Rotary Setup
restart
Position Control Func- 0000h to After
2 tion Selections 2210h – 0010h All restart Setup –
Refer-
Pn207 /COIN (Positioning Completion Output) Signal Output Timing
ence
Width).
1 scale
Number of External 4 to pitch/ After *1
Pn20A 4 Encoder Scale Pitches 1,048,576 revolu- 32768 Rotary restart Setup
tion
Pn20E 4 (Numerator) 1,073,741,824 1 16 All restart Setup
Pn210 4 Electronic Gear Ratio 1 to 1 1 All After Setup *1

Pn212 4 1 P/Rev 2048 Rotary Setup
4-78

Size
Name
2 – 0000h Rotary Setup

Pn22A

Position Control Expan- 0000h to After *1

sion Function Selections 0001h restart
Backlash Compensation Direction

n. X 0 Compensate forward references.
Pn230 1 Compensate reverse references.
0.1 ref-
Pn231 4 Backlash Compensation -500,000 to erence 0 All Immedi- Setup *1
500,000 ately
units
Backlash Compensa- Immedi- *1
Pn233 2 tion Time Constant 0 to 65,535 0.01 ms 0 All ately Setup
Pn281 2 Encoder Output Resolu- 1 to 4,096 1 edge/ 20 All After Setup *1

tion pitch restart
Rotary:
1 min-1
Pn304 2 Jogging Speed 0 to 10,000 Direct 500 Rotary Immedi- Setup *1
Drive: ately
0.1
min-1
Pn305 2 Soft Start Acceleration 0 to 10,000 1 ms 0 All Immedi- Setup *2

Time ately
Pn306 2 0 to 10,000 1 ms 0 All Setup
Time ately

Stops ately

Time ately

Parameter Lists
4-79

Size
Name
Vibration Detection 0000h to Immedi- *1

n.X

Pn311 2 sitivity 50 to 500 1% 100 All ately Tuning

Pn312 2
Level
0 to 5,000 1 min-1 50 Rotary
ately
Tuning *1
After
restart
Setup *1

Pn324 2 culation Starting Level 0 to 20,000 1% 300 All ately Setup
First Stage First Torque Immedi-

Pn401 2 Reference Filter Time 0 to 65,535 0.01 ms 100 All Tuning *1
Constant ately
Immedi-
Pn402 2 Forward Torque Limit 0 to 800 1%*3 800 Rotary
ately
Setup *1
Immedi-
ately
Setup *1


Pn405 2
Limit
0 to 800 1%*3 100 All
ately
Setup *1
Immedi-
ately
Setup *1

Pn407 2 Torque Control 0 to 10,000 1 min-1 10000 Rotary ately Setup *1
4-80

Size
Name
2 – 0000h All – Setup –
When
Enabled
n. X
When
Enabled
0
n. X
1
When
Enabled
n. X
When
Enabled
n.X

Frequency ately
Depth ately
ter Frequency ately
ter Depth ately
Second Stage Second
Immedi- *1
Frequency
Second Stage Second
Immedi- *1
Q Value
First Stage Second
Immedi- *1
Time Constant
Parameter Lists
4-81

Size
Name



Frequency ately
Pn418 2 Third Stage Notch Filter 50 to 1,000 0.01 70 All Immedi- Tuning *1
Q Value ately
Pn419 2 0 to 1,000 0.001 0 All Tuning
Depth ately
Pn41A 2 ter Frequency 50 to 5,000 1 Hz 5000 All ately Tuning
Pn41B 2 Fourth Stage Notch Fil- 50 to 1,000 0.01 70 All Immedi- Tuning *1
ter Q Value ately
Pn41C 2 0 to 1,000 0.001 0 All Tuning
ter Depth ately
Pn41D 2 Frequency 50 to 5,000 1 Hz 5000 All ately Tuning
Pn41E 2 Fifth Stage Notch Filter 50 to 1,000 0.01 70 All Immedi- Tuning *1
Q Value ately
Pn41F 2 0 to 1,000 0.001 0 All Tuning
Depth ately
Speed Ripple Compen- 0000h to *1
2 sation Selections 1111h – 0000h Rotary – Setup
When
Enabled
n.X

Pn423 n.X
When
Enabled
n.X

Pn424 2
cuit Voltage Drop
0 to 100 1%*3 50 All
ately
Setup *1
4-82

Size
Name
Immedi- *1
Voltage Drop
Torque Feedforward
Immedi- *1
Time
Pn427 2
sation Enable Speed
0 to 10,000 1 min-1 0
vomotor ately
Tuning *1



n. X
tuning.
1



Pn475

Torque 1,000 ately
Immedi-
ately
Setup *1
Speed Coincidence
Immedi-
ately
Setup *1
Width

Parameter Lists
Pn507 2
put Speed Level
0 to 10,000 1 min-1 100 Rotary
ately
Setup *1

Pn508 2 10 to 100 10 ms 50 All Setup
4-83

Size
Name
1 FFF2h restart

Pn50A 4 Enable forward drive when CN1-10 input signal is ON (closed).
*1
4-84

Size
Name
2 FFFFh restart

*1

Pn50B
n. X 7 The signal is always active.
*1

n.X The allocations are the same as the /P-CL (Forward External
0 to F *1
Torque Limit Input) signal allocations.

Parameter Lists
4-85

Size
Name


Pn50E /V-CMP (Speed Coincidence Detection Output) Signal Allocation Reference

0 to 6 *1

0 to 6 *1

0 to 6 *1


n.X

Pn50F /VLT (Speed Limit Detection) Signal Allocation Reference

0 to 6 *1

0 to 6 *1

0 to 6 *1
4-86

Size
Name

n. X
Parameter Lists
4-87

Size
Name
Input Signal Selections 0000h to After *1
5 FFFFh restart
/DEC (Origin Return Deceleration Switch Input) Signal Allocation

Pn511 E Active when CN1-11 input signal is OFF (open).

0 to 3 The signal is always inactive.
n.X 6 Active when CN1-12 input signal is ON (closed).
7 to C The signal is always inactive.

n.X The allocations are the same as the /EXT1 (External Latch Input 1) signal allo-
0 to F
cations.

n.X The allocations are the same as the /EXT1 (External Latch Input 1) signal allo-
0 to F
cations.
4-88

Size
Name


Pn512 n. X 0 The signal is not inverted.


2 tions 4 0666h – 0000h All restart Setup –

Pn514 0 Disabled (the above signal output is not used).
n. X

Parameter Lists
4-89

Size
Name
7 FFFFh restart

7
n. X stop).
*1
Pn516 8
motor to stop).
Pn518*4 – – – – All – – –
Parameters

0 to Immedi- *1
Pn51E 2 Position Deviation Over- 10 to 100 1% 100 All Immedi- Setup *1

1 refer-
Position Deviation Over- 1 to 524288 Immedi- *1
Pn520 4 flow Alarm Level 1,073,741,823 ence 0 All ately Setup
unit
1 refer-
Positioning Completed 0 to Immedi- *1
Pn522 4 Width 1,073,741,824 ence 7 All ately Setup
unit
1 refer-
1 to 107374 Immedi- *1
Pn524 4 Near Signal Width 1,073,741,824 ence 1824 All ately Setup
unit
1 to 524288 Immedi- *1
Pn526 4 flow Alarm Level at 1,073,741,823 ence 0 All ately Setup
Servo ON unit
Immedi- *1
Pn528 2 flow Warning Level at 10 to 100 1% 100 All ately Setup
Servo ON
Pn529 2
Servo ON
0 to 10,000 1 min-1 10000 Rotary
ately
Setup *1
Multiplier per Fully- Immedi- *1

Pn52A 2 closed Rotation 0 to 100 1% 20 Rotary ately Tuning
Pn52B 2 Overload Warning Level 1 to 100 1% 20 All Immedi- Setup *1

ately
4-90

Size
Name
After *1
Detection

0
movements in Pn536
1
movements in Pn536
movements in Pn536
2
movements in Pn536
n. X
movements in Pn536
Pn530 3
movements in Pn536
Pn536
Pn536
1 refer-
unit
Rotary:
1 min-1
0.1
min-1
Immedi- *1
Time
Pn535 2 0 to 10,000 1 ms 100 All Setup
ing Time ately

Parameter Lists


Level ately
4-91

Size
Name
After *7
Pn601 2 tor Allowable Energy 0 to 65,535 10 J 0 All restart Setup
Consumption
Pn603 2 0 to 65,535 10 mΩ 0 All Setup
tance ately
Pn604 2 tance 0 to 65,535 10 mΩ 0 All restart Setup
2 Overheat Protection 0000h to – 0000h Linear After Setup *1


2
3
Pn61B Immedi-
*9 ately
Pn61C Immedi-
*9 ately
2 0 to 65,535 1s 0 All Setup *1
*9 Time ately

– – – – All – – –
Pn628*4 Parameters
4-92

Size
Name
Communications Con- 0000h to Immedi-
trols 1FF3h ately
MECHATROLINK Communications Check Mask for Debugging

0 Do not mask.
1 Ignore MECHATROLINK communications errors (A.E60).
n. X
2 Ignore WDT errors (A.E50).
Ignore both MECHATROLINK communications errors (A.E60) and WDT
3
errors (A.E50).
Warning Check Masks

0 Do not mask.
1 Ignore data setting warnings (A.94).
2 Ignore command warnings (A.95).
4 Ignore communications warnings (A.96).
Pn800
n. X 7 Ignore A.94, A.95, and A.96 warnings.
8 Ignore data setting warnings (A.97A and A.97b).
9 Ignore A.94, A.97A, and A.97b warnings.
A Ignore A.95, A.97A, and A.97b warnings.
B Ignore A.94, A.95, A.97A, and A.97b warnings.
C Ignore A.96, A.97A, and A.97b warnings.
D Ignore A.94, A.96, A.97A, and A.97b warnings.
E Ignore A.95, A.96, A.97A, and A.97b warnings.
F Ignore A.94, A.95, A.96, A.97A, and A.97b warnings.
Automatic Warning Clear Selection for Debugging*8

n.X
0 Retain warnings for debugging.
M3 *8
1 Automatically clear warnings (MECHATROLINK-III specification).
Application Function
0000h to Immedi- *1
2 Selections 6 (Software 0103h – 0003h All ately Setup
Limits)
Software Limit Selection

0 Enable both forward and reverse software limits.
n. X 1 Disable forward software limit.
2 Disable reverse software limit.
Pn801 3 Disable both forward and reverse software limits.
Software Limit Check for References

n. X 0 Do not perform software limit checks for references.
Parameter Lists
1 Perform software limit checks for references.
1 refer-
Immedi- *2
Pn803 2 Origin Range 0 to 250 ence 10 All ately Setup
unit
4-93

Size
Name
-1,073,741,823 1 refer-
107374 Immedi- *1
Pn804 4 Forward Software Limit to ence 1823 All ately Setup
1,073,741,823 unit
-1,073,741,823 1 refer-
-10737 Immedi- *1
Pn806 4 Reverse Software Limit to ence 41823 All ately Setup
1,073,741,823 unit
-1,073,741,823 1 refer- Immedi-
Absolute Encoder Origin *1
Pn808 4 to ence 0 All Setup
Offset
1,073,741,823 unit ately *11
10,000
First Stage Linear Accel- refer- Immedi- *2
Pn80A 2 1 to 65,535 100 All Setup
eration Constant ence ately *12
units/s2
10,000
Pn80B 2 1 to 65,535 100 All Setup
Acceleration Constant ence ately *12
units/s2
100 ref- Immedi-
Acceleration Constant *2
Pn80C 2 0 to 65,535 erence 0 All Setup
Switching Speed
units/s ately *12
10,000
First Stage Linear refer- Immedi- *2
Pn80D 2 1 to 65,535 100 All Setup
units/s2
10,000
Pn80E 2 1 to 65,535 100 All Setup
units/s2
100 ref- Immedi-
Deceleration Constant *2
Pn80F 2 0 to 65,535 erence 0 All Setup
Switching Speed
units/s ately *12
100 ref- Immedi-
Exponential Accelera- *2
Pn810 2 0 to 65,535 erence 0 All Setup
tion/Deceleration Bias
units/s ately *13
Exponential Accelera- Immedi-
Pn811 2 tion/Deceleration Time 0 to 5,100 0.1 ms 0 All Setup *2
Constant ately *13
Movement Average Immedi- *2

Pn812 2 0 to 5,100 0.1 ms 0 All Setup
Time ately *13
External Positioning -1,073,741,823 1 refer- Immedi-

Pn814 4 to ence 100 All Setup *2
Final Travel Distance 1,073,741,823 unit ately
2 Origin Return Mode Set- 0000h to – 0000h All Immedi- Setup *14
tings 0001h ately
Origin Return Direction

Pn816 n.X 0 Return in forward direction.
1 Return in reverse direction.
*15
M2
Pn817 Origin Approach Speed 100 ref- Immedi-

2 0 to 65,535 erence 50 All Setup *2
*16 1 units/s ately *12
Pn818 Origin Approach Speed 100 ref- Immedi-

2 0 to 65,535 erence 5 All Setup *2
*17 2 units/s ately *12
Final Travel Distance for -1,073,741,823 1 refer- Immedi-

Pn819 4 to ence 100 All Setup *2
Origin Return 1,073,741,823 unit ately
4-94

Size
Name
Input Signal Monitor 0000h to Immedi- *14
IO12 Signal Mapping

0 Do not map.
n. X 3 Monitor CN1-8 input terminal.
Pn81E 5 Monitor CN1-10 input terminal.
*15
M2
IO13 Signal Mapping

n. X
IO14 Signal Mapping

n. X
IO15 Signal Mapping

n.X
Command Data Alloca- 0000h to After *14

tions 1111h restart
Option Field Allocation

n. X 0 Disable option field allocation.
Pn81F 1 Enable option field allocation.
*15
Position Control Command TFF/TLIM Allocation
M2
n. X 0 Disable allocation.
1 Enable allocation.
-2,147,483,648 1 refer- Immedi-

Pn820 4 Forward Latching Area to ence 0 All Setup *2
2,147,483,647 unit ately
-2,147,483,648 1 refer- Immedi-

Pn822 4 Reverse Latching Area to ence 0 All Setup *2
2,147,483,647 unit ately

Parameter Lists
4-95

Size
Name
2 – 0000h – Setup
tion FFFFh ately
Setting Monitor Applicable Motors

High-Speed Monitor Region
0000h Motor speed [1000000h/overspeed detection speed] All
0001h Speed reference [1000000h/overspeed detection speed] All
0002h Torque [1000000h/maximum torque] All
0003h Position deviation (lower 32 bits) [reference units] All
0004h Position deviation (upper 32 bits) [reference units] All
000Ah Encoder count (lower 32 bits) [reference units] All
000Bh Encoder count (upper 32 bits) [reference units] All
000Ch FPG count (lower 32 bits) [reference units] All
000Dh FPG count (upper 32 bits) [reference units] All
Low-Speed Monitor Region
0010h Un000: Motor speed [min-1] All
0011h Un001: Speed Reference [min-1] All
0012h Un002: Torque Reference [%] All
Un003: Rotational Angle 1 [encoder pulses]
0013h Number of encoder pulses from origin within one encoder rotation All
displayed in decimal
Un004: Rotational Angle 2 [deg]
0014h All
Electrical angle from polarity origin
0015h Un005: Input Signal Monitor All
0016h Un006: Output Signal Monitor All
Pn824 0017h Un007: Input Reference Speed [min-1] All
0018h Un008: Position Deviation [reference units] All
*10
M3 0019h Un009: Accumulated Load Ratio [%] All
001Ah Un00A: Regenerative Load Ratio [%] All
001Bh Un00B: Dynamic Brake Resistor Power Consumption [%] All
001Ch Un00C: Input Reference Pulse Counter [reference units] All
001Dh Un00D: Feedback Pulse Counter [encoder pulses] All
Un00E: Fully-closed Loop Feedback Pulse Counter [external encoder
001Eh
resolution]
Rotary
0023h Initial multiturn data [Rev] Rotary
0024h Initial incremental data [pulses] Rotary
0040h Un025: SERVOPACK Installation Environment Monitor All
0041h Un026: Servomotor Installation Environment Monitor All
0042h Un027: Built-in Fan Remaining Life Ratio All
0043h Un028: Capacitor Remaining Life Ratio All
0044h Un029: Surge Prevention Circuit Remaining Life Ratio All
0045h Un02A: Dynamic Brake Circuit Remaining Life Ratio All
0046h Un032: Instantaneous Power All
0047h Un033: Power Consumption All
0048h Un034: Cumulative Power Consumption All
Communications Module Only
0080h Previous value of latched feedback position (LPOS1) [encoder pulses] All
0081h Previous value of latched feedback position (LPOS2) [encoder pulses] All
0084h Continuous Latch Status (EX STATUS) All
All Areas
Other
Reserved settings (Do not use.) All
values
4-96

Size
Name
tion FFFFh ately
Pn825
0000h to
The settings are the same as those for the Option Monitor 1 Selection.
0084h
10,000
Linear Deceleration refer- Immedi- *2
Pn827 2 1 to 65,535 100 All Setup
Constant 1 for Stopping ence ately *12
units/s2
SVOFF Waiting Time (for Immedi-
Pn829 2 SVOFF at Deceleration 0 to 65,535 10 ms 0 All Setup *2
to Stop) ately *12
2 1 1E1Eh – 1813h All restart Setup
ACCFIL Allocation (Option)

n. X
Pn82A A Allocate bits 10 and 11 to ACCFIL.
B Allocate bits 11 and 12 to ACCFIL.
*15
M2 C Allocate bits 12 and 13 to ACCFIL.
D Allocate bits 13 and 14 to ACCFIL.
E Allocate bits 14 and 15 to ACCFIL.
ACCFIL Allocation Enable/Disable Selection

n. X 0 Disable ACCFIL allocation.
1 Enable ACCFIL allocation.
G_SEL Allocation (Option)

n. X
0 to E The settings are the same as for the ACCFIL allocations.
G_SEL Allocation Enable/Disable Selection

n. X 0 Disable G_SEL allocation.
1 Enable G_SEL allocation.

Parameter Lists
4-97

Size
Name
2 – 1D1Ch All Setup
2 1F1Fh restart
V_PPI Allocation (Option)

n.X 7 Allocate bit 7 to V_PPI.
A Allocate bit 10 to V_PPI.
Pn82B
B Allocate bit 11 to V_PPI.
*15 C Allocate bit 12 to V_PPI.
M2
D Allocate bit 13 to V_PPI.
E Allocate bit 14 to V_PPI.
F Allocate bit 15 to V_PPI.
V_PPI Allocation Enable/Disable Selection

n.X 0 Disable V_PPI allocation.
1 Enable V_PPI allocation.
P_PI_CLR Allocation (Option)

n.X
P_PI_CLR Allocation Enable/Disable Selection

n.X 0 Disable P_PI_CLR allocation.
1 Enable P_PI_CLR allocation.
2 Option Field Allocations 0000h to – 1F1Eh All After Setup *14

3 1F1Fh restart
P_CL Allocation (Option)

n.X
P_CL Allocation Enable/Disable Selection

Pn82C n.X 0 Disable P_CL allocation.
1 Enable P_CL allocation.
*15
M2
N_CL Allocation (Option)
n.X
N_CL Allocation Enable/Disable Selection

n.X 0 Disable N_CL allocation.
1 Enable N_CL allocation.
4-98

Size
Name
4 1F1Ch restart
BANK_SEL1 Allocation (Option)

n. X
Pn82D 9 Allocate bits 9 to 12 to BANK_SEL1.
A Allocate bits 10 to 13 to BANK_SEL1.
*15 B Allocate bits 11 to 14 to BANK_SEL1.
M2
C Allocate bits 12 to 15 to BANK_SEL1.
BANK_SEL1 Allocation Enable/Disable Selection

n. X 0 Disable BANK_SEL1 allocation.
1 Enable BANK_SEL1 allocation.
LT_DISABLE Allocation (Option)

n. X
LT_DISABLE Allocation Enable/Disable Selection

n.X 0 Disable LT_DISABLE allocation.
1 Enable LT_DISABLE allocation.
Parameter Lists
4-99

Size
Name
5 1D1Fh restart
OUT_SIGNAL Allocation (Option)

Pn82E
M2 *15 n.X 6 Allocate bits 6 to 8 to OUT_SIGNAL.

A Allocate bits 10 to 12 to OUT_SIGNAL.
B Allocate bits 11 to 13 to OUT_SIGNAL.
C Allocate bits 12 to 14 to OUT_SIGNAL.
D Allocate bits 13 to 15 to OUT_SIGNAL.
OUT_SIGNAL Allocation Enable/Disable Selection

n.X 0 Disable OUT_SIGNAL allocation.
1 Enable OUT_SIGNAL allocation.
0000h to After *2
2 Motion Settings – 0000h All Setup
0001h restart
Linear Acceleration/Deceleration Constant Selection

Use Pn80A to Pn80F and Pn827. (The settings of Pn834 to Pn840 are
0
n.X ignored.)
Pn833 Use Pn834 to Pn840. (The settings of Pn80A to Pn80F and Pn827 are
1
ignored.)
10,000
First Stage Linear Accel- 1 to refer- Immedi- *2
eration Constant 2 20,971,520 ence ately *12
units/s2
10,000
Acceleration Constant 2 20,971,520 ence ately *12
units/s2
1 refer- Immedi-
Pn838 4 Acceleration Constant 0 to
ence 0 All Setup *2
unit/s ately *12
10,000
First Stage Linear 1 to refer- Immedi- *2
Pn83A 4 100 All Setup
units/s2
4-100

Size
Name
10,000
Pn83C 4 100 All Setup
units/s2
1 refer- Immedi-
Deceleration Constant 0 to *2
Pn83E 4 ence 0 All Setup
unit/s ately *12
10,000
Linear Deceleration 1 to refer- Immedi- *2
Constant 2 for Stopping 20,971,520 ence ately *12
units/s2
units/s ately *12

units/s ately *12
POSING Command Immedi-
Pn846 2 Scurve Acceleration/ 0 to 50 1% 0 All Setup –
Deceleration Rate ately *12
Number of Latch Immedi- *2
Sequences ately
Continuous Latch Immedi- *2
Pn851 2 Sequence Count 0 to 255 – 0 All ately Setup
2 Latch Sequence 1 to 4 0000h to – 0000h All Immedi- Setup *2


0 Phase C
n. X 1 EXT1 signal
2 EXT2 signal
3 EXT3 signal

n. X The settings are the same as those for the Latch Sequence 1 Signal Selec-
0 to 3
tion.

n. X The settings are the same as those for the Latch Sequence 1 Signal Selec-
0 to 3
tion.

0 to 3
tion.

Parameter Lists
4-101

Size
Name
Latch Sequence 5 to 8 0000h to Immedi- *2

0 Phase C
n.X 1 EXT1 signal
2 EXT2 signal
3 EXT3 signal

Pn853
n.X The settings are the same as those for the Latch Sequence 5 Signal Selec-
0 to 3
tion.

n.X The settings are the same as those for the Latch Sequence 5 Signal Selec-
0 to 3
tion.

0 to 3
tion.
2 SVCMD_IO Input Signal 0000h to – 0000h All Immedi- Setup *2

Monitor Allocations 1 1717h ately
Input Signal Monitor Allocation for CN1-13 (SVCMD_IO)

0 Allocate bit 24 (IO_STS1) to CN1-13 input signal monitor.
n.X 3 Allocate bit 27 (IO_STS4) to CN1-13 input signal monitor.
Pn860 6 Allocate bit 30 (IO_STS7) to CN1-13 input signal monitor.
*10
M3
CN1-13 Input Signal Monitor Enable/Disable Selection
n.X 0 Disable allocation for CN1-13 input signal monitor.
1 Enable allocation for CN1-13 input signal monitor.

n.X
0 to 7 The settings are the same as the CN1-13 allocations.

n.X 0 Disable allocation for CN1-7 input signal monitor.
4-102

Size
Name
SVCMD_IO Input Signal 0000h to Immedi- *2

n. X

Pn861 n. X 0 Disable allocation for CN1-8 input signal monitor.
*10
M3
n. X

2 SVCMD_IO Input Signal 0000h to – 0000h All Immedi- Setup *2


n. X

Pn862 n. X 0 Disable allocation for CN1-10 input signal monitor.
*10
M3
n. X

SVCMD_IO Input Signal 0000h to Immedi- *2


n. X
Pn863
M3 *10 n. X 0 Disable allocation for CN1-12 input signal monitor.

Parameter Lists
4-103

Size
Name
SVCMD_IO Output Sig-
0000h to Immedi- *2
2 nal Monitor Allocations 1717h – 0000h All ately Setup
1
Output Signal Monitor Allocation for CN1-1 and CN1-2 (SVCMD_IO)

0 Allocate bit 24 (IO_STS1) to CN1-1/CN1-2 output signal monitor.
n.X 3 Allocate bit 27 (IO_STS4) to CN1-1/CN1-2 output signal monitor.
Pn868
*10 7 Allocate bit 31 (IO_STS8) to CN1-1/CN1-2 output signal monitor.
M3
CN1-1/CN1-2 Output Signal Monitor Enable/Disable Selection
n.X 0 Disable allocation for CN1-1/CN1-2 output signal monitor.
1 Enable allocation for CN1-1/CN1-2 output signal monitor.

n.X
0 to 7 The settings are the same as the CN1-1/CN1-2 allocations.

n.X 0 Disable allocation for CN1-23/CN1-24 output signal monitor.
SVCMD_IO Output Sig-

2 nal Monitor Allocations 0000h to – 0000h All Immedi- Setup *2
1717h ately
2

n.X
0 to 7 The settings are the same as the CN1-1/CN1-2 allocations.
Pn869
*10
M3 n.X 0 Disable allocation for CN1-25/CN1-26 output signal monitor.
Station Address Moni-

Pn880 2 tor (for maintenance, 03h to EFh – – All – Setup –
read only)
Set Transmission Byte
Count Monitor [bytes]
Pn881 2 17, 32, 48 – – All – Setup –
only)
Transmission Cycle Set-
Pn882 2 ting Monitor [× 0.25 μs] 0h to FFFFh – – All – Setup –
only)
Communications Cycle
Setting Monitor [trans-
Pn883 2 mission cycles] (for 0 to 32 – – All – Setup –
maintenance, read only)
4-104

Size
Name
Communications Con- 0000h to Immedi- *2
trols 2 0001h ately
MECHATROLINK Communications Error Holding Brake Signal Setting

Maintain the status set by the BRK_ON or BRK_OFF command when a MECHA-
Pn884 n.X 0
TROLINK communications error occurs.
*10 1 Apply the holding brake when a MECHATROLINK communications error occurs.
M3
MECHATROLINK
Receive Error Counter
Immedi-
Pn88A 2 Monitor 0 to 65,535 – 0 All ately Setup –
only)
Command Data Moni-
Pn890 to tor during Alarm/Warn-
4 ing 0h to – 0h All Immedi- Setup *2
Pn8A6 FFFFFFFFh ately
only)
Response Data Monitor
Pn8A8 to during Alarm/Warning 0h to Immedi- *2
4 – 0h All Setup
Pn8BE (for maintenance, read FFFFFFFFh ately
only)
Pn900 2 Number of Parameter 0 to 16 – 0 All After Setup *2

Banks restart
Number of Parameter After *2
Bank Members restart
Pn902 to Parameter Bank Mem- 0000h to After *2
2 – 0h All Setup
Pn910 ber Definition 08FFh restart
Pn920 to Parameter Bank Data

2 (Not saved in nonvolatile 0000h to – 0h All Immedi- Setup *2
Pn95F FFFFh ately
memory.)
Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual
No.: SIEP S800001 28)
Σ-7-Series AC Servo Drive MECHATROLINK-III Communications Standard Servo Profile Command Manual
C720829 06)
*7. These parameters are for SERVOPACKs with the dynamic brake option. Refer to the following manual for
details.
*10.This parameter is valid only when the MECHATROLINK-III standard servo profile is used.
Parameter Lists
*11. The parameter setting is enabled after SENS_ON command execution is completed.
*12.Change the setting when the reference is stopped (i.e., while DEN is set to 1). If you change the setting during
*13.The settings are updated only if the reference is stopped (i.e., only if DEN is set to 1).
*14.Refer to the following manual for details.
Σ-7-Series AC Servo Drive MECHATROLINK-II Communications Command Manual (Manual No.: SIEP S800001
30)
*15.This parameter is valid only when the MECHATROLINK-II-compatible profile is used.
*16.The setting of Pn842 is valid while Pn817 is set to 0. 4
4-105
4.3.2 List of MECHATROLINK-III Common Parameters

The following table lists the common MECHATROLINK-III parameters. These common parame-
ters are used to make settings from the host controller via MECHATROLINK communications.
Do not change the settings with the Digital Operator or any other device.
Parameter Setting Unit Default Applicable When Classi-
Size Name Setting Range
No. [Resolution] Setting Motors Enabled fication
Encoder Type Selec-
4 0h or 1h – – All –
tion (read only)
01
PnA02 0000h Absolute encoder
0001h Incremental encoder
4 Motor Type Selection 0h or 1h – – All –

(read only)
02
PnA04 0000h Rotary Servomotor
0001h Linear Servomotor
Semi-closed/Fully-
4 closed Selection 0h or 1h – – All –
Device information
(read only)
03
PnA06 0000h Semi-closed
0001h Fully-closed
04 Rated Motor Speed 0h to

4 (read only) FFFFFFFFh 1 min-1 – All –
PnA08
05 Maximum Output 0h to
4 Speed (read only) FFFFFFFFh 1 min-1 – All –
PnA0A
06 Speed Multiplier -1,073,741,823
4 to – – All –
PnA0C (read only) 1,073,741,823
07 Rated Torque 0h to
4 1 Nm – All –
PnA0E (read only) FFFFFFFFh
08 Maximum Output 0h to
4 1 Nm – All –
PnA10 Torque (read only) FFFFFFFFh
09 Torque Multiplier -1,073,741,823

4 to – – All –
PnA12 (read only) 1,073,741,823
0A Resolution 0h to
4 1 pulse/rev – Rotary –
PnA14 (read only) FFFFFFFFh
4-106

21 Electronic Gear Ratio 1 to After
4 (Numerator) 1,073,741,824 – 16 All restart
PnA42
22 Electronic Gear Ratio 1 to After
4 (Denominator) 1,073,741,824 – 1 All restart
PnA44
23 -1,073,741,823 Immedi-
Absolute Encoder 1 reference
4 to 0 All
PnA46 Origin Offset
1,073,741,823
unit ately*1
24 Multiturn Limit After
4 Setting 0 to 65,535 1 Rev 65535 Rotary restart
PnA48
After
4 Limit Setting 0h to 33h – 0000h All
restart
Machine specifications
Bit 0 P-OT (0: Enabled, 1: Disabled)
Bit 1 N-OT (0: Enabled, 1: Disabled)
25 Bit 2 Reserved.
PnA4A Bit 3 Reserved.
Bit 4 P-SOT (0: Disabled, 1: Enabled)
Bit 5 N-SOT (0: Disabled, 1: Enabled)
Bits 6 to 31 Reserved.
26 Forward Software -1,073,741,823 1 reference 10737418 Immedi-

4 to All
PnA4C Limit 1,073,741,823 unit 23 ately
27 Reserved parameter Immedi-

4 – – 0 All
PnA4E (Do not change.) ately
28 Reverse Software -1,073,741,823 1 reference -1073741 Immedi-

4 to All
PnA50 Limit 1,073,741,823 unit 823 ately
29 Reserved parameter Immedi-

4 – – 0 All
PnA52 (Do not change.) ately
Speed Unit After
4 0h to 4h – 0h All
Selection*2 restart
0000h Reference units/s

41 0001h Reference units/min
PnA82 0002h Percentage (%) of rated speed*3
0003h min-1*3
0004h Maximum motor speed/40000000h*4
Unit settings
Speed Base Unit

Selection*3, *4
42 (Set the value of n
4 from the following -3 to 3 – 0 All After
PnA84 restart
formula: Speed unit
selection (41 PnA82)
× 10n)
Position Unit After
4 0h – 0h All
Selection restart
43
PnA86
0000h Reference units
Parameter Lists
4-107

Position Base Unit
Selection
from the following After
4 0 – 0 All restart
PnA88 formula: Position unit
selection (43 PnA86)
× 10n)
Acceleration Unit After
4 0h – 0h All
Selection restart
45
PnA8A
0000h Reference units/s2
Acceleration Base
Unit Selection
from the following After
4 4 to 6 – 4 All restart
PnA8C formula: Acceleration
unit selection (45
PnA8A) × 10n)
Torque Unit After
4 1h to 2h – 1h All
Selection restart
47
PnA8E 0001h Percentage (%) of rated torque
0002h Maximum torque/40000000h*5
Torque Base Unit

Selection*5
(Set the value of n
Unit settings
48 After
4 from the following -5 to 0 – 0 All
PnA90 restart
formula: Torque unit
selection (47 PnA8E)
× 10n)
Supported Unit Sys- 0601011F
4 – – All –
tems (read only) h
Speed Units
Bit 0 Reference units/s (1: Enabled)
Bit 1 Reference units/min (1: Enabled)
Bit 2 Percentage (%) of rated speed (1: Enabled)
Bit 3 min-1 (rpm) (1: Enabled)
Bit 4 Maximum motor speed/4000000h (1: Enabled)
Bits 5 to 7 Reserved (0: Disabled).
Position Units
49 Bit 8 Reference units (1: Enabled)
PnA92 Bits 9 to 15 Reserved (0: Disabled).
Acceleration Units
Bit 16 Reference units/s2 (1: Enabled)
Bit 17 ms (acceleration time required to reach rated speed) (0: Disabled)
Torque Units
Bit 24 Nm (0: Disabled)
Bit 25 Percentage (%) of rated torque (1: Enabled)
Bit 26 Maximum torque/40000000h
4-108

61 1,000 to 0.001 Hz Immedi-
4 Speed Loop Gain 2,000,000 [0.1 Hz] 40000 All ately
PnAC2
62 Speed Loop Integral 1 μs Immedi-
4 Time Constant 150 to 512,000 [0.01 ms] 20000 All ately
PnAC4
63 1,000 to 0.001/s Immedi-
4 Position Loop Gain 2,000,000 [0.1/s] 40000 All ately
PnAC6
64 Feedforward Com- Immedi-
4 pensation 0 to 100 1% 0 All ately
PnAC8
65 Position Loop Inte- 1 μs Immedi-
4 gral Time Constant 0 to 5,000,000 [0.1 ms] 0 All ately
PnACA
66 Positioning Com- 0 to 1 reference Immedi-
4 pleted Width 1,073,741,824 unit 7 All ately
PnACC
67 1 to 1 reference 10737418 Immedi-
4 Near Signal Width 1,073,741,824 unit 24 All ately
PnACE
Exponential Acceler-
81 1 μs Immedi-
4 ation/Deceleration 0 to 510,000 0 All
PnB02 Time Constant
[0.1 ms] ately*6
82 Average Movement 1 μs Immedi-
4 0 to 510,000 0 All
PnB04 Time [0.1 ms] ately*6
83 -1,073,741,823
External Positioning 1 reference Immedi-
4 Final Travel Distance to unit 100 All ately
PnB06 1,073,741,823
× 5,000h
reference
84 Origin Approach 0 to units/s Immedi-
4
Speed 1,073,741,823 10-3 min-1 con- All
ately
PnB08
verted to
10-3 min-1
× 500h
reference
Tuning
85 Origin Return Creep 0 to units/s Immedi-
4 Speed 1,073,741,823 10-3 min-1 con- All ately
PnB0A
verted to
10 min-1
-3
86 Final Travel Distance -1,073,741,823 1 reference Immedi-

4 to 100 All
PnB0C for Origin Return 1,073,741,823 unit ately
4 Fixed Monitor Selec- 0 to 15 – 1h All Immedi-

tion 1 ately
0 APOS
1 CPOS
2 PERR
3 LPOS1
4 LPOS2
5 FSPD
6 CSPD
87
PnB0E 7 TRQ
8 ALARM
9 MPOS
10 Reserved (undefined value).
11 Reserved (undefined value).
12 CMN1 (common monitor 1)
Parameter Lists
13 CMN2 (common monitor 2)

14 OMN1 (optional monitor 1)
15 OMN2 (optional monitor 2)
4-109

Fixed Monitor Selec- Immedi-
4 0 to 15 – 0h All
tion 2 ately
88
PnB10 0 to 15 The settings are the same as those for Fixed Monitor Selection 1.
SEL_MON (CMN1) Immedi-

4 Monitor Selection 1 0 to 9 – 0h All ately
0 TPOS (target position in reference coordinate system)

1 IPOS (reference position in reference coordinate system)
2 POS_OFFSET (offset set in POS_SET (Set Coordinate System) command)
3 TSPD (target speed)
4 SPD_LIM (speed limit)
5 TRQ_LIM (torque limit)
SV_STAT (servo actual operating status)
Monitor Description
Byte 1: Current communications phase
00h: Phase 0
01h: Phase 1
02h: Phase 2
03h: Phase 3
Byte 2: Current control mode
00h: Position control mode
01h: Speed control mode
02h: Torque control mode
Command-related parameters
Byte 3: Reserved
Byte 4: Expansion signal monitor
Bit Name Description Value Setting
Latch detection
Processing status for 0 not yet pro-
latch detection for cessed.
Bit 0 LT_RDY1
LT_REQ1 in SVCM- Processing latch
D_CTRL region 1 detection in
89 progress.
PnB12
Latch detection
6 Processing status for 0 not yet pro-
latch detection for cessed.
Bit 1 LT_RDY1
LT_REQ2 in SVCM- Processing latch
D_CTRL region 1 detection in
progress.
0 Phase C
External input
1
signal 1
Bits 2
LT_SEL1R Latch signal External input
and 3 2
signal 2
External input
3
signal 3
0 Phase C
External input
1
signal 1
Bits 4
LT_SEL2R Latch signal External input
and 5 2
signal 2
External input
3
signal 3
Bit 6 Reserved (0).
7 Reserved.
Lower 32 bits of initial encoder position con-
8 INIT_PGPOS (Low)
verted to 64-bit position reference data
Upper 32 bits of initial encoder position con-
9 INIT_PGPOS (High)
verted to 64-bit position reference data
4-110

SEL_MON (CMN2) Immedi-
4 0 to 9 – 0h All
Monitor Selection 2 ately
8A
0 to 9 The settings are the same as those for SEL_MON Monitor Selection 1.
PnB14
8B Origin Detection 1 reference Immedi-

4 Width 0 to 250 unit 10 All ately
PnB16
8C Immedi-
4 Forward Torque Limit 0 to 800 1% 100 All ately
PnB18
8D Immedi-
4 Reverse Torque Limit 0 to 800 1% 100 All ately
PnB1A
8E Zero Speed Detec- 1,000 to Immedi-
4 tion Range 10,000,000 10-3 min-1 20000 All ately
PnB1C
8F Speed Coincidence
Immedi-
4 Signal Detection 0 to 100,000 10-3 min-1 10000 All ately
PnB1E Width
Servo Command
4 Control Field Enable/ – – 0FFF3F3F All –
Disable Selections h
(read only)
Bit 0 CMD_PAUSE (1: Enabled)

Bit 1 CMD_CANCEL (1: Enabled)
Bits 2 and 3 STOP_MODE (1: Enabled)
Bits 4 and 5 ACCFIL (1: Enabled)
Bits 6 and 7 Reserved (0: Disabled).
90 Bit 8 LT_REQ1 (1: Enabled)
PnB20 Bit 9 LT_REQ2 (1: Enabled)
Bits 10 and 11 LT_SEL1 (1: Enabled)
Bits 12 and 13 LT_SEL2 (1: Enabled)
Bits 16 to 19 SEL_MON1 (1: Enabled)

Parameter Lists
4-111

Servo Status Field
4 Enable/Disable – – 0FFF3F33 All –
Selections (read h
only)
Bit 0 CMD_PAUSE_CMP (1: Enabled)

Bit 1 CMD_CANCEL_CMP (1: Enabled)
Bit 2 and 3 Reserved (0: Disabled).
Bits 4 and 5 ACCFIL (1: Enabled)
Bit 8 L_CMP1 (1: Enabled)
91 Bit 9 L_CMP2 (1: Enabled)
PnB22 Bit 10 POS_RDY (1: Enabled)
Bit 11 PON (1: Enabled)
Bit 12 M_RDY (1: Enabled)
Bit 13 SV_ON (1: Enabled)
Output Bit Enable/ 007F01F0

4 Disable Selections – – All –
(read only) h

Bit 4 V_PPI (1: Enabled)
Bit 5 P_PPI (1: Enabled)
Bit 6 P_CL (1: Enabled)
92 Bit 7 N_CL (1: Enabled)
PnB24 Bit 8 G_SEL (1: Enabled)
Bits 9 to 11 G_SEL (0: Disabled)
Bits 16 to 19 BANK_SEL (1: Enabled)
Bits 20 to 22 SO1 to SO3 (1: Enabled)
Bit 23 Reserved (0: Disabled).
4-112

Input Bit Enable/Dis-
FF0FFEFE
4 able Selections (read – – h All –
only)

Bit 1 DEC (1: Enabled)
Bit 2 P-OT (1: Enabled)
Bit 3 N-OT (1: Enabled)
Bit 4 EXT1 (1: Enabled)
Bit 7 ESTP (1: Enabled)
Bit 9 BRK_ON (1: Enabled)
93
PnB26 Bit 10 P-SOT (1: Enabled)
Bit 11 N-SOT (1: Enabled)
Bit 12 DEN (1: Enabled)
Bit 13 NEAR (1: Enabled)
Bit 14 PSET (1: Enabled)
Bit 15 ZPOINT (1: Enabled)
Bit 16 T_LIM (1: Enabled)
Bit 17 V_LIM (1: Enabled)
Bit 18 V_CMP (1: Enabled)
Bit 19 ZSPD (1: Enabled)
Bits 24 to 31 I0_STS1 to I0_STS8 (1: Enabled)
*1. The parameter setting is enabled after SENS_ON command execution is completed.
*2. When using fully-closed loop control, set the reference units/s.
*3. If you set the Speed Unit Selection (parameter 41) to either 0002h or 0003h, set the Speed Base Unit Selection
(parameter 42) to a number between -3 and 0.
*4. If you set the Speed Unit Selection (parameter 41) to 0004h, set the Speed Base Unit Selection (parameter 42)
to 0.
*5. If you set the Torque Unit Selection (parameter 47) to 0002h, set the Torque Base Unit Selection (parameter 48)
to 0.
*6. Change the setting when the reference is stopped (i.e., while DEN is set to 1). If you change the setting during
Parameter Lists
4-113

• The following parameters will be set automatically when the INDEXER Module is mounted. Do
not change the settings of these parameters.
Pn002 = n.X, Pn205, Pn207 = n.X, Pn50A to Pn512, Pn517, and Pn522
Note • Parameters that are unique to the INDEXER Module will be set automatically the first time the
power supply is turned on after the INDEXER Module is mounted. Up to 10 s may be required
for the SERVOPACK to start.

Size
Name
2 tions 0 10B1h – 0000h All restart Setup –

*1
Pn000 1 Use CW as the forward direction. (Reverse Rotation Mode)
2 Application Function 0000h to – 0000h All After Setup –

1 *1
the dynamic brake.
Pn001 Main Circuit Power Supply AC/DC Input Selection Reference

0
n.X
*1

0 Output only alarm codes on the /ALO1 to /ALO3 terminals.
n.X
*1
Output both warning codes and alarm codes on the /ALO1 to
1
/ALO3 terminals. If there is an alarm, the alarm code is output.
4-114

Size
Name
2 Selections 2 4213h – 0000h*2 – restart Setup –
Applicable
Encoder Usage Reference
Motors
0
n. X tions. All
Pn002 Use the encoder as a single-turn absolute

2 Rotary
encoder.
Applicable
Motors
1

3
2 Application Function 0000h to – 0002h All Immedi- Setup *1


n. XX 08
pleted: 0 V)
Pn006
0C
pleted: 0 V)
Parameter Lists

4
4-115

Size
Name
2 Selections 7 105Fh – 0000h All ately Setup

n.XX 08
pleted: 0 V)
Pn007
0C
pleted: 0 V)
2 Application Function 0000h to – 4000h Rotary After Setup –


*1

2

*1
4-116

Size
Name
2 Selections 9 0121h – 0010h All restart Tuning –

Pn009 1
• SERVOPACK Models SGD7S-120A, -180A, -200A, -330A, *1
-470A, -550A, -590A, and -780A: Use current control mode 2.

*1

2
Selections A 0044h
– 0001h All
restart
Setup –

0
2 *1
Pn00A
stopping.
4

Parameter Lists
4-117

Size
Name
2 Selections B 1121h – 0000h All restart Setup –

*1

1 *1

n. X
*1
Use a three-phase power supply input and as a single-phase
1
power supply input.

2 – 0000h – Setup
Applicable
Motors
n.X
All
Applicable
Motors
0 Use 13 bits.
Rotary
2 Use 22 bits.
3 Use 24 bits.
Applicable
Motors
n.X
All
4-118

Size
Name
2 Selections D 1001h – 0000h All restart Setup
Stand-alone Mode (Test Operation) Selection

n. X 0 Enable connection with the Command Option Module.
1 Disable connection with the Command Option Module.
Pn00D n. X Reserved parameter (Do not change.)

Reserved parameter
Pn00E 2 (Do not change.) – – 0000 All – – –

2
Selections F 2011h
– 0000h All
restart
Setup –

*1
Axis Address Selection

0000h to After
Pn010 2 (For UART/USB com- 007Fh – 0001h All restart Setup –
munications)
Pn021 2 – – 0000h All – – –
not change.)
Pn022 2 not change.) – – 0000h All – – –
Pn040 2 Reserved parameter (Do – – 0000h – – – –

not change.)

Pn081

Parameter Lists
ately
Time Constant ately
Immedi- *1
4-119

Size
Name
Immedi- *1
Pn103 2 Moment of Inertia Ratio 0 to 20,000 1% 100 All ately Tuning
Pn104 2 Second Speed Loop 10 to 20,000 0.1 Hz 400 All Immedi- Tuning *1
Gain ately
Pn106 2 Gain 10 to 20,000 0.1/s 400 All ately Tuning
Pn109 2 Feedforward 0 to 100 1% 0 All Immedi- Tuning *1

ately
Pn10A 2 0 to 6,400 0.01 ms 0 All Tuning
Constant ately
2 tions 5334h – 0000h All – Setup –
When
Enabled
0
ting: Pn10D).
1
Use the acceleration reference as the condition (level Immedi- *1
ately
setting: Pn10E).
2
3
ting: Pn10F).
When
Enabled
1 I-P control After *1
restart

Pn10D 2
for Speed Reference
0 to 10,000 1 min-1 0 Rotary
ately
Tuning *1
Pn10E 2
Mode Switching Level
0 to 30,000 1 min-1/ 0 Rotary
Immedi-
Tuning *1
for Acceleration s ately
1 refer-
Pn10F 2 for Position Deviation 0 to 10,000 ence 0 All ately Tuning
unit
Pn11F 2 0 to 50,000 0.1 ms 0 All Tuning
Constant ately
Pn121 2 Gain 10 to 1,000 1% 100 All ately Tuning
Pn122 2 Second Friction Com- 10 to 1,000 1% 100 All Immedi- Tuning *1

Coefficient ately
Friction Compensation -10,000 to Immedi- *1
Pn124 2 Frequency Correction 10,000 0.1 Hz 0 All ately Tuning

4-120

Size
Name
Immedi- *1

ately
Time 1 ately
2 Automatic Gain Switch- 0000h to – 0000h All Immedi- Tuning *1


0 Disable automatic gain switching.
n.X
2 Enable automatic gain switching.
Gain Switching Condition A

Pn139
n.X 2 /NEAR (Near Output) signal turns ON.
Pn13D 2 Current Gain Level 100 to 2,000 1% 2000 All Immedi- Tuning *1
ately

*1

n. X
Pn140

n. X reference, and custom tuning.
*1
Parameter Lists

4
4-121

Size
Name
Pn143 2 trol Bias in the Forward 0 to 10,000 0.1% 1000 All Immedi- Tuning *1
ately
Direction
Pn144 2 trol Bias in the Reverse 0 to 10,000 0.1% 1000 All Immedi- Tuning *1
ately
Direction
Pn145 2 Frequency A 10 to 2,500 0.1 Hz 500 All ately Tuning
Pn146 2 Vibration Suppression 1 10 to 2,500 0.1 Hz 700 All Immedi- Tuning *1

Frequency B ately
Immedi- *1
Pn147 2 trol Speed Feedforward 0 to 10,000 0.1% 1000 All ately Tuning
Compensation
Second Model Follow- Immedi- *1
Pn148 2 10 to 20,000 0.1/s 500 All Tuning
Pn149 2 ing Control Gain Correc- 500 to 2,000 0.1% 1000 All Immedi- Tuning *1
ately
tion
Pn14A 2 Frequency 10 to 2,000 0.1 Hz 800 All ately Tuning
Pn14B 2 Vibration Suppression 2 10 to 1,000 1% 100 All Immedi- Tuning *1

Correction ately
Control-Related Selec- 0000h to After
tions 0021h restart

*1

n.X
2 Anti-Resonance Con- 0000h to – 0010h All Immedi- Tuning –


*1

*1

Pn161 2 quency 10 to 20,000 0.1 Hz 1000 All ately Tuning
Pn162 2 Anti-Resonance Gain 1 to 1,000 1% 100 All Immedi- Tuning *1

Correction ately
4-122

Size
Name
Anti-Resonance Filter -1,000 to Immedi-

Pn164 2 Time Constant 1 Cor- 0.01 ms 0 All Tuning *1
rection 1,000 ately
Anti-Resonance Filter -1,000 to Immedi-

Pn165 2 Time Constant 2 Cor- 0.01 ms 0 All Tuning *1
rection 1,000 ately
Pn166 2 Anti-Resonance Damp- 0 to 1,000 1% 0 All Immedi- Tuning *1

ing Gain 2 ately
2 – 1401h All – Setup
Related Selections 2711h
When
Enabled
n. X

Pn170
When
Rigidity Level
Enabled
n. X
Immedi-
ately
When
Enabled
n.X
Immedi-
ately
After
Pn205 2 Multiturn Limit 0 to 65,535 1 rev 65535*3 Rotary
restart
Setup *1
Reserved parameter
Pn207 2
(Do not change.)
– – 0010h*2 All – – –
1 scale
Number of External 4 to pitch/ After *1
Pn20A 2 32768 Rotary Setup
tion
Pn20E 2 1 64 All Setup
Pn210 2 (Denominator) 1,073,741,824 1 1 All restart Setup
Pn212 2 Number of Encoder 16 to 1 P/Rev 2048 Rotary After Setup *1

After the
Average Movement change
and also
Pn217 2 Time of Position Refer- 0 to 10,000 0.1 ms 0 All after the Setup –
ence
motor has
stopped
2 – 0000h Rotary Setup

Parameter Lists
Pn22A


4
4-123

Size
Name
Reserved parameter
Pn230 2 (Do not change.) – – 0000h All – – –
Pn231 2 Reserved parameter – – 0 All – – –

(Do not change.)
Reserved parameter
Pn233 2 – – 0 All – – –
(Do not change.)
Rotary:
1 min-1
Direct Immedi- *1
Pn304 2 Jogging Speed 0 to 10,000 Drive: 500 Rotary ately Setup
0.1
min-1
Pn305 2 Time 0 to 10,000 1 ms 0 All ately Setup
Pn306 2 Soft Start Deceleration 0 to 10,000 1 ms 0 All Immedi- Setup *1

Time ately
Pn308 2 0 to 65,535 0.01 ms 0 All Setup
Time Constant ately
Deceleration Time for
Pn30A 2 Servo OFF and Forced 0 to 10,000 1 ms 0 All Immedi- Setup *1
ately
Stops
Pn30C 2 not change.) – – 0 All – – –


n.X

Pn311 2 50 to 500 1% 100 All Tuning
sitivity ately
After
restart
Setup *1

Pn324 2 0 to 20,000 1% 300 All Setup
ately
Constant
Immedi-
Immedi-
ately
Setup *1

Pn404 2 – – 100 All – – –
not change.)
Pn405 2 not change.) – – 100 All – – –
Immedi-
ately
Setup *1

Pn407 2 – – 10000 Rotary – – –
not change.)
4-124

Size
Name
2 tion Selections 1111h – 0000h All – Setup –
When
Enabled
n. X

Pn408
When
Enabled
n. X
When
Enabled
n.X

Frequency ately
Depth ately
ter Frequency ately
ter Depth ately
Second Stage Second
Immedi- *1
Frequency
Second Stage Second
Immedi- *1
Pn410 2 Torque Reference Filter 50 to 100 0.01 50 All Tuning
Q Value ately
First Stage Second Immedi-

Pn412 2 Torque Reference Filter 0 to 65,535 0.01 ms 100 All Tuning *1
Time Constant ately
2 Torque-Related Func- 0000h to – 0000h All Immedi- Setup *1


n. X 0 Disable third stage notch filter.

Pn416
n. X 0 Disable fourth stage notch filter.
Parameter Lists

n. X 0 Disable fifth stage notch filter.

Frequency ately 4
4-125

Size
Name
Pn418 2 Q Value 50 to 1,000 0.01 70 All ately Tuning
Pn419 2 Third Stage Notch Filter 0 to 1,000 0.001 0 All Immedi- Tuning *1
Depth ately
Pn41A 2 50 to 5,000 1 Hz 5000 All Tuning
ter Frequency ately
Pn41B 2 ter Q Value 50 to 1,000 0.01 70 All ately Tuning
Pn41C 2 Fourth Stage Notch Fil- 0 to 1,000 0.001 0 All Immedi- Tuning *1
ter Depth ately
Pn41D 2 50 to 5,000 1 Hz 5000 All Tuning
Frequency ately
Pn41E 2 Q Value 50 to 1,000 0.01 70 All ately Tuning
Pn41F 2 Fifth Stage Notch Filter 0 to 1,000 0.001 0 All Immedi- Tuning *1
Depth ately
Speed Ripple Compen- 0000h to *1
2 – 0000h Rotary – Setup
When
Enabled
n.X

Pn423 n.X
When
Enabled
n.X

Pn424 2
cuit Voltage Drop
0 to 100 1%*4 50 All
ately
Setup *1

Immedi- *1
Voltage Drop
Pn426 2 – – 0 All – – –
not change.)
Pn427 2 sation Enable Speed 0 to 10,000 1 min-1 0 vomotor ately Tuning *1
Pn456 2 Sweep Torque Refer- 1 to 800 1% 15 All Immedi- Tuning *1

ence Amplitude ately
4-126

Size
Name
Notch Filter Adjustment 0000h to Immedi- *1
2 Selections 1 0101h – 0101h All ately Tuning

n. X
tuning.
1


Related Selections 0001h restart

Pn475
Gravity Compensation -1,000 to Immedi- *1

Pn476 2 Torque 1,000 0.1% 0 All ately Tuning
Immedi-
ately
Setup *1

Pn503 2 – – 10 Rotary – – –
not change.)

Pn507 2
put Speed Level
0 to 10,000 1 min-1 100 Rotary
ately
Setup *1

Pn508 2 10 to 100 10 ms 50 All Setup

Pn50A 2
not change.)
– – 1881h*2 All – – –

Pn50B 2
not change.)
– – 8882h*2 All – – –

0000h*5
Parameter Lists
Pn50E 2 not change.) – – All – – –

Pn50F 2
not change.)
– – 0100h*6 All – – –

Pn510 2
not change.)
– – 0000h*1 All – – –

Pn511 2 not change.) – – 6543h*7 All – – –

4
4-127

Size
Name

not change.)
Pn516 2 – – 8888h All – – –
not change.)
Pn518 2 Safety Module-Related – – – All – – –

Parameters
0 to Immedi- *1
Pn51E 2 10 to 100 1% 100 All Setup
1 refer-
flow Alarm Level 1,073,741,823 ately
unit
Pn522 2 not change.) – – 7*10 All – – –
Pn524 2 Reserved parameter (Do – – 1073741824 All – – –

not change.)
1 to Immedi- *1
Pn526 2 flow Alarm Level at 1,073,741,823 ence 5242880 All ately Setup
Servo ON unit
Immedi- *1
Pn528 2 flow Warning Level at 10 to 100 1% 100 All ately Setup
Servo ON
Pn529 2
Servo ON
0 to 10,000 1 min-1 10000 Rotary
ately
Setup *1
Multiplier per Fully- Immedi- *1

Pn52A 2 closed Rotation 0 to 100 1% 20 Rotary ately Tuning
Pn52B 2 Overload Warning Level 1 to 100 1% 20 All Immedi- Setup *1

ately
After *1
Detection

0
movements in Pn536
1
movements in Pn536
movements in Pn536
2
movements in Pn536
n.X (Waiting time in Pn535 → Reverse by travel distance in Pn531) × Number of
movements in Pn536
Pn530 3
movements in Pn536
Pn536
Pn536
4-128

Size
Name
1 refer-
unit
Rotary:
1 min-1
0.1
min-1
Immedi- *1
Time
Pn535 2 0 to 10,000 1 ms 100 All Setup
ing Time ately


Level ately
Dynamic Brake Resis- After
Pn601 2 tor Allowable Energy 0 to 65,535 10 J 0 All Setup *13
Consumption restart
Pn603 2 Regenerative Resis- 0 to 65,535 10 mΩ 0 All Immedi- Setup *1

tance ately
Pn604 2 0 to 65,535 10 mΩ 0 All Setup
tance restart
2 Selections 0003h – 0000h Linear restart Setup

2
3

Parameter Lists
Pn61B Immedi-
*15 ately
Pn61C Immedi-
*15 ately
2 0 to 65,535 1s 0 All Setup *1
*15 Time ately
4
4-129

Size
Name
Serial Communication After *1
2 Protocol 0 to 9 – 1 All restart Setup
0 Full-duplex wiring is used for communications method.

Full-duplex wiring is used for communications method. Echoback is performed for each
1
character.
2 Half-duplex wiring is used for communications method. CR is used as delimiter.
Half-duplex wiring is used for communications method. CR is used as delimiter. Echoback
3
is performed for each character.
PnB00 Half-duplex wiring is used for communications method. CR is used as delimiter. Echoback
4
is performed for each command.
5 Half-duplex wiring is used for communications method. CRLF is used as delimiter.
Half-duplex wiring is used for communications method. CRLF is used as delimiter. Echo-
6
back is performed for each character.
Half-duplex wiring is used for communications method. CRLF is used as delimiter. Echo-
7
back is performed for each command.
8, 9 Reserved parameter
After *1
2 Bit rate 0 to 2 – 0 All restart Setup
0 Sets bit rate at 9600 bps.

PnB01
2 Response “OK” 0, 1 – 1 All Immedi- Setup *1

ately
PnB02 0 Does not return OK response.

1 Returns OK response.
After *1
2 /MODE 0/1 0 to 3 – 0 All restart Setup
0 When input signal is ON (closed), mode is set to Mode 0.

PnB03 1 When input signal is OFF (open), mode is set to Mode 0.
2 Always Mode 0
3 Always Mode 1
After *1
2 /START-STOP; /HOME 0 to 3 – 0 All Setup
restart
• When /MODE signal is ON (closed) (mode 0): Start program table operation when the
/START-STOP signal turns ON (closes). Stop program table operation when the /START-
0 STOP signal turns OFF (opens).
• When /MODE signal is OFF (open) (mode 1): Turn ON (close) the /HOME signal to start an
origin return.
PnB04
• When /MODE signal is ON (closed) (mode 0): Start program table operation when the
/START-STOP signal turns OFF (opens). Stop program table operation when the /START-
1 STOP signal turns ON (closes).
• When /MODE signal is OFF (open) (mode 1): Turn OFF (open) the /HOME signal to start
an origin return.
• When /MODE signal is ON (closed) (mode 0): Do not use the /START-STOP signal.
2, 3
• When /MODE signal is OFF (open) (mode 1): Do not use the /HOME signal.
4-130

Size
Name
After *1
2 /PGMRES; /JOGP 0 to 3 – 0 All restart Setup
• When /MODE signal is ON (closed) (mode 0): Turn ON (close) the /PGMRES signal to
reset and cancel program table operation.
0
• When /MODE signal is OFF (open) (mode 1): Jog forward while the /JOGP signal is ON
(closed).
PnB05
• When /MODE signal is ON (closed) (mode 0): Turn OFF (open) the /PGMRES signal to
reset and cancel program table operation.
1
• When /MODE signal is OFF (open) (mode 1): Jog forward while the /JOGP signal is OFF
(open).
• When /MODE signal is ON (closed) (mode 0): Do not reset program table operation.
2, 3
• When /MODE signal is OFF (open) (mode 1): Do not perform jogging.
After *1
2 /SEL0; /JOGN 0 to 3 – 0 All Setup
restart
• When /MODE signal is ON (closed) (mode 0): /SEL0 signal is active when ON (closed).
0 • When /MODE signal is OFF (open) (mode 1): Jog in reverse while the /JOGP signal is ON
(closed).
• When /MODE signal is ON (closed) (mode 0): The /SEL0 signal is active when OFF (open).
PnB06
1 • When /MODE signal is OFF (open) (mode 1): Jog in reverse while the /JOGN signal is OFF
(open).
• When /MODE signal is ON (closed) (mode 0): The /SEL0 signal is always active.
2
• When /MODE signal is ON (closed) (mode 0): The /SEL0 signal is always inactive.
3
After *1
2 /SEL1; /JOG0 0 to 3 – 0 All Setup
restart
0
• When /MODE signal is OFF (open) (mode 1): /JOG0 signal is active when ON (closed).
PnB07 1
• When /MODE signal is OFF (open) (mode 1): The /JOG0 signal is active when OFF (open).
2
• When /MODE signal is OFF (open) (mode 1): The /JOG0 signal is always active.
3
• When /MODE signal is OFF (open) (mode 1): The /JOG0 signal is always inactive.
2 /SEL2; /JOG1 0 to 3 – 0 All After Setup *1

restart
0
PnB08 1
2
3

Parameter Lists
4-131

Size
Name
After *1
2 /SEL3; /JOG2 0 to 3 – 0 All restart Setup
0
PnB09 1
2
3
After *1
2 /SEL4; /JOG3 0 to 3 – 0 All Setup
restart
0
PnB0A 1
2
3
2 /SEL5 0 to 3 – 0 All After Setup *1

restart
0 The /SEL5 signal is active when ON (closed).

PnB0B 1 The /SEL5 signal is active when OFF (open).
2 The /SEL5 signal is always active.
3 The /SEL5 signal is always inactive.

restart

PnB0C 1 The /SEL6 signal is active when OFF (open).

restart

PnB0D 1 The /SEL7 signal is active when OFF (open).
After *1
2 /S-ON 0 to 3 – 0 All restart Setup
The system changes to the SERVO ON state (power is supplied) and operation is enabled
0
when the /S-ON signal turns ON (closes).
PnB0E
The system changes to the SERVO ON state (power is supplied) and operation is enabled
1
when the /S-ON signal turns OFF (opens).
2 The system is always in the SERVO ON state.
3 The system is always in the SERVO OFF state.
4-132

Size
Name
After *1
2 P-OT 0 to 3 – 0 All restart Setup
0 When input signal is OFF (open), forward run is prohibited (forward overtravel).
PnB0F 1 When input signal is ON (closed), forward run is prohibited (forward overtravel).
2 Forward run is always prohibited (forward overtravel).
3 Forward run is always enabled. (P-OT signal is not used.)
After *1
2 N-OT 0 to 3 – 0 All Setup
restart
0 When input signal is OFF (open), reverse run is prohibited (reverse overtravel).
PnB10 1 When input signal is ON (closed), reverse run is prohibited (reverse overtravel).
2 Reverse run is always prohibited (reverse overtravel).
3 Reverse run is always enabled. (N-OT signal is not used.)
After *1
2 /DEC 0 to 3 – 0 All restart Setup
0 Starts deceleration in an origin return when input signal is ON (closed).

PnB11 1 Starts deceleration in an origin return when input signal is OFF (open).
2 Sets the origin return limit switch always ON.
3 Sets the origin return limit switch always OFF.
After *1
2 /RGRT 0 to 3 – 0 All restart Setup
0 Starts registration by switching input signal from OFF (open) to ON (closed).

PnB12 1 Starts registration by switching input signal from ON (close) to OFF (open).
2, 3 Does not start registration.
2 /INPOSITION 0 to 3 – 0 All After Setup *1

restart
0 When positioning has been completed, photocoupler becomes ON (closed).

PnB13
1 When positioning has been completed, photocoupler becomes OFF (open).
2, 3 Reserved.
After *1
2 /POUT0 0, 1 – 0 All restart Setup
PnB14 0 The /POUT0 signal turns ON (opens) when programmable output 0 is active.
1 The /POUT0 signal turns OFF (closes) when programmable output 0 is active.
After *1
Parameter Lists
After *1
4-133

Size
Name
After *1
After *1
After *1
After *1
2 /POUT6 0, 1 – 0 All Setup
restart
PnB1A 0 The /POUT6 signal turns ON (opens) when programmable output 6 is active.
After *1
2 /POUT7 0, 1 – 0 All Setup
restart
PnB1B 0 The /POUT7 signal turns ON (opens) when programmable output 7 is active.
After *1
2 /WARN 0, 1 – 0 All Setup
restart
The /WARN signal turns ON (closes) when the output when an error or warning occurs
PnB1C 0
(error/warning status).
The /WARN signal turns OFF (opens) when the output when an error or warning occurs
1
(error/warning status).
After *1
2 /BK 0, 1 – 0 All restart Setup
0 When braking signal /BK is ON (closed), brake is released.

PnB1D
1 When braking signal /BK is OFF (open), brake is released.
2 /S-RDY 0, 1 – 0 All After Setup *1

restart
PnB1E 0 Turn ON (close) the /S-RDY signal when the servo is ready.
1 Turn OFF (open) the /S-RDY signal when the servo is ready.
2 Overtravel (OT) Stop 0 to 2 – 0 All After Setup *1

Method restart
Stops the motor with the same method as when the servo is turned OFF (according to set-
0
PnB1F ting of Pn001 = n.X).
1 Stops motor immediately, and then changes motor state to servo lock.
Decelerates motor to a stop at deceleration rate set with PnB2B, and then changes motor
2
state to servo lock.
4-134

Size
Name
After *1
2 Moving Mode 0 to 3 – 0 All restart Setup
0 Sets coordinates to linear type.

PnB20 1 Sets coordinates to rotary type. Moving mode is set as shortest path.
2 Sets coordinates to rotary type. Moving mode is always set as forward.
3 Sets coordinates to rotary type. Moving mode is always set as reverse.
Linear coordinates
(PnB20 = 0000h): For-
ward Software Limit (P- -99999999 1 refer-
to After *1
PnB21 4 LS) ence +99999999 All restart Setup
Rotational coordinates +99999999 unit
*16
(PnB20 ≠ 0000h): Last
Rotational Coordinate
Linear coordinates
(PnB20 = 0000h):
Reverse Software Limit -99999999 1 refer-
to After *1
PnB23 4 (N-LS) ence -99999999 All Setup
+99999999 unit restart
Rotational coordinates *16
(PnB20 ≠ 0000h): First
Rotational Coordinate
When using an incre-
mental encoder: Origin -99999999 1 refer-
to After *1
PnB25 4 When using an abso- ence 0 All restart Setup
lute encoder: Absolute +99999999 unit
*16
Encoder Offset
1000
Positioning/Registration 1 to Refer- After
PnB27 4 ence 1000 All Setup *1
Speed 99999999*16 units/ restart
min
1000
(Refer-
1 to ence Immedi- *1
PnB29 4 Acceleration rate 1000 All Setup
99999999*16 units/ ately
min)
/ms
1000
(Refer-
PnB2B 4 Deceleration rate 1000 All Setup
99999999*16 units/ ately
min)
/ms
1 refer-
PnB2D 4 /INPOSITION Width 1 to 99999 ence 1 All Immedi- Setup *1
ately
unit
1 refer-
PnB2F 4 /NEAR Width 1 to 99999 ence 1 All Immedi- Setup *1
ately
unit
After *1
2 Origin Return Method 0 to 3 – 0 All Setup
restart
0 Origin returns are not executed.

PnB31 1 /DEC and phase C are used for an origin return.
2 Only /DEC is used for an origin return.
3 Only phase C is used for an origin return.
Immedi- *1
2 Origin Return Direction 0, 1 – 0 All Setup
Parameter Lists
ately
PnB32 0 /HOME or ZRN command is used for an origin return in forward direction.
1 /HOME or ZRN command is used for an origin return in reverse direction.
4-135

Size
Name
1000
1 to Refer-
Origin Return Moving Immedi- *1
PnB33 4 ence 1000 All Setup
Speed 99999999*16 units/
ately
min
1000
1 to Refer-
PnB35 4 Origin Return Approach ence 1000 All Immedi- Setup *1
Speed 99999999*16 units/
ately
min
1000
Origin Return Creep 1 to Refer- Immedi-
PnB37 4 ence 1000 All Setup *1
Speed 99999999*16 units/ ately
min
-99999999 1 refer-
PnB39 4 Origin Return Final to ence 0 All Immedi- Setup *1
Move Distance +99999999 ately
*16
unit
PnB3B to Reserved parameters

4 (Do not change.) – – 0 All – Setup –
PnB4D
0000h, After *1
2 ZONE Signal Setting – 0000h All Setup
0001h restart
When the control power supply is turned ON or the SERVOPACK is reset, the /POUT0 to /
PnB4F 0000h
POUT7 signals are disabled.
When control power is turned ON or SERVOPACK is reset, the /POUT0 to /POUT7 signals
0001h
are the ZONE signals.
-1000 to 1 refer- Immedi-

PnB50 2 Backlash Compensation ence 0 All Setup *1
+1000 unit ately
2 /ALO Output Selection 0 to 1 – 0 All After Setup *1

restart
PnB51 0 Does not output /ALO1 to /ALO3. (/WARN, /BK, and /S-RDY are output.)
1 Outputs /ALO1 to /ALO3. (/WARN, /BK, and /S-RDY are not output.)
After *1
2 /ALM-RST 0 to 3 – 0 All Setup
restart
PnB52 0 Resets alarms by switching input signal from OFF (open) to ON (closed).
1 Resets alarms by switching input signal from ON (closed) to OFF (open).
2, 3 Does not reset alarms. (Signal is ignored.)
Input Signal Monitor IN1 0000h to After

Polarity Selection 00FFh restart
Input Signal Monitor IN1 Bit 0 (/SVON) (0: Do not invert the data (default setting), 1: Invert
Bit 0
the data.)
Input Signal Monitor IN1 Bit 1 (/ALM-RST) (0: Do not invert the data (default setting), 1:
Bit 1
Invert the data.)
Input Signal Monitor IN1 Bit 2 (/P-OT) (0: Do not invert the data (default setting), 1: Invert the
Bit 2
data.)
PnB53 Input Signal Monitor IN1 Bit 3 (/N-OT) (0: Do not invert the data (default setting), 1: Invert the
Bit 3
data.)
Input Signal Monitor IN1 Bit 4 (/DEC) (0: Do not invert the data, 1: Invert the data (default
Bit 4
setting).)
Input Signal Monitor IN1 Bit 5 (not used) (0: Do not invert the data (default setting), 1: Invert
Bit 5
the data.)
Input Signal Monitor IN1 Bit 6 (/RGRT) (0: Do not invert the data, 1: Invert the data (default
Bit 6
setting).)
Input Signal Monitor IN1 Bit 7 (not used) (0: Do not invert the data (default setting), 1: Invert
Bit 7
the data.)
Speed/Position Expan- After

PnB54 2 sion Function Selection 0 or 1 – 0 All restart Setup –

4-136
*2. The following parameters are automatically set when the INDEXER Module is mounted to the SERVOPACK.
Do not change the setting.
• Pn002 = n.0
• Pn207 = n.1
• Pn50A = 8881h
• Pn50B = 8888h
• Pn510 = 0000h
*3. This parameter is automatically set to 0 if a single-turn absolute encoder is used and Pn002 is set to n.0.
*5. When the INDEXER Module is mounted to the SERVOPACK, Pn50E is set to 0000h or 3000h according to the
setting of PnB51. Do not change the setting.
*6. When the INDEXER Module is mounted to the SERVOPACK, Pn50F is set to 0000h or 1200h according to the
*7. When the INDEXER Module is mounted to the SERVOPACK, this parameter is automatically set according to
the settings of PnB11 and PnB12. (Pn511 = n.88, where  = 4, 8, or D and  = 6, 8, or F) Do not change
the setting.
*8. When the INDEXER Module is mounted to the SERVOPACK, this parameter is automatically set according to
the settings of PnB1C, PnB1D, PnB1E, and PnB51. (Pn512 = n.0, where  = 0 or 1) Do not change the
setting.
*9. When the INDEXER Module is mounted to the SERVOPACK, Pn517 is set to 0000h or 0321h according to the
*10.When the INDEXER Module is mounted to the SERVOPACK, this parameter is automatically set to between 0
and 99,999 according to the setting of PnB2D. Do not change the setting.
*12.The upper limit is the maximum output capacity (W) of the SERVOPACK.
*13.These parameters are for SERVOPACKs with the Dynamic Brake Hardware Option. Refer to the following man-
ual for details.
Σ-7-Series Σ-7S/Σ-7W SERVOPACK with Dynamic Brake Hardware Option Specifications Product Manual (Man-
ual No.: SIEP S800001 73)
*14.The SGLFW2 is the only Yaskawa Linear Servomotor that supports this function.
*15.Enabled only when Pn61A is set to n.2 or n.3.
*16.If you set PnB54 to 1 (Enable Expansion Mode), the following setting ranges will change.
Parameter
Name Setting Range
No.
• Linear coordinates (PnB20 = 0000h): Forward Software Limit
(P-LS)
PnB21 -536,870,911 to +536,870,911
• Rotational coordinates (PnB20 ≠ 0000h): Last Rotational Coordi-
nate
• Linear coordinates (PnB20 = 0000h): Reverse Software Limit
(N-LS)
PnB23 -536,870,911 to +536,870,911
• Rotational coordinates (PnB20 ≠ 0000h): First Rotational Coordi-
nate
• When using an incremental encoder: Origin -1,073,741,823 to
PnB25
• When using an absolute encoder: Absolute Encoder Offset +1,073,741,823
PnB27 Positioning/Registration Speed 1 to 99,999,999
PnB29 Acceleration Rate 1 to 99,999,999
PnB2B Deceleration Rate 1 to 99,999,999
PnB33 Origin Return Movement Speed 1 to 99,999,999
PnB35 Origin Approach Speed 1 to 99,999,999
PnB37 Origin Return Creep Speed 1 to 99,999,999
-1,073,741,823 to
PnB39 Origin Return Final Travel Distance
+1,073,741,823
Parameter Lists
4-137


Size
Name

*1
Control Method Selection Reference

Switching between speed control with analog references and pro-
0
gram table operation
1
program table operation
Switching between torque control with analog references and pro-
2
gram table operation
3 Internal set speed control with contact commands
Pn000 4
ences and speed control with analog references
5
ences and position control with pulse train references
n.X
*1
6
ences and torque control with analog references
7
8
torque control with analog references
Switching between torque control with analog references and
9
Switching between speed control with analog references and
A
speed control with zero clamping
B
position control with reference pulse inhibition
4-138

Size
Name
1 *1
the dynamic brake.

0
1
2 *1
3
Pn001 Pn30A and then servo-lock the motor.
4

0
n.X
*1

Output only alarm codes on the ALO1, ALO2, and ALO3 termi-
0
nals.
n.X
Output both warning codes and alarm codes on the ALO1, ALO2, *1
and ALO3 terminals. However, while an warning code is being
1
output, the ALM (Servo Alarm) output signal will remain ON (nor-
mal state).
Parameter Lists
4-139

Size
Name
2 – 0000h – Setup –
Applicable
Speed/Position Control Option (T-REF Input Allocation) Reference
Motors
0 Do not use T-REF. –
n.X 1 Use T-REF as an external torque limit input. *1
2 Use T-REF as a torque feedback input. All *1
Use T-REF as an external torque limit input when *1

3
/P-CL or /N-CL is ON.
Applicable
Torque Control Option (V-REF Input Allocation) Reference
Motors
n.X
0 Do not use V-REF.
All *1
1 Use V-REF as an external speed limit input.
Applicable
Motors
0

2 Rotary
encoder.
Applicable
Motors
1

3
4-140

Size
Name

n. XX 08
pleted: 0 V)
Pn006
0C
pleted: 0 V)
Parameter Lists
4-141

Size
Name

n.XX 08
pleted: 0 V)
Pn007
0C
pleted: 0 V)

2 – 0000h Rotary Setup –

*1

2

*1
4-142

Size
Name

1 *1
Pn009 • SERVOPACK Models SGD7S-120A, -180A, -200A, -330A,
-470A, -550A, -590A, and -780A: Use current control mode 2.

*1

2
Selections A 0044h
– 0001h All
restart
Setup –

0
2 *1
stopping.
4

0
2 *1
stopping.
4
n.X
Parameter Lists
Reserved parameter (Do not change.)
4-143

Size
Name

*1

1 *1

n. X
*1
1
supply input.

Applicable
Motors
n.X
All
Applicable
Motors
0 Use 13 bits.
Rotary
2 Use 22 bits.
3 Use 24 bits.
Applicable
Motors
n.X
All


Pn00D

4-144

Size
Name
2
Selections F 2011h
– 0000h All
restart
Setup –

*1
Axis Address Selection 0000h to After

Pn010 2 for UART/USB Commu- – 0001h All Setup –
nications 007Fh restart

not change.)
Pn022 2 – – 0000h All – – –
not change.)
Pn040 2 not change.) – – 0000h – – – –


Pn081
ately
Time Constant ately
Immedi- *1
Pn103 2 Moment of Inertia Ratio 0 to 20,000 1% 100 All Immedi- Tuning *1

ately
Gain ately
Pn105 2 Integral Time Constant 15 to 51,200 0.01 ms 2000 All ately Tuning
Pn106 2 Second Position Loop 10 to 20,000 0.1/s 400 All Immedi- Tuning *1
Gain ately
Immedi- *1
Pn109 2 Feedforward 0 to 100 1% 0 All Tuning
ately
Pn10A 2 Constant 0 to 6,400 0.01 ms 0 All ately Tuning
Parameter Lists
4-145

Size
Name
2 – 0000h All – Setup –
tions 5334h
When
Enabled
0
ting: Pn10D).
1
Immedi- *1
setting: Pn10E).
2
3
ting: Pn10F).
When
Enabled
After *1

Pn10D 2
for Speed Reference
0 to 10,000 1 min-1 0 Rotary
ately
Tuning *1

1 refer-
unit

Gain ately
Pn122 2 10 to 1,000 1% 100 All Tuning

Pn125 2 1 to 1,000 1% 100 All Tuning
Immedi- *1

ately
Time 1 ately
4-146

Size
Name
2 – 0000h All Tuning

0
The gain is switched manually with the /G-SEL (Gain Selection) signal.
2

4 Position reference filter output is 0 and reference pulse input is OFF.
5 Position reference pulse input is ON.
Immedi- *1
Pn13D 2 Current Gain Level 100 to 2,000 1% 2000 All Tuning
ately

*1

n. X

Pn140
n. X host reference, and custom tuning.
*1

0
*1
1
together.
Parameter Lists

Immedi- *1
Direction
4
4-147

Size
Name
Immedi- *1
Direction
Frequency A ately

Compensation ately
Immedi- *1
tion
Frequency ately

tions 0021h restart

*1

n.X


*1

*1

quency ately
Pn162 2 1 to 1,000 1% 100 All Tuning
Correction ately
4-148

Size
Name
rection
rection
Pn166 2 0 to 1,000 1% 0 All Tuning
ing Gain 2 ately
When
Enabled
n. X
When
Enabled
n. X
Pn170 restart
When
Rigidity Level
Enabled
n. X
Immedi-
ately
When
Enabled
n.X
Immedi-
ately
Parameter Lists
4-149

Size
Name
Position Control Refer- 0000h to After
ence For Selections 2236h restart
Reference Pulse Form Reference

0 Sign and pulse train, positive logic.
1 CW and CCW pulse trains, positive logic
2
n.X Two-phase pulse trains with 90° phase differential (phase A and
3 *1
4
5 Sign and pulse train, negative logic.
6 CW and CCW pulse trains, negative logic
Clear Signal Form Reference

0 Clear position deviation when the signal is at high level.
Pn200
n.X 1 Clear position deviation on the rising edge of the signal.
*1
2 Clear position deviation when the signal is at low level.
3 Clear position deviation on the falling edge of the signal.
Clear Operation Reference

Clear position deviation at a base block (at servo OFF or when
0
alarm occurs).
n.X
Do not clear position error (cleared only with CLR (Clear Position *1
1
Deviation) signal).
2 Clear position deviation when an alarm occurs.
Filter Selection Reference

0 Use the reference input filter for a line-driver signal. (1 Mpps max.)
n.X Use the reference input filter for an open-collector signal. (200
1 *1
kpps max.)
2 Use reference input filter 2 for a line-driver signal. (1 to 4 Mpps)
After *1

Position Control Option Reference

n.X 0 Do not use V-REF.
*1
1 Use V-REF as a speed feedback input.
Pn207 Refer-
/COIN (Positioning Completion Output) Signal Output Timing
ence
Width).
4-150

Size
Name
1 scale
tion

Pn212 4 Output Pulses 1,073,741,824 1 P/Rev 2048 Rotary restart Setup
Position Reference Immedi-

ately after *1
Pn216 2 Acceleration/Decelera- 0 to 65,535 0.1 ms 0 All the motor Setup
tion Time Constant
stops
Immedi-
Average Position Refer- ately after *1
Pn217 2 0 to 10,000 0.1 ms 0 All Setup
ence Movement Time the motor
stops
Reference Pulse Input Immedi-
Pn218 2 1 to 100 ×1 1 All Setup *1
Multiplier ately

Pn22A


0.01 V/
Speed Reference Input Rated Immedi- *1
Pn300 2 Gain 150 to 3,000 motor 600 All ately Setup
speed
Rotary:
1 min-1
Direct Immedi- *1
Pn301 2 Internal Set Speed 1 0 to 10,000 100 Rotary Setup
Drive: ately
0.1
min-1
Rotary:
1 min-1
Pn302 2 Internal Set Speed 2 0 to 10,000 Direct 200 Rotary Immedi- Setup *1
Drive: ately
0.1
min-1
Rotary:
1 min-1
Direct Immedi- *1
Pn303 2 Internal Set Speed 3 0 to 10,000 Drive: 300 Rotary ately Setup
0.1
min-1
Rotary:
Parameter Lists
1 min-1
Direct Immedi- *1
Drive: ately
0.1
min-1
Pn305 2 0 to 10,000 1 ms 0 All Setup
Time ately
Pn306 2 0 to 10,000 1 ms 0 All Setup
Time ately 4
4-151

Size
Name
Speed Reference Filter Immedi- *1
Pn307 2 0 to 65,535 0.01 ms 40 All Setup
Time Constant ately

Stops ately

Time ately


n.X

Pn311 2 50 to 500 1% 100 All Tuning
sitivity ately
After
restart
Setup *1

Pn324 2 0 to 20,000 1% 300 All Setup
0.1 V/
Pn400 2 Torque Reference Input 10 to 100 rated 30 All Immedi- Setup *1
Gain ately
torque
ately
Constant
Immedi-
Immedi-
ately
Setup *1

Pn404 2
Limit
0 to 800 1%*2 100 All
ately
Setup *1

Immedi-
ately
Setup *1

Pn407 2
Torque Control
0 to 10,000 1 min-1 10000 Rotary
ately
Setup *1
4-152

Size
Name
2 – 0000h All – Setup –
When
Enabled
n. X
When
Enabled
0
n. X
1
When
Enabled
n. X
When
Enabled
n.X

Frequency ately
Depth ately
ter Frequency ately
ter Depth ately
Second Stage Second
Immedi- *1
Frequency
Second Stage Second
Immedi- *1
Q Value
First Stage Second
Immedi- *1
Time Constant
T-REF Filter Time Con- Immedi- *1
Pn415 2 0 to 65,535 0.01 ms 0 All Setup
stant ately
Parameter Lists
4-153

Size
Name



Frequency ately
Pn418 2 50 to 1,000 0.01 70 All Tuning
Q Value ately
ter Frequency ately
Pn41B 2 50 to 1,000 0.01 70 All Tuning
ter Q Value ately
Frequency ately
Pn41E 2 50 to 1,000 0.01 70 All Tuning
Q Value ately

When
Enabled
n.X

Pn423 n.X
When
Enabled
n.X

4-154

Size
Name
Immedi- *1
Voltage Drop
Torque Feedforward
Immedi- *1
Time
Pn427 2
sation Enable Speed
0 to 10,000 1 min-1 0
vomotor ately
Tuning *1



n. X
tuning.
1



Pn475

Torque 1,000 ately
Immedi-
Pn501 2 Zero Clamping Level 0 to 10,000 1 min-1 10 Rotary
ately
Setup *1
Immedi-
Pn502 2 Rotation Detection Level 1 to 10,000 1 min-1 20 Rotary ately Setup *1
Speed Coincidence Immedi-

ately
Setup *1
Width
Brake Reference-Servo Immedi-
Parameter Lists
Pn506 2 0 to 50 10 ms 0 All Setup *1

OFF Delay Time ately
Pn507 2
put Speed Level
0 to 10,000 1 min-1 100 Rotary
ately
Setup *1

Pn508 2 mand Waiting Time 10 to 100 10 ms 50 All ately Setup
Pn509 2 Momentary Power Inter- 20 to 50,000 1 ms 20 All Immedi- Setup *1

ruption Hold Time ately
4-155

Size
Name
1 FFF2h restart
Input Signal Allocation Mode Reference

Use the sequence input signal terminals with the default alloca-
0
n.X tions.
*1
1 Change the sequence input signal allocations.
/S-ON (Servo ON) Signal Allocation Reference

n.X 7 The signal is always active.
*1
Pn50A E Active when CN1-45 input signal is OFF (open).
/P-CON (Proportional Control) Signal Allocation Reference

n.X The allocations are the same as the /S-ON (Servo ON) signal allo-
0 to F *1
cations.

*1
4-156

Size
Name
2 FFFFh restart

*1
/ALM-RST (Alarm Reset) Signal Allocation Reference

0
1
2
Pn50B Active on signal edge when CN1-43 input signal changes from
3
4
5
6
n. X 7 Reserved setting (Do not use.)
*1
9
A
B
C
D
E
Parameter Lists
F

n. X

n.X
4
4-157

Size
Name
3 FFFFh restart
/SPD-D (Motor Direction) Signal Allocation Reference

*1
Pn50C B Active when CN1-42 input signal is OFF (open).
/SPD-A (Internal Set Speed Selection Input) Signal Allocation Reference

n.X The allocations are the same as the /SPD-D (Motor Direction) sig-
0 to F *1
nal allocations.
/SPD-B (Internal Set Speed Selection Input) Signal Allocation Reference

n.X The allocations are the same as the /SPD-D (Motor Direction) sig-
0 to F *1
nal allocations.
/C-SEL (Control Selection Input) Signal Allocation Reference

n.X The allocations are the same as the /SPD-D (Motor Direction) sig-
0 to F *1
nal allocations.
4-158

Size
Name
2 – 0888h – Setup –
4 FFFFh restart
Applicable
/ZCLAMP (Zero Clamping Input) Signal Allocation Reference
Motors
n. X
All *1
Pn50D
Applicable
/INHIBIT (Reference Pulse Inhibit Input) Signal Allocation Reference
Motors
n. X
0 to F All
Applicable
/G-SEL (Gain Selection Input) Signal Allocation Reference
Motors
n. X
0 to F All

2 tions 1 6666h – 2011h All restart Setup –

n. X 2 Output the signal from the CN1-27 or CN1-28 output terminal.

Pn50E
/V-CMP (Speed Coincidence Detection Output) Signal Allocation Reference
n. X The allocations are the same as the /COIN (Positioning Comple-
0 to 6 *1
Parameter Lists

n. X The allocations are the same as the /COIN (Positioning Comple-
0 to 6 *1

0 to 6 *1

4
4-159

Size
Name

n.X

Pn50F
/VLT (Speed Limit Detection) Signal Allocation Reference
0 to 6 *1

0 to 6 *1

0 to 6 *1


n.X

/PSELA (Reference Pulse Input Multiplication Switching Output) Signal

Reference
Allocation
n.X
The allocations are the same as the /NEAR (Near) signal alloca- *1
0 to 6
tions.
4-160

Size
Name
Output Signal Inverse 0000h to After


Pn512 1 The signal is inverted.


n.X 0 The signal is not inverted.
Output Signal Inverse 0000h to After

2 Settings 2 0011h – 0000h All restart Setup –

Pn513 Output Signal Inversion for CN1-39 Terminal



n. X

Parameter Lists


4
4-161

Size
Name
6 FFFFh restart
SEN (Absolute Data Request Input) Signal Allocation Reference

*1
8 Enable when 5 V is input to CN1-4.
Pn515 /PSEL (Reference Pulse Input Multiplication Switching Input) Signal Allo-
Reference
cation
n.X
7 The signal is always enabled.
*1
4-162

Size
Name
7 FFFFh restart

7
n.X stop).
*1
Pn516 8
motor to stop).
Output Signal Selec- 0000h to After *1

2 tions 5 0666h – 0000h All restart Setup

n. X
Pn517

n. X The allocations are the same as the ALO1 (Alarm Code Output) signal alloca-
0 to 6
tions.

n. X The allocations are the same as the ALO1 (Alarm Code Output) signal alloca-
0 to 6
tions.
Parameter Lists
Pn518*3 – – – – All – – –
Parameters
4-163

Size
Name
0 to Immedi- *1
Pn51E 2 10 to 100 1% 100 All Setup
1 refer-
unit
1 refer-
unit
1 refer-
1,073,741,824 1824 ately
unit
1,073,741,823 0 ately
Servo ON unit
ately
Servo ON

Immedi- *1
ately
Pn52C 2 at Motor Overload 10 to 100 1% 100 All After Setup *1
restart
Detection
Monitor Display at 0000h to Immedi- *1
Pn52F 2 Startup 0FFFh – 0FFFh All ately Setup
2 Program Jogging- 0000h to – 0000h All Immedi- Setup *1


0
movements in Pn536
1
movements in Pn536
movements in Pn536
2
movements in Pn536
n.X
movements in Pn536
Pn530 3
movements in Pn536
Pn536
Pn536
1 refer-
Program Jogging Travel 1 to Immedi- *1
Pn531 4 Distance 1,073,741,824 ence 32768 All ately Setup
unit
4-164

Size
Name
Rotary:
1 min-1
Pn533 2 Program Jogging Move- 1 to 10,000 Direct 500 Rotary Immedi- Setup *1
0.1
min-1
Program Jogging Accel- Immedi-
Pn534 2 eration/Deceleration 2 to 10,000 1 ms 100 All Setup *1
Time ately
Pn535 2 Program Jogging Wait- 0 to 10,000 1 ms 100 All Immedi- Setup *1

ing Time ately
Pn536 2 0 to 1,000 Times 1 All Setup
ber of Movements ately
Pn550 2 Voltage 10,000 0.1 V 0 All ately Setup

Pn552 2 × 0.01 100 All Setup *1
Pn55A 2 Power Consumption 1 to 1,440 1 min 1 All Immedi- Setup −

Residual Vibration Immedi-
Pn560 2 1 to 3,000 0.1% 400 All Setup –
Detection Width ately
Overshoot Detection Immedi-
Pn561 2 Level 0 to 100 1% 100 All ately Setup –
Regenerative Resistor Depends on Immedi-

Pn600 2 10 W 0 All Setup –
Pn601 2 tor Allowable Energy 0 to 65,535 10 J 0 All After Setup *6
restart
Consumption
Regenerative Resis- Immedi-
Pn603 2 tance 0 to 65,535 10 mΩ 0 All ately Setup –
Pn604 2 Dynamic Brake Resis- 0 to 65,535 10 mΩ 0 All After Setup *6

tance restart
2 – 0000h Linear Setup

2
3
Pn61B Immedi-
*8 ately
Pn61C
Parameter Lists
Immedi- *1
*8 2 Overheat Warning Level 0 to 100 1% 100 All ately Setup

2 0 to 65,535 1s 0 All Setup *1
*8 Time ately

– – – – All – – –
Pn628*3 Parameters
4-165

Size
Name
2 – 6221h All Setup −
10 FFFFh restart
/MODE 0/1 (Mode Switch Input) Signal Allocation Reference

0 Mode 0 is used when CN1-40 input signal is ON (closed).
n.X 7 The signal always specifies mode 0.
*9
8 The signal always specifies mode 1.
9 Mode 0 is used when CN1-40 input signal is OFF (open).
A Mode 0 is used when CN1-41 input signal is OFF (open).
B Mode 0 is used when CN1-42 input signal is OFF (open).
C Mode 0 is used when CN1-43 input signal is OFF (open).
D Mode 0 is used when CN1-44 input signal is OFF (open).
E Mode 0 is used when CN1-45 input signal is OFF (open).
F Mode 0 is used when CN1-46 input signal is OFF (open).
/START-STOP (Program Table Operation Start-Stop Input) Signal Alloca-

Reference
tion
Pn630 0 Active when CN1-40 input signal is ON (closed).
n.X
*9
/HOME (Origin Return Input) Signal Allocation Reference

n.X The settings are the same as for /START-STOP (Program Table
0 to F *9
Operation Start-Stop Input) Signal Allocation.
/PGMRES (Program Table Operation Reset Input) Signal Allocation Reference

n.X The settings are the same as for /START-STOP (Program Table
0 to F *9
Operation Start-Stop Input) Signal Allocation.
4-166

Size
Name
11 FFFFh restart
/SEL0 (Program Step Selection Input 0) Signal Allocation Reference

*9
Pn631 B Active when CN1-42 input signal is OFF (open).

n. X The settings are the same as for /SEL0 (Program Step Selection
0 to F *9
Input 0) Signal Allocation.

n. X The settings are the same as for /SEL0 (Program Step Selection
0 to F *9

n.X The settings are the same as for /SEL0 (Program Step Selection
0 to F *9
Parameter Lists
4-167

Size
Name
12 FFFFh restart

*9
Pn632 B Active when CN1-42 input signal is OFF (open).

/JOGP (Forward Jog Input) Signal Allocation Reference

n.X The settings are the same as for /SEL4 (Program Step Selection
0 to F *9
/JOGN (Reverse Jog Input) Signal Allocation Reference

n.X The settings are the same as for /SEL4 (Program Step Selection
0 to F *9
/JOG0 (Jog Speed Table Selection Input 0) Signal Allocation Reference

n.X The settings are the same as for /SEL4 (Program Step Selection
0 to F *9
4-168

Size
Name
13 FFFFh restart

*9
Pn633

n.X The settings are the same as for /JOG1 (Jog Speed Table Selec-
0 to F *9
tion Input 1) Signal Allocation.

14 0013h restart
SI8 Signal Selection Reference

0 Do not allocate an input signal to CN1-14 and CN1-15.
Allocate the CLR signal as the input signal to CN1-14 and CN1-
1
15.
n. X
*9
Allocate the /DEC signal as the input signal to CN1-14 and CN1-
2
15.
Allocate the /RGRT signal as the input signal to CN1-14 and
Pn634 3
CN1-15.
SI8 Signal Selection Logic Reference

n. X 0 Active when CN1-14 and CN1-15 input signal is ON (closed).
*9
1 Active when CN1-14 and CN1-15 input signal is OFF (open).

Parameter Lists
4-169

Size
Name
/POUT0 (Programmable Output 0) Signal Allocation Reference

n.X

Pn635
n.X The settings are the same as for /POUT0 (Programmable Output
0 to 6 *9
0) Signal Allocation.

n.X The settings are the same as for /POUT0 (Programmable Output
0 to 6 *9

n.X The settings are the same as for /POUT0 (Programmable Output
0 to 6 *9
2 Output Signal Selec- 0000h to – 0000h All After Setup −


n.X

/POSRDY (Origin Return Completed Output) Signal Allocation Reference

n.X The settings are the same as for /POUT4 (Programmable Output
0 to 6 *9
/DEN (Positioning Reference Distribution Output) Signal Allocation Reference

n.X The settings are the same as for /POUT4 (Programmable Output
0 to 6 *9
4-170

Size
Name
0000h to After
2 Moving Mode – 0000h All Setup −
0003h restart
Moving Mode Reference

0 Use linear coordinates.
n. X 1 Use rotational coordinates. Use the shortest path.
*9
2 Use rotational coordinates. Always move forward.
Pn637
3 Use rotational coordinates. Always move in reverse.
Forward Software Limit -536,870,911 Refer- After

Pn638 4 (P-LS)/End Point of to ence +536,870,911 All Setup *9
Rotational Coordinates +536,870,911 units restart
Reverse Software Limit -536,870,911 Refer- After

Pn63A 4 (N-LS)/Starting Point of to ence -536,870,911 All Setup *9
Rotational Coordinates +536,870,911 units restart
Origin Position/Abso- -1,073,741,823 Refer- After

Pn63C 4 to ence 0 All Setup *9
lute Encoder Offset +1,073,741,823 units restart
1,000/
ms (ref-
Pn63E 4 Acceleration Rate 1 to erence 1000 All Immedi- Setup *9
199,999,999 ately
units/
min)
1,000/
1 to ms (ref- Immedi-
Pn640 4 Deceleration Rate erence 1000 All Setup *9
199,999,999 units/ ately
min)
0000h to After
2 Origin Return Method 0004h – 0000h All restart – –
Origin Return Method Reference

0 Origin returns are not executed.
1 Use the /DEC signal and phase C for origin returns.
n. X
2 Use the /DEC signal for origin returns. *9
Pn642
3 Use phase C for origin returns.
4 Pressing homing is performed.*10

Parameter Lists
4-171

Size
Name
0000h to Immedi-
2 Origin Return Direction – 0000h All – –
0001h ately
Origin Return Direction Reference

When the /HOME signal turns ON, an origin return is performed
0
n.X in the forward direction.
*9
When the /HOME signal turns ON, an origin return is performed
Pn643 1
in the reverse direction.
1,000
Origin Return Movement 1 to refer- Immedi-
Pn644 4 ence 1000 All Setup *9
Speed 199,999,999 units/ ately
min
1,000
refer-
Pn646 4 Origin Approach Speed 1000 All Setup
199,999,999 units/ ately
min
1,000
refer-
Pn648 4 Origin Return Creep 1 to ence 1000 All Immedi- Setup *9
Speed 199,999,999 units/ ately
min
Origin Return Final -1,073,741,823 Refer- Immedi-

Pn64A 4 to ence 0 All Setup *9
Travel Distance +1,073,741,823 units ately
0000h to After
2 Zone Signal Setting 0001h – 0000h All restart Setup –
Zone Signal Setting Reference

When the control power supply is turned ON or the SERVOPACK
0
n.X is reset, the /POUT0 to /POUT2 signals are inactive.
*9
When the control power supply is turned ON or the SERVOPACK
Pn64C 1
is reset, the /POUT0 to /POUT2 signals are used as zone signals.

Pn64D 2 not change.) – – 0000h – – – –
Pn650 2 Pressing Torque for 0 to 100 % 25 All Immedi- Setup *9

Pressing Homing ately
Pn651 2 Pressing Detection Time 0 to 10,000 ms 250 All Immedi- Setup *9

for Pressing Homing ately
Pressing Time for Press- Immedi- *9
Pn652 2 0 to 10,000 ms 250 All Setup
ing Homing ately
1,000
Overspeed Detection refer-
1 to Immedi- *9
Pn653 2 Level for Pressing Hom- 199,999,999 ence 2,000 All ately Setup
ing units/
min
-1,073,741,823 Refer- After
Pn655 2 Absolute Encoder Origin to ence 0 All Setup *9
+1,073,741,823 units restart

*2. Set a percentage of the rated motor torque.
4-172
Σ-V-Series/Σ-V-Series for Large-Capacity Models/Σ-7-Series User’s Manual Safety Module
*6. These parameters are for SERVOPACKs with the Dynamic Brake Option. Refer to the following manual for
details.
Σ-7-Series AC Servo Drive Σ-7S/S-7W SERVOPACK with Dynamic Brake Hardware Option Specifications Prod-
Σ-7-Series Σ-7S SERVOPACK with FT/EX Specification for Indexing Application Product Manual
*10.Pressing homing (Pn642 = n.4) can be used with SERVOPACK software versions 0028F794 and higher.
Parameter Lists
4-173
Index
Index list of parameters

Command Option Attachable-type
FT82 SERVOPACKs with INDEXER Modules - - - - 4-114
FT82 SERVOPACK with MECHATROLINK-II
Communications References - - - - - - - - - - - - - - 4-32
A
FT82 SERVOPACK with MECHATROLINK-III
alarm code output
FT82 SERVOPACKs with Analog Voltage/
FT82 SERVOPACKs with INDEXER Modules - - - -3-146
Pulse Train References - - - - - - - - - - - - - - - - - -4-2
Pulse Train References - - - - - - - - - - - - - - - - - - 3-3
Pulse Train References - - - - - - - - - - - - - - - - 4-138
Pulse Train References - - - - - - - - - - - - - - - - -3-205 list of warnings
alarm reset possibility - - - - - - - - - - - - - - - 3-50, 3-98
B Communications References - - - - - - - - - - - - - - 3-80
base block (BB) - - - - - - - - - - - - - - - - - - - - - - - - - xv FT82 SERVOPACK with MECHATROLINK-III
Communications References - - - - - - - - - - - - - 3-128
C FT82 SERVOPACKs with Analog Voltage/
coefficient of speed fluctuation Pulse Train References - - - - - - - - - - - - - - - - - 3-34
Command Option Attachable-type FT83 SERVOPACKs with Analog Voltage/
FT82 SERVOPACKs with INDEXER Modules - - - - 2-15 Pulse Train References - - - - - - - - - - - - - - - - 3-238
Communications References - - - - - - - - - - - - - - 2-9 M
Main Circuit Cable - - - - - - - - - - - - - - - - - - - - - - - xv
Pulse Train References - - - - - - - - - - - - - - - - - - 2-5
P
parameters
notation (numeric settings) - - - - - - - - - - - - - - - - xvi
Pulse Train References - - - - - - - - - - - - - - - - - 2-19
notation (selecting functions) - - - - - - - - - - - - - - - xvi
I
INDEXER alarm displays and troubleshooting R
FT83 SERVOPACKs with Analog Voltage/ ratings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-2
Pulse Train References - - - - - - - - - - - - - - - - -3-234
INDEXER Module alarm displays and troubleshooting S
Command Option Attachable-type serial communications method - - - - - - - - - - - - - - - 2-18
FT82 SERVOPACKs with INDEXER Modules - - - -3-177 Servo Drive - - - - - - - - - - - - - - - - - - - - - - - - - - - xv
INDEXER Module error displays and troubleshooting servo lock - - - - - - - - - - - - - - - - - - - - - - - - - - - - xv
servo OFF - - - - - - - - - - - - - - - - - - - - - - - - - - - - xv
FT82 SERVOPACKs with INDEXER Modules - - - -3-189
servo ON - - - - - - - - - - - - - - - - - - - - - - - - - - - - xv
INDEXER warning displays and troubleshooting
FT83 SERVOPACKs with Analog Voltage/ Servo System - - - - - - - - - - - - - - - - - - - - - - - - - - xv
Pulse Train References - - - - - - - - - - - - - - - - -3-246 Servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - xv
SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - xv
L SigmaWin+ - - - - - - - - - - - - - - - - - - - - - - - - - - - xv
list of alarms specifications
Command Option Attachable-type Command Option Attachable-type
FT82 SERVOPACKs with INDEXER Modules - - - -3-146 FT82 SERVOPACKs with INDEXER Modules - - - - - 2-15
FT82 SERVOPACK with MECHATROLINK-II FT82 SERVOPACK with MECHATROLINK-II
Communications References - - - - - - - - - - - - - 3-50 Communications References - - - - - - - - - - - - - - -2-9
FT82 SERVOPACK with MECHATROLINK-III FT82 SERVOPACK with MECHATROLINK-III
Communications References - - - - - - - - - - - - - 3-98 Communications References - - - - - - - - - - - - - - 2-12
FT82 SERVOPACKs with Analog Voltage/ FT82 SERVOPACKs with Analog Voltage/
Pulse Train References - - - - - - - - - - - - - - - - - - 3-3 Pulse Train References - - - - - - - - - - - - - - - - - -2-5
Pulse Train References - - - - - - - - - - - - -
- - - -3-205 Pulse Train References - - - - - - - - - - - - - - - - - 2-19
list of MECHATROLINK-III common parameters - - - -4-106
Index-1
Index
storage humidity troubleshooting warnings

Command Option Attachable-type Command Option Attachable-type
FT82 SERVOPACKs with INDEXER Modules - - - - -2-15 FT82 SERVOPACKs with INDEXER Modules - - - - 3-183
FT82 SERVOPACK with MECHATROLINK-II FT82 SERVOPACK with MECHATROLINK-II
Communications References - - - - - - - - - - - - - - 2-9 Communications References - - - - - - - - - - - - - - 3-82
FT82 SERVOPACK with MECHATROLINK-III FT82 SERVOPACK with MECHATROLINK-III
Communications References - - - - - - - - - - - - - -2-12 Communications References - - - - - - - - - - - - - 3-130
Pulse Train References - - - - - - - - - - - - - - - - - 2-5 Pulse Train References - - - - - - - - - - - - - - - - - 3-35
Pulse Train References - - - - - - - - - - - - - - - - -2-19 Pulse Train References - - - - - - - - - - - - - - - - 3-240
storage temperature
Command Option Attachable-type W
FT82 SERVOPACKs with INDEXER Modules - - - - -2-15 warning code output
FT82 SERVOPACK with MECHATROLINK-II Command Option Attachable-type
Communications References - - - - - - - - - - - - - - 2-9 FT82 SERVOPACKs with INDEXER Modules - - - - 3-181
FT82 SERVOPACK with MECHATROLINK-III FT82 SERVOPACKs with Analog Voltage/
Communications References - - - - - - - - - - - - - -2-12 Pulse Train References - - - - - - - - - - - - - - - - - 3-34
Pulse Train References - - - - - - - - - - - - - - - - - 2-5 Pulse Train References - - - - - - - - - - - - - - - - 3-238
surrounding air humidity
FT82 SERVOPACKs with INDEXER Modules - - - - -2-15
Communications References - - - - - - - - - - - - - -2-12
surrounding air temperature
FT82 SERVOPACKs with INDEXER Modules - - - - -2-15
T
troubleshooting alarms
Pulse Train References - - - - - - - - - - - - - - - - 3-210
Index-2
Revision History
The date of publication, revision number, and web revision number are given at the bottom right of the
back cover. Refer to the following example.
MANUAL NO. SIEP S800001 91B <1>-1

Web revision number
Revision number
Published in Japan February 2016
Date of publication
Web
Date of Rev.
Rev. Section Revised Contents
Publication No.
No.
September 2018 <5> 0 All chapters Partly revised.
Back cover Revision: Address
May 2018 <4> 1 Preface Partly revised.
Chapter 4 Revision: Pn040
December 2017 0 Chapter 3 Deletion: A.F50
Revision: A.300
3.4.8, 3.5.8 Addition: E65E
3.5.4 Addition: E24A, E25A
3.5.6, 3.5.7 Addition: A.941
Chapter 4 Revision: Pn460
4.3, 4.4 Revision: Settings of PnB00 to PnB20, PnB31, PnB32
4.5 Addition: Pn650, Pn651, Pn652, Pn653, Pn655
Partly revised.
September 2017 <3> 0 Preface Revision: Information on certification for standards
March 2017 <2> 0 Preface, 1.4.1, Partly revised.
Chapter 3, Chap-
ter 4
1.6 Newly added.
2.1 Addition: Information on input current of control power supply
2.3 Addition: Information on overheat protection input
Chapter 3 Addition: A.862 and A.93B
Chapter 4 Addition: Pn022, Pn475, Pn476, Pn61A, Pn61B, Pn61C, and Pn61D
Deletion: Pn52D
February 2016 <1> 1 3.1.3, 3.2.3, Revision: A.860
3.3.3, 3.4.3, 3.5.3
November 2015 0 All chapters Addition: Information on SERVOPACKs with a single-phase, 100-VAC power
supply input
Chapter 3 Addition: A.bF5, A.bF6, A.bF7, A.bF8, and FL-6
September 2015 − − − First edition
Revision History-1
-7-Series AC Servo Drive
-7S SERVOPACK with
FT/EX Specification
for Application with Special Motor,
SGM7D Motor
Product Manual
IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama, 358-8555, Japan
Phone: +81-4-2962-5151 Fax: +81-4-2962-6138
http://www.yaskawa.co.jp
YASKAWA AMERICA, INC.
2121, Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone: +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax: +1-847-887-7310
http://www.yaskawa.com
YASKAWA ELÉTRICO DO BRASIL LTDA.
777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil
Phone: +55-11-3585-1100 Fax: +55-11-3585-1187
http://www.yaskawa.com.br
YASKAWA EUROPE GmbH
Hauptstraβe 185, 65760 Eschborn, Germany
Phone: +49-6196-569-300 Fax: +49-6196-569-398
http://www.yaskawa.eu.com E-mail: info@yaskawa.eu.com
YASKAWA ELECTRIC KOREA CORPORATION
35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, 07326, Korea
Phone: +82-2-784-7844 Fax: +82-2-784-8495
http://www.yaskawa.co.kr
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151, Lorong Chuan, #04-02A, New Tech Park, 556741, Singapore
Phone: +65-6282-3003 Fax: +65-6289-3003
http://www.yaskawa.com.sg
YASKAWA ELECTRIC (THAILAND) CO., LTD.
59, 1st-5th Floor, Flourish Building, Soi Ratchadapisek 18, Ratchadapisek Road, Huaykwang, Bangkok, 10310, Thailand
Phone: +66-2-017-0099 Fax: +66-2-017-0799
http://www.yaskawa.co.th
YASKAWA ELECTRIC (CHINA) CO., LTD.
22F, Link Square 1, No.222, Hubin Road, Shanghai, 200021, China
Phone: +86-21-5385-2200 Fax: +86-21-5385-3299
http://www.yaskawa.com.cn
YASKAWA ELECTRIC (CHINA) CO., LTD. BEIJING OFFICE
Room 1011, Tower W3 Oriental Plaza, No.1, East Chang An Ave.,
Dong Cheng District, Beijing, 100738, China
Phone: +86-10-8518-4086 Fax: +86-10-8518-4082
YASKAWA ELECTRIC TAIWAN CORPORATION
12F, No. 207, Sec. 3, Beishin Rd., Shindian Dist., New Taipei City 23143, Taiwan
Phone: +886-2-8913-1333 Fax: +886-2-8913-1513 or +886-2-8913-1519
http://www.yaskawa.com.tw
In the event that the end user of this product is to be the military and said product is to
be employed in any weapons systems or the manufacture thereof, the export will fall
under the relevant regulations as stipulated in the Foreign Exchange and Foreign
Trade Regulations. Therefore, be sure to follow all procedures and submit all relevant
documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice for ongoing product modifications
and improvements.
© 2015 YASKAWA ELECTRIC CORPORATION
MANUAL NO. SIEP S800001 91F <5>-0

Published in Japan September 2018
18-9-14
Original instructions

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-7-Series AC Servo Drive

-7S SERVOPACK with

MANUAL NO. SIEP S800001 91F

Enclosed Σ-7-Series Built-in Σ-7-Series

Product Manuals (such as this manual)

Σ-7-Series Σ-7-Series Programming Σ-7-Series Distributed

Σ-7-Series AC Servo Drive

Σ-7-Series AC Servo Drive

Σ-7-Series AC Servo Drive

Σ-7-Series AC Servo Drive

AC Servo Drive Provides detailed information for

Σ-7-Series AC Servo Drive

Σ-7-Series AC Servo Drive Provide detailed information on

Σ-7-Series AC Servo Drive

Provides the following information

Σ-7-Series AC Servo Drive Provides detailed information on

Provides detailed information on

Σ-7-Series AC Servo Drive Describes the operating proce-

AC Servo Drive Provides detailed operating proce-

Describes the functions, specifica-

 Notation for Parameters

Speed Loop Gain Speed Position

• Parameters for Selecting Functions

Parameter Meaning When Enabled Classification

Pn002 n. 1 Use the encoder as an incremental encoder. After restart Setup

n. 2 Use the encoder as a single-turn absolute encoder.

Digit Notation Numeric Value Notation

 Engineering Tools Used in This Manual

Indicates precautions or restrictions that must be observed.

Example Indicates operating or setting examples.

Information Indicates supplemental information to deepen understanding or useful information.

 Maintenance and Inspection Precautions

 North American Safety Standards (UL)

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

Product Model EU Directive Harmonized Standards

Product Model Safety Standards Standards

Basic Information on SERVOPACKs

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

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

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

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

SERVOPACK Ratings and Specifications

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

2.3 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

3.2 FT82 SERVOPACK with MECHATROLINK-II Communications References . . 3-50

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

3.5 FT83 SERVOPACKs with Analog Voltage/Pulse Train References. . 3-205

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

4.3 FT82 SERVOPACK with MECHATROLINK-III Communications References . . 4-67

4.5 FT83 SERVOPACKs with Analog Voltage/Pulse Train References . . 4-138

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

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

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

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

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

1.1 Product Introduction

1.2 Model Designations

1.2.1 Interpreting FT82 SERVOPACK Model Numbers

Maximum Applicable Hardware Options

7th digit Design Revision Order Code Specification

14th digit BTO Specification*5

Basic Information on SERVOPACKs

1.2.2 Interpreting FT83 SERVOPACK Model Numbers

Pn002 n.1 Use the encoder as an incremental encoder. After restart Setup

n.2 Use the encoder as a single-turn absolute encoder.