Sơ đồ đấu dây thông số cài đặt mã lỗi driver servo yaskawa sgds

Sơ đồ đấu dây thông số cài đặt mã lỗi driver servo yaskawa sgds
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6.3 Examples of I/O Signal Connections

6.3.1 Speed Control Mode
SERVOPACK
Speed reference 1. 2.
V-REF 5 LPF
( 2 to 10V
/rated motor SG 6
speed) A/D
External torque 4. 2.
37 ALO1
limit/Torque feed T-REF 9 Alarm code output
LPF 38 ALO2 Max. operating voltage:
forward
SG 10 30 VDC
(1 to 10 V 39 ALO3 Max. operating current:
/rated torque) 20 mA DC
BAT + 21
Backup battery 3. 33 PAO
(2.8 to 4.5 V) BAT - 22 34 /PAO
35 PBO PG dividing ratio output

SEN 4 Applicable line receiver
+5V 36 /PBO SN76175 or MC3486
SEN signal input 3. SG 2 manufactured by Texas
0V Instruments or the equivalent
19 PCO
20 /PCO
+24V5. +24VIN 47 3.3k
1 SG
Servo ON /S-ON 40 (SI0)

(Servo ON when ON (SO1) 25 /V-CMP+
Speed coincidence detection
P control /P-CON 41 (SI1) 26 /V-CMP-(ON when speed coincides.)
(P control when ON)
42 (SI2) (SO2) 27 /TGON+

Forward run prohibited P-OT
TGON output
(Prohibited when OFF) (ON when the motor speed
28 /TGON- exceeds the settings.)
Reverse run prohibited N-OT 43 (SI3)
(Prohibited when OFF) (SO3) 29 /S-RDY+
Servo ready output
Alarm reset /ALM-RST 44 (SI4) 30 /S-RDY- (ON when ready)
(Reset when ON)
31 ALM+
Forward current limit /P-CL 45 (SI5)
(Limit when ON) Servo alarm output
32 ALM- (OFF for an alarm)
Reverse current limit /N-CL 46 (SI6)
(Limit when ON) Photocoupler output
Connector Max. operating voltage:
shell 30 VDC
Max. operating current:
FG Connect shield to 50 mA DC
connector shell
* 1. represents twisted-pair wires.

* 2. The time constant for the primary filter is 30 s.
* 3. Connect when using an absolute encoder. When the encoder cable for the battery case is connected,
do not connect a backup battery.
* 4. Enabled by the parameter setting.
* 5. Customers must purchase a 24 VDC power supply with double-shielded enclosure.
Note: The functions allocated to the input signals SI0 to SI6 and the output signals SO1 to SO3 can be
changed by using the parameters. Refer to 7.3.2 Input Circuit Signal Allocation and 7.3.3 Output
Circuit Signal Allocation.
6-10
6.3 Examples of I/O Signal Connections
6.3.2 Position Control Mode

SERVOPACK
1.
PULS PULS 7
CW 120
Phase A /PULS 8 37 ALO1
SIGN Alarm code output
SIGN 11 38 ALO2 Max. operating voltage:
Position CCW 120
Phase B /SIGN 12 30 VDC
reference 39 ALO3 Max. operating current:
150 20 mA DC
CLR 15
CLR
/CLR 14
BAT (+) 21 33 PAO

Backup battery 2.
2.8 to 4.5 V 34 /PAO
BAT (-) 22
PG dividing ratio output
35 PBO
Applicable line receiver
SEN 4 36 /PBO
+5V SN75175 or MC3486
SEN signal input 2. manufactured by Texas
SG 2 Instruments or the equivalent
0V 19 PCO
20 /PCO
+24V
3.
+24VIN 47 3.3 k
1 SG
Servo ON /S-ON 40 (SI0)

(Servo ON when ON) (SO1) 25 /COIN+
Positioning completed
P control /P-CON 41 (SI1) (ON when positioning
26 /COIN- completes.)
(P control when ON)
P-OT 42 (SI2) (SO2) 27 /TGON+

Forward run prohibited
(Prohibited when OFF) TGON output
28 /TGON- (ON when the motor speed
exceeds the settings.)
Reverse run prohibited N-OT 43 (SI3)
Servo ready output
Alarm reset /ALM-RST 44 (SI4) 30 /S-RDY-(ON when ready)
(Reset when ON)
Forward current limit /P-CL 45 (SI5) 31 ALM+

shell 30 VDC
Max. operating current:
FG Connect shield 50 mA DC
to connector shell.

6-11
6 Wiring
6.3.3 Torque Control Mode
6.3.3 Torque Control Mode

SERVOPACK
4. 1.
External speed limit V-REF 5 2.
( 2 V to 10 V LPF
/rated motor speed) SG 6
A/D
37 ALO1
2.
Torque reference T-REF 9 Alarm code output
LPF 38 ALO2
( 1 V to 10 V Max. operating voltage:
SG 10 30 VDC
/rated torque)
39 ALO3 Max. operating current:
20 mA DC
BAT + 21
Backup battery 3. 33 PAO
2.8 to 4.5 V BAT - 22 34 /PAO
35 PBO PG dividing ratio output

SEN 4 36 /PBO Applicable line receiver
+5V SN75175 or MC3486
SEN signal input 3. 2 manufactured by Texas
SG
0V 19 PCO Instruments or the equivalent
20 /PCO
+24V
5.
+24VIN 47 3.3 k
1 SG
Servo on /S-ON 40 (SI0)

(Servo ON when ON) (SO1) 25 /VLT+ Speed limit output
(ON when the motor’ s
P control /P-CON 41 (SI1) 26 /VLT-
(P control when ON) running speed is limited.) 4.
Forward run prohibited P-OT 42 (SI2) (SO2) 27 /TGON+

(Prohibited when OFF) TGON output
28 /TGON-(ON when the motor speed
43 (SI3) exceeds the settings.)
Reverse run prohibited N-OT
Servo ready output
Alarm reset /ALM- RST 44 (SI4) 30 /S-RDY-(ON when ready)
(Reset when ON)
/P-CL 45 (SI5) 31 ALM+

Forward current limit
shell 30 VDC
Max. operating output:
FG Connect shield to 50 mA DC
connector shell.

* 2. The time constant for the primary filter is 30 s.
* 4. Enabled by the parameter setting.
6-12
12.3 List of Parameters

12.3.1 Utility Functions
The following list shows the available utility functions.
Parameter Reference
Function Remarks
No. Section
Fn000 Alarm traceback data display 7.2.2
Fn001 Rigidity setting during normal autotuning 9.2.4
Fn002 JOG mode operation 8.1.1
Fn003 Origin search mode 7.2.3
Fn004 Program JOG operation 7.2.4
Fn005 Initialize parameter settings 7.2.5
Fn006 Clear alarm traceback data 7.2.6
Fn007 Save moment of inertia ratio data obtained from normal autotuning 9.2.7
Fn008 Absolute encoder multi-turn reset and encoder alarm reset 8.4.5
Fn009 Automatic tuning of analog (speed, torque) reference offset 8.5.3
8.7.3
Fn00A Manual servo tuning of speed reference offset 8.5.3
Fn00B Manual servo tuning of torque reference offset 8.7.3
Fn00C Manual zero-adjustment of analog monitor output
Fn00D Manual gain-adjustment of analog monitor output
Fn00E Automatic offset-adjustment of motor current detection signal 7.2.7
Fn00F Manual offset-adjustment of motor current detection signal 7.2.8
Fn010 Write prohibited setting 7.2.9
Fn011 Check servomotor models 7.2.10
Fn012 Software version display 7.2.11
Fn013 Multi-turn limit value setting change when a Multi-turn Limit Disagreement alarm 8.4.8
occurs
Fn014 Fixed parameter
Fn015 One-parameter tuning for less deviation 9.6.9
Fn016 Reserved
Fn017 Advanced autotuning 9.3.2
Fn018 Online vibration monitor 7.2.12
7.2.13
Fn019 EasyFFT 7.2.12
7.2.14
Fn01A One-parameter tuning 9.4.2
Fn01B Initialize vibration detection level 7.2.15
Fn01E* SERVOPACK and servomotor ID Display
* Fn01E can be operated only from the JUSP-OP05A digital operator.
Note: When the parameters marked with “ ” in remarks column are set for Write Prohibited Setting (Fn010),
the indication shown below appears and such parameters cannot be changed.
Blinks for
Blinks for
one second
one second
12-21
12 Appendix
12.3.2 Parameters
12.3.2 Parameters
Parameter Factory Setting Reference
Name Setting Range Units
No. Setting Validation Section
Pn000 Function Selection Basic Switch 0 0000 After
restart
4th 3rd 2nd 1st

digit digit digit digit
n.
Direction Selection
(Refer to "8.3.2 Switching the Servomotor Rotation Direction.")
0 Sets CCW as forward direction.

1 Sets CW as forward direction (Reverse Rotation Mode)
2 to 3 Reserved (Do not use.)
Control Method Selection

(Refer to "8.10 Control Mode Selection.")
0 Speed control (analog reference)

1 Position control (pulse train reference)
2 Torque control (analog reference)
3 Internal set speed control (contact reference)
4 Internal set speed control (contact reference) Speed control (analog reference)
5 Internal set speed control (contact reference) Position control (pulse train reference)
6 Internal set speed control (contact reference) Torque control (analog reference)
7 Position control (pulse train reference) Speed control (analog reference)
8 Position control (pulse train reference) Torque control (analog reference)
9 Torque control (analog reference) Speed control (analog reference)
A Speed control (analog reference) Zero clamp
B Position control (pulse train reference) Position control (Inhibit)
Axis Address
0 to F Sets SERVOPACK axis address
(Function supported by the servodrive support tool SigmaWin+)
Reserved (Do not change)
12-22

Pn001 Function Selection Application Switch 1 0000 After
restart
4th 3rd 2nd 1st

n.
Servo OFF or Alarm Stop Mode *1
(Refer to "8.3.5 Selecting the Stopping Method after Servo OFF.")
0 Stops the motor by applying DB (dynamic brake).

1 Stops the motor by applying dynamic brake (DB) and then releases DB.
2 Makes the motor coast to a stop state without using the dynamic brake (DB).
Overtravel (OT) Stop Mode *2

(Refer to "8.3.3 Setting the Overtravel Limit Function.")
0 Same setting as Pn001.0 (Stops the motor by applying DB or by coasting).

1 Sets the torque of Pn406 to the maximum value, decelerate the motor to a stop, and then sets it
to servolock state.
2 Sets the torque of Pn406 to the maximum value, decelerates the motor to a stop, and then sets it
to coasting state.
AC/DC Power Input Selection

(Refer to "6.1.3 Typical Main Circuit Wiring Examples.")
0 Not applicable to DC power input: Input AC power supply through L1, L2 (, and L3) terminals.
1 Applicable to DC power input: Input DC power supply between B1/ + and , or input DC power
supply between B1/ + and 1.
Warning Code Output Selection

(Refer to "8.11.2 Warning Output (/WARN).")
0 ALO1, ALO2, and ALO3 output only alarm codes.

1 ALO1, ALO2, and ALO3 output both alarm codes and warning codes. While warning
codes are output, ALM signal output remains ON (normal state).
* 1. Used if alarm occurs in the torque control mode.

Used if alarm occurs when the motor is stopped by the dynamic brake.
* 2. The motor is stopped by the dynamic brake or by coasting regardless of the setting in the torque
control mode.
12-23
12 Appendix
12.3.2 Parameters

restart
4th 3rd 2nd 1st

n.
Speed Control Option (T-REF Terminal Allocation)
0 N/A
1 Uses T-REF as an external torque limit input. (Refer to 8.9.3.)
2 Uses T-REF as a torque feed forward input. (Refer to 9.6.2.)
3 Uses T-REF as an external torque limit input when P-CL and N-CL are ON. (Refer to 8.9.4.)
Torque Control Option (V-REF Terminal Allocation)

(Refer to "8.7.4 Speed Limit during Torque Control.")
0 N/A
1 Uses V-REF as an external speed limit input.
Absolute Encoder Usage

(Refer to "8.4.2 Selecting an Absolute Encoder.")
0 Uses absolute encoder as an absolute encoder.

1 Uses absolute encoder as an incremental encoder.
Fully-closed Encoder Usage

(Refer to "10.4 Related Parameters.")
0 Do not use fully-closed encoder.

1 Uses fully-closed encoder in forward rotation direction.
2 Reserved (Do not set.)
3 Uses fully-closed encoder in reversed rotation direction.
4 Reserved (Do not set.)
12-24

restart
4th 3rd 2nd 1st

n.
Analog Monitor 1 Signal Selection
(Refer to "9.7 Analog Monitor.")
00 Motor speed (1 V/1000 min-1 )

01 Speed reference (1 V/1000 min-1 )
02 Torque reference - Gravity compensation torque (Pn422) (1 V/100%)
03 Position error (0.05 V/1 reference unit)
04 Position amplifier error (after electronic gears) (0.05 V/ 1 encoder pulse unit)
05 Position reference speed (1 V/1000 min-1)
06 Reserved (Do not use.)
07 Motor load position error (0.01 V/one reference unit)
08 Positioning completion signal (positioning completed: 5 V, positioning not completed: 0 V)
09 Speed feed forward (1 V/1000 min-1)
0A Torque feed forward (1 V/100%)
Analog Monitor 1 Signal Multiplication Selection

0 1
1 10
2 100
3 1/10
4 1/100
Analog monitor 1 output voltage

= [( 1) Signal selection (Pn006.0) Signal multiplication (Pn006.2) ] + Offset voltage (Pn550)
The torque reference outputs a value "Torque reference value output from SERVOPACK Gravity compensation (Pn422)"
for monitor.
12-25
12 Appendix
12.3.2 Parameters

restart
4th 3rd 2nd 1st
n.
Analog Monitor 2 Signal Selection
00 Motor speed (1 V/1000 min-1)

01 Speed reference (1 V/1000 min-1)
02 Torque reference Gravity compensation torque (Pn422) (1V/100%)
03 Position error (0.05 V/1 reference unit)
04 Position amplifier error (after electronic gears) (0.05 V/1 encoder pulse unit)
-1
05 Position reference speed (1 V/1000 min )
06 Reserved (Do not use.)
07 Motor load position error (0.01 V/one reference unit)
08 Positioning completion signal (positioning completed: 5V, positioning not completed: 0V)
-1
09 Speed feed forward (1 V/1000 min )
0A Torque feed forward (1 V/100%)
Analog Monitor 2 Signal Multiplication Selection

0 1
1 10
2 100
3 1/10
4 1/100
Analog monitor 2 output voltage = [( 1) Signal selection (Pn007.0) Signal multiplication (Pn007.2) ] + Offset voltage (Pn551)
The torque reference outputs a value "Torque reference value output from SERVOPACK Gravity compensation (Pn422)"
for monitor.

restart
12-26
4th 3rd 2nd 1st

n.
Lowered Battery Voltage Alarm/Warning Selection
(Refer to "8.4.4 Replacing Batteries.")
0 Outputs alarm (A.830) for lowered battery voltage.

1 Outputs warning (A.930) for lowered battery voltage.
Warning Detection Selection

(Refer to "11.1.2 Warning Displays.")
0 Detects warning.
1 Does not detect warning.
Pn100 Speed Loop Gain 10 to 20000 0.1 Hz 400 Immedi- 9.5.4

ately
12-27
12 Appendix
12.3.2 Parameters

Pn101 Speed Loop Integral Time Constant 15 to 51200 0.01 ms 2000 Immedi- 9.5.5
ately
Pn102 Position Loop Gain 10 to 20000 0.1/s 400 Immedi- 9.5.3
ately
Pn103 Moment of Inertia Ratio 0 to 20000 1% 0 Immedi- 9.2.6
ately 9.5.4
Pn104 2nd Speed Loop Gain 10 to 20000 0.1 Hz 400 Immedi- 9.6.9
ately
Pn105 2nd Speed Loop Integral Time Constant 15 to 51200 0.01 ms 2000 Immedi- 9.6.9
ately
Pn106 2nd Position Loop Gain 10 to 20000 0.1/s 400 Immedi- 9.6.9
ately
Pn107 Bias 0 to 450 1 min-1 0 Immedi- 9.6.6
ately
Pn108 Bias Addition Width 0 to 250 Reference 7 Immedi- 9.6.6
unit ately
Pn109 Feed Forward Gain 0 to 100 1% 0 Immedi- 9.6.1
ately
Pn10A Feed Forward Filter Time Constant 0 to 6400 0.01 ms 0 Immedi- 9.6.1
ately
Pn10B Gain-related Application Switch 0000 Immedi-
ately/After
restart
4th 3rd 2nd 1st

n.
Mode Switch Selection Setting
(Refer to "9.6.5 Using the Mode Switch (P/PI Switching).") Validation
0 Uses internal torque reference as the condition (Level setting: Pn10C)

1 Uses speed reference as the condition (Level setting: Pn10D)
2 Uses acceleration as the condition (Level setting: Pn10E) Immediately
3 Uses position error pulse as the condition (Level setting: Pn10F)

4 No mode switch function available
Speed Loop Control Method Setting

(Refer to "9.6.4 Proportional Control Operation (Proportional Operation Reference).") Validation
0 PI control
1 I-P control After restart
2 and 3 Reserved (Do not use)
Position Loop Control Method Setting

(Refer to "9.6.11 Less Deviation Control.") Validation
0 Standard Position Control

1 Less Deviation Control After restart
2 Less Deviation Control with reference filter
Pn10C Mode Switch (torque reference) 0 to 800 1% 200 Immedi- 9.6.5

ately
Pn10D Mode Switch (speed reference) 0 to 10000 1 min-1 0 Immedi- 9.6.5
ately
Pn10E Mode Switch (acceleration) 0 to 30000 1 min-1/ s 0 Immedi- 9.6.5
ately
12-28

Pn10F Mode Switch (position error pulse) 0 to 10000 1 reference 0 Immedi- 9.6.5
unit ately
Pn110 Online Autotuning Switches 0010 After
restart
4th 3rd 2nd 1st

n.
Autotuning Selection
(Refer to "9.2.3 Selecting the Normal Autotuning Execution Method.")
0 Performs normal autotuning only when power turns ON.

1 Performs normal autotuning.
2 Performs manual tuning but not normal autotuning.
Speed Feedback Compensation Selection

(Refer to "9.6.8 Speed Feedback Compensation.")
0 Available.
1 N/A (standard speed feedback.)
2 and 3 Reserved (Do not use)
Pn111 Speed Feedback Compensation Gain * 1 to 500 1% 100 Immedi- 9.6.8

ately
Pn119 Reference Filter Gain 10 to 20000 0.1 /s 500 Immedi- 9.6.11
ately
Pn11A Reference Filter Gain Compensation 500 to 2000 0.1% 1000 Immedi- 9.6.11
ately
Pn11E Reference Filter Bias (Forward) 0 to 10000 0.1% 1000 Immedi- 9.6.11
ately
Pn11F Position Integral Time Constant 00 to 50000 0.1 ms 0 Immedi- 9.6.15
ately
Pn12B 3rd Speed Loop Gain 10 to 20000 0.1 Hz 400 Immedi- 9.6.9
ately
Pn12C 3rd Speed Loop Integral Time Constant 15 to 51200 0.01 ms 2000 Immedi- 9.6.9
ately
Pn12D 3rd Position Loop Gain 10 to 20000 0.1 /s 400 Immedi- 9.6.9
ately
Pn12E 4th Speed Loop Gain 10 to 20000 0.1 Hz 400 Immedi- 9.6.9
ately
Pn12F 4th Speed Loop Integral Time Constant 15 to 51200 0.01 ms 2000 Immedi- 9.6.9
ately
Pn130 4th Position Loop Gain 10 to 20000 0.1 /s 400 Immedi- 9.6.9
ately
Pn131 Gain Switching Time 1 0 to 65535 1 ms 0 Immedi- 9.6.9
ately
* The parameter Pn111 setting is enabled only when the parameter Pn110.1 is set to “ 0.”
12-27

Name Setting Range Unit
Pn132 Gain Switching Time 2 0 to 65535 1 ms 0 Immedi- 9.6.9
ately
Pn135 Gain Switching Waiting Time 1 0 to 65535 1 ms 0 Immedi- 9.6.9
ately
Pn136 Gain Switching Waiting Time 2 0 to 65535 1 ms 0 Immedi- 9.6.9
ately
Pn139 Automatic Gain Changeover Related 0000 After
Switch 1 restart
4th 3rd 2nd 1st

n.
Gain Switching Selection Switch
(Refer to "9.6.9 Switching Gain Settings.")
0 Manual gain switching

Changes gain manually using external input signals (/G-SEL1, /G-SEL2)
1 Automatic gain switching pattern 1
Changes automatically 1st gain to 2nd gain when the switching condition A is satisfied.
Changes automatically 2nd gain to 1st gain when the switching condition B is satisfied.
Gain Switching Condition A

0 Positioning completion signal (/COIN) ON

1 Positioning completion signal (/COIN) OFF
2 NEAR signal (/NEAR) ON
3 NEAR signal (/NEAR) OFF
4 Position reference filter output = 0 and reference pulse input OFF
5 Position reference pulse input ON
Gain Switching Condition B

0 to 5 Same as Condition A
Pn144 Reference Filter Bias (Reverse) 0 to 10000 0.1% 1000 Immedi- 9.6.11
ately
12-29
12 Appendix
12.3.2 Parameters

Pn150 Predictive Control Selection Switches 0210 After
restart
4th 3rd 2nd 1st

n.
Predictive Control Selection
(Refer to "9.6.10 Predictive Control.")
0 Do not perform predictive control selection.

1 Perform predictive control selection.
2 Reserved (Do not use).
Reversed Control Type

(Refer to "9.6.10 Predictive Control.")
0 Perform predictive control for locus tracking.

1 Perform predictive control for positioning.
0 to 4 Reserved (Do not use).
Pn151 Predictive Control Acceleration/Decelera- 0 to 300 1% 100 Immedi- 9.6.10

tion Gain ately
Pn152 Predictive Control Weighting Ratio 0 to 300 1% 100 Immedi- 9.6.10
ately
Pn1A0 Servo Rigidity 1 to 500 1% 60 Immedi- 9.6.9
ately 9.6.11
Pn1A1 Servo Rigidity 2 1 to 500 1% 60 Immedi- 9.6.9
ately 9.6.11
Pn1A2 Speed Feedback Filter Time Constant 30 to 3200 0.01 ms 72 Immedi- 9.6.9
ately 9.6.11
Pn1A3 Speed Feedback Filter Time Constant 2 30 to 3200 0.01 ms 72 Immedi- 9.6.9
ately 9.6.11
Pn1A4 Torque Reference Filter Time Constant 0 to 2500 0.01 ms 30 Immedi- 9.6.11
ately
12-30

Pn1A7 Auxiliary Control Switch 1121 Immedi-
ately
4th 3rd 2nd 1st
n.
Integral Compensation pro
(Refer to "9.6.9 Switching Gain Settings and 9.6.11 Less Deviation Control.")
0 Do not perform integral compensation processing.

1 Perform integral compensation processing. (Factory setting)
2 Use gain switching for less deviation. Perform integral compensation on Gain Settings 1.
Do not perform integral compensation on Gain Settings 2.
3 Use gain switching for less deviation. Do not perform integral compensation on Gain
Settings 1. Perform integral compensation on Gain Setting 2.
Pn1A9 Auxiliary Integral Gain 0 to 500 1 Hz 37 Immedi- 9.6.11

ately
Pn1AA Position Proportional Gain 0 to 500 1 Hz 60 Immedi- 9.6.11
ately
Pn1AB Speed Integral Gain 0 to 500 1 Hz 0 Immedi- 9.6.11
ately
Pn1AC Speed Proportional Gain 0 to 2000 1 Hz 120 Immedi- 9.6.11
ately
Pn1B5 Gain Compensation Upper Limit 1 100 to 1000 1% 150 Immedi- 9.6.11
ately
12-31
12 Appendix
12.3.2 Parameters

Pn200 Position Control Reference Form Selec- 0000 After
tion Switch restart
4th 3rd 2nd 1st

n.
Reference Pulse Form
(Refer to "8.6.1 Setting Parameters.")
0 Sign + Pulse, positive logic

1 CW + CCW, positive logic
2 Phase A + Phase B ( 1), positive logic
5 Sign + Pulse, negative logic
6 CW + CCW, negative logic
Clear Signal Form

0 Clears position error pulse when the signal is at H level.

1 Clears position error pulse at the rising edge of the signal.
2 Clears position error pulse when the signal is at L level.
3 Clears position error pulse at the falling edge of the signal.
Clear Operation
0 Clears position error pulse at the baseblock (Servo OFF or alarm occurred).
1 Does not clear position error pulse (Possible to clear error counter only with CLR signal)
2 Clears position error pulse when an alarm occurs.
Pn205 Multiturn Limit Setting * 0 to 65535 1 rev 65535 After 8.4.7

restart
* The multiturn limit must be changed only for special applications. Changing this limit inappropriate or
unintentionally can be dangerous.
12-32

Pn207 Position Control Function Switch 0000 After
restart
4th 3rd 2nd 1st

n.
Position Reference Filter Selection
(Refer to "8.6.4 Smoothing.")
0 Position reference acceleration/deceleration filter

1 Position reference average movement filter
2 Reserved (Do not use)
Position Control Option

(Refer to "9.6.3 Speed Feed-forward.")
0 N/A
1 Uses V-REF as a speed feed forward input.
Backlash Compensation Selection

(Refer to "9.6.14 Backlash Compensation.")
0 N/A
1 Compensates in forward direction.
2 Compensates in reverse direction.
/COIN Output Timing

(Refer to "8.6.5 Positioning Completed Output Signal.")
0 Outputs when the position error absolute value is the same or less than the positioning completion
width (Pn522).
Outputs when the position error absolute value is the position completion width (Pn522) or less
1 and the reference after position reference filtering is 0.
2 When the absolute value of the position error is below the positioning completed width setting
(Pn522), and the position reference input is 0.
Pn209 Position Reference Acceleration/Deceler- 0 to 65535 1 0 Immedi- 8.6.4

ation Bias reference ately
unit/s
Pn20A Number of External Scale Pitch 100 to 1048576 1 32768 After 10.4
pitch/Rev restart
Pn20E Electronic Gear Ratio (Numerator) 1 to 1073741824(230) 4 After 8.6.2
restart
Pn210 Electronic Gear Ratio (Denominator) 1 to 1073741824(230) 1 After 8.6.2
restart
Pn212 PG Dividing Pulse (pulse unit) 16 to 1 P/ Rev 2048 After 8.4.6
1073741824(230) restart 8.5.7
Pn214 Backlash Compensation Amount -32767 to 32767 1 0 Immedi- 9.6.14
reference ately
unit
Pn215 Backlash Compensation Time Constant 0 to 65535 0.01 ms 0 Immedi- 9.6.14
ately
Pn216 Position Reference Acceleration/Deceler- 0 to 65535 0.1 ms 0 Immedi- 8.6.4
ation Time Constant ately
Pn217 Average Movement Time of Position Ref- 0 to 10000 0.1 ms 0 Immedi- 8.6.4
erence ately
Pn281 Encoder Output Resolution 1 to 4096 1 P/(4 mul- 20 After 10.4
tiplier restart
pitch)
12-33
12 Appendix
12.3.2 Parameters

Pn300 Speed Reference Input Gain 150 to 3000 0.01V 600 Immedi- 8.5.1
/ rated ately 8.7.4
speed 9.6.3
Pn301 Internal Set Speed 1 0 to 10000 1 min-1 100 Immedi- 8.8.1
ately
ately
ately
Pn304 JOG Speed 0 to 10000 1 min-1 500 Immedi-
ately
Pn305 Soft Start Acceleration Time 0 to 10000 1 ms 0 Immedi- 8.5.4
ately
Pn306 Soft Start Deceleration Time 0 to 10000 1 ms 0 Immedi- 8.5.4
ately
Pn307 Speed Reference Filter Time Constant 0 to 65535 0.01 ms 40 Immedi- 8.5.5
ately
Pn308 Speed Feedback Filter Time Constant 0 to 65535 0.01 ms 0 Immedi- 9.6.7
ately
Pn310 Vibration Detection Switch 0000 Immedi-
ately
4th 3rd 2nd 1st

n.
Vibration Detection Selection
(Refer to "7.2.15 Vibration Detection Level Initialization (Fn01B).")
0 No detection.
1 Outputs warning (A.911) when vibration is detected.
2 Outputs alarm (A.520) when vibration is detected.
Pn311 Vibration Detection Sensibility 50 to 500 1% 100 Immedi- 7.2.15

ately
Pn312 Vibration Detection Level 0 to 5000 1 min-1 50 Immedi- 7.2.15
ately
Pn400 Torque Reference Input Gain 10 to100 0.1 V/rated 30 Immedi- 8.7.1
torque ately 8.9.3
8.9.4
9.6.2
Pn401 Torque Reference Filter Time Constant 0 to 65535 0.01 ms 100 Immedi- 9.6.12
ately
Pn402 Forward Torque Limit 0 to 800 1% 800 Immedi- 8.9.1
ately
Pn403 Reverse Torque Limit 0 to 800 1% 800 Immedi- 8.9.1
ately
Pn404 Forward External Torque Limit 0 to 800 1% 100 Immedi- 8.9.2
ately 8.9.4
Pn405 Reverse External Torque Limit 0 to 800 1% 100 Immedi- 8.9.2
ately 8.9.4
Pn406 Emergency Stop Torque 0 to 800 1% 800 Immedi- 8.3.3
ately
12-34

Pn407 Speed Limit during Torque Control 0 to 10000 1 min-1 10000 Immedi- 8.7.4
ately
Pn408 Torque Related Function Switch 0000 Immedi-
ately/After
restart
4th 3rd 2nd 1st
n.
1st Step Notch Filter Selection Setting
(Refer to "9.6.12 Torque Reference Filter.") Validation
0 N/A
Immediately
1 Uses 1st step notch filter for torque reference.
Speed Limit Selection Setting

(Refer to "8.7.4 Speed Limit during Torque Control.") Validation
0 Uses the smaller value between motor max. speed and parameter Pn407 as
speed limit value.
After restart
1 Uses the smaller value between overspeed detection speed and parameter Pn407
as speed limit value.
2nd Step Notch Filter Selection Setting

(Refer to "9.6.12 Torque Reference Filter.") Validation
0 N/A
Immediately
1 Uses 2nd step notch filter for torque reference.
Reserved (Do not change).
Pn409 1st Step Notch Filter Frequency 50 to 2000 1 Hz 2000 Immedi- 9.6.12
ately
Pn40A 1st Step Notch Filter Q Value 50 to 1000 0.01 70 Immedi- 9.6.12
ately
Pn40C 2nd Step Notch Filter Frequency 50 to 2000 1 Hz 2000 Immedi- 9.6.12
ately
Pn40D 2nd Step Notch Filter Q Value 50 to 1000 0.01 70 Immedi- 9.6.12
ately
Pn40F 2nd Step 2nd Torque Reference Filter Fre- 100 to 2000 1 Hz 2000 Immedi- 9.6.12
quency ately
Pn410 2nd Step 2nd Torque Reference Filter Q 50 to 1000 0.01 70 Immedi- 9.6.12
Value ately
Pn411 3rd Step Torque Reference Filter Time 0 to 65535 s 0 Immedi- 9.6.12
Constant ately
Pn412 1st Step 2nd Torque Reference Filter Time 0 to 65535 0.01 ms 100 Immedi- 9.6.9
Constant ately
Pn413 1st Step 3rd Torque Reference Filter Time 0 to 65535 0.01 ms 100 Immedi- 9.6.9
Constant ately
Pn414 1st Step 4th Torque Reference Filter Time 0 to 65535 0.01 ms 100 Immedi- 9.6.9
Constant ately
Pn420 Damping for Vibration Suppression on 10 to 100 1% 100 Immedi- 9.6.13
Stopping ately
Pn421 Vibration Suppression Starting Time 0 to 65535 1 ms 1000 Immedi- 9.6.13
ately
Pn422 Gravity Compensation Torque -20000 to 20000 0.01 % 0 Immedi- 9.7
ately
Pn456 Sweep Torque Reference Amplitude 1 to 800 1% 15 Immedi-
ately
12-35
12 Appendix
12.3.2 Parameters

Pn501 Zero Clamp Level 0 to 10000 1 min-1 10 Immedi- 8.5.6
ately
Pn502 Zero Speed Level 1 to 10000 1 min-1 20 Immedi- 8.11.3
ately
Pn503 Speed Coincidence Signal Output Width 0 to 100 1 min-1 10 Immedi- 8.5.8
ately
Pn506 Brake Reference - Servo OFF Delay Time 0 to 50 10 ms 0 Immedi- 8.3.4
ately
Pn507 Brake Reference Output Speed Level 0 to 10000 1 min-1 100 Immedi- 8.3.4
ately
Pn508 Waiting Time for Brake Signal When 10 to 100 10 ms 50 Immedi- 8.3.4
Motor Running ately
Pn509 Instantaneous Power Cut Hold time 20 to 1000 1 ms 20 Immedi- 8.3.6
ately
12-36

Pn50A Input Signal Selection 1 2100 After
restart
4th 3rd 2nd 1st

n.
Input Signal Allocation Mode
(Refer to "7.3.2 Input Circuit Signal Allocation.")
0 Uses the sequence input signal terminals with standard allocation.
1 Changes the sequence input signal allocation for each signal.
/S-ON Signal Mapping

Signal Polarity: Normal; Servo ON when ON (L-level)
Signal Polarity: Reverse; Servo ON when OFF (H-level)
(Refer to "8.3.1 Setting the Servo ON Signal.")
0 ON when CN1-40 input signal is ON (L-level)
7 Sets signal ON
8 Sets signal OFF
9 OFF when CN1-40 input signal is OFF (H-level)
A OFF when CN1-41 input signal is OFF (H-level)
B OFF when CN1-42 input signal is OFF (H-level)
C OFF when CN1-43 input signal is OFF (H-level)
D OFF when CN1-44 input signal is OFF (H-level)
E OFF when CN1-45 input signal is OFF (H-level)
F OFF when CN1-46 input signal is OFF (H-level)
/P-CON Signal Mapping (P control when ON (L-level))

(Refer to "9.6.4 Proportional Control Operation (Proportional Operation Reference).")
0 to F Same as /S-ON
P-OT Signal Mapping (Overtravel when OFF (H-level))

(Refer to "8.3.3 Switching the Servomotor Rotation Direction.")
0 Forward run allowed when CN1-40 input signal is ON (L-level)
7 Forward run prohibited
8 Forward run allowed
9 Forward run allowed when CN1-40 input signal is OFF (H-level)
A Forward run allowed when CN1-41 input signal is OFF (H-level)
B Forward run allowed when CN1-42 input signal is OFF (H-level)
C Forward run allowed when CN1-43 input signal is OFF (H-level)
D Forward run allowed when CN1-44 input signal is OFF (H-level)
E Forward run allowed when CN1-45 input signal is OFF (H-level)
F Forward run allowed when CN1-46 input signal is OFF (H-level)
12-37
12 Appendix
12.3.2 Parameters

Pn50B Input Signal Selection 2 6543 After
restart
4th 3rd 2nd 1st

n.
N-OT Signal Mapping (Overtravel when OFF (H-level))
(Refer to "8.3.3 Setting the Overtravel Limit Function.")
0 Reverse run allowed when S10 (CN1-40) input signal is ON (L-level)
7 Reverse run prohibited
8 Reverse run allowed
9 Reverse run allowed when S10 (CN1-40) input signal is OFF (H-level)
A Reverse run allowed when S11 (CN1-41) input signal is OFF (H-level)
B Reverse run allowed when S12 (CN1-42) input signal is OFF (H-level)
C Reverse run allowed when S13 (CN1-43) input signal is OFF (H-level)
D Reverse run allowed when S14 (CN1-44) input signal is OFF (H-level)
E Reverse run allowed when S15 (CN1-45) input signal is OFF (H-level)
F Reverse run allowed when S16 (CN1-46) input signal is OFF (H-level)
/ALM-RST Signal Mapping (Alarm Reset when ON (L-level))

(Refer to "8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3).")
0 to 6 Same as N-OT
7 Reserved (Do not use)
8 to F Same as N-OT
/P-CL Signal Mapping (Torque Limit when ON (L-level))

(Refer to "8.9.2 External Torque Limit (Output Torque Limiting by Input Signals).")
0 to F Same as /S-ON, the setting of 1st digit of Pn50A
/N-CL Signal Mapping (Torque Limit when ON (L-level))

(Refer to "8.9.2 External Torque Limit (Output Torque Limiting by Input Signals).")
0 to F Same as N-OT
Input signal polarities

Signal Level Voltage level Contact
ON Low (L) level 0V Close
OFF High (H) level 24 V Open
12-38

Pn50C Input Signal Selection 3 8888 After
restart
4th 3rd 2nd 1st

n.
/SPD-D Signal Mapping (See the internal set speed control function.)
(Refer to "8.8.2 Input Signal Settings.")
0 ON when S10 (CN1-40) input signal is ON (L-level).

7 Sets signal ON.
8 Sets signal OFF
9 ON when S10 (CN1-40) input signal is OFF (H-level).
A ON when S11 (CN1-41) input signal is OFF (H-level).
B ON when S12 (CN1-42) input signal is OFF (H-level).
C ON when S13 (CN1-43) input signal is OFF (H-level).
D ON when S14 (CN1-44) input signal is OFF (H-level).
E ON when S15 (CN1-45) input signal is OFF (H-level).
F ON when S16 (CN1-46) input signal is OFF (H-level).
/SPD-A Signal Mapping

(Refer to "8.8 Operating Using Speed Control with an Internally Set Speed
and 8.8.2 Input Signal Settings.")
0 to F Same as /SPD-D
/SPD-B Signal Mapping

(Refer to "8.8 Operating Using Speed Control with an Internally Set Speed
and 8.8.2 Input Signal Settings.")
/C-SEL Signal Mapping (Control mode change when ON (L-level))

(Refer to "8.10.2 Switching the Control Mode.")
12-39
12 Appendix
12.3.2 Parameters

Pn50D Input Signal Selection 4 8888 After
restart
4th 3rd 2nd 1st

n.
/ZCLAMP Signal Mapping (Zero clamp when ON (L-level))
(Refer to "8.5.6 Using the Zero Clamp Function.")

7 Sets signal ON.
8 Sets signal OFF.
9 ON when S10 (CN1-40) input signal is OFF (H-level).

A ON when S11 (CN1-41) input signal is OFF (H-level).
B ON when S12 (CN1-42) input signal is OFF (H-level).
C ON when S13 (CN1-43) input signal is OFF (H-level).
D ON when S14 (CN1-44) input signal is OFF (H-level).
E ON when S15 (CN1-45) input signal is OFF (H-level).
F ON when S16 (CN1-46) input signal is OFF (H-level).
/INHIBIT Signal Mapping (Reference pulse inhibit when ON (L-level))

(Refer to "8.6.7 Reference Pulse Inhibit Function (INHIBIT).")
0 to F Same as /ZCLAMP
/G-SEL1 Signal Mapping (Gain change when ON (L-level))

0 to F Same as /ZCLAMP
12-40

Pn50E Output Signal Selection 1 3211 After
restart
4th 3rd 2nd 1st
n.
Positioning Completion Signal Mapping (/COIN)
(Refer to "8.6.5 Positioning Completed Output Signal.")
0 Disabled (the above signal is not used.)
1 Outputs the signal from SO1 (CN1-25, 26) output terminal.

Speed Coincidence Detection Signal Mapping (/V-CMP)

(Refer to "8.5.8 Speed Coincidence Output.")
0 to 3 Same as /COIN
Servomotor Rotation Detection Signal Mapping (/TGON)

(Refer to "8.11.3 Rotation Detection Output Signal (/TGON).")
Servo Ready Signal Mapping (/S-RDY)

(Refer to "8.11.4 Servo Ready (/S-RDY) Output.")
Pn50F Output Signal Selection 2 0000 After 7.3.3

restart 8.3.4
4th 3rd 2nd 1st
n.
Torque Limit Detection Signal Mapping (/CLT)
(Refer to "8.9.5 Checking Output Torque Limiting during Operation.")
1 Outputs the signal from SO1 (CN1-25, -26) output terminal.

Speed Limit Detection Signal Mapping (/VLT)

(Refer to "8.7.4 Speed Limit during Torque Control.")
0 to 3 Same as /CLT
Brake Interlock Signal Mapping (/BK)

(Refer to "8.3.4 Setting for Holding Brakes.")
0 to 3 Same as /CLT
Warning Signal Mapping (/WARN)

(Refer to "8.11.2 Warning Output (/WARN).")
0 to 3 Same as /CLT
12-41
12 Appendix
12.3.2 Parameters

Pn510 Output Signal Selection 3 0000 After 7.3.3
restart
4th 3rd 2nd 1st

n.
Near Signal Mapping (/NEAR)
(Refer to "8.6.6 Positioning Near Signal.")
1 Outputs the signal from CN1-25 or -26 terminals.

Pn512 Output Signal Reversal Setting 0000 After 7.3.3

restart
4th 3rd 2nd 1st

n.
Output Signal Reversal for CN1-25 or -26 Terminals
(Refer to "7.3.3 Output Circuit Signal Allocation.")
0 Output signal is not reversed.

1 Output signal is reversed.




12-42

Pn515 Input Signal Selection 5 8888 After 7.3.2
restart
4th 3rd 2nd 1st
n.
/G-SEL2 Signal Mapping (Gain Change when ON (L-level))
(Refer to "7.3.2 Input Circuit Signal Allocation.")
0 ON when SI0 (CN1-40) input signal is ON (L-level)


7 Sets signal ON.

8 Sets signal OFF.
9 ON when SI0 (CN1-40) input signal is OFF (H-level)

A ON when SI1 (CN1-41) input signal is OFF (H-level)
B ON when SI2 (CN1-42) input signal is OFF (H-level)
C ON when SI3 (CN1-43) input signal is OFF (H-level)
D ON when SI4 (CN1-44) input signal is OFF (H-level)
E ON when SI5 (CN1-45) input signal is OFF (H-level)
F ON when SI6 (CN1-46) input signal is OFF (H-level)
Pn51B Excessive Error Level Between Servomo- 1 to 1073741824 1 reference 1000 Immedi- 10.4
tor and Load Positions (230) unit ately
Pn51E Excessive Position Error Warning Level 10 to 100 1% 100 Immedi- 11.1.2
ately
Pn520 Excessive Position Error Alarm Level 0 to 1073741823 1 reference 262144 Immedi- 9.5.3
(230-1) unit ately 11.1.1
Pn522 Positioning Completed Width 1 to 1073741824(230) 1 reference 7 Immedi- 8.6.5
unit ately
Pn524 NEAR Signal Width 1 to 1073741824(230) 1 reference 1073741824 Immedi- 8.6.6
unit ately
Pn526 Excessive Position Error Alarm Level at 1 to 1073741823 1 reference 262144 Immedi- 11.1.1
Servo ON (230-1) unit ately
Pn528 Excessive Position Error Warning Level at 10 to 100 1% 100 Immedi- 11.1.2
Servo ON ately
Pn529 Speed Limit Level at Servo ON 0 to 10000 1 min-1 10000 Immedi- 11.1.1
ately
Pn52A Multiplier per One Fully-closed Rotation 0 to 100 1% 20 Immedi- 10.4
ately
Pn52F Monitor Display at Power ON 0 to FFF FFF Immedi- 7.4.1
ately
12-43
12 Appendix
12.3.2 Parameters

Pn530 Program JOG Operation Related Switch 0000 Immedi- 7.2.4
ately
4th 3rd 2nd 1st

n.
Program JOG Operation Related Switch
(Refer to "7.2.4 Program JOG Operation (Fn004).")
0 (Waiting time Pn535 Forward movement Pn531) Number of times of movement Pn536
1 (Waiting time Pn535 Reverse movement Pn531) Number of times of movements Pn536
(Waiting time Pn535 Forward movement Pn531) Number of times of movements Pn536
2
(Waiting time Pn535 Reverse movement Pn531) Number of times of movements Pn536
(Waiting time Pn535 Reverse movement Pn531) Number of times of movements Pn536
3
(Waiting time Pn535 Forward movement Pn531) Number of times of movements Pn536
4 (Waiting time Pn535 Forward movement Pn531 Waiting time Pn535
Reverse movement Pn531) Number of times of movement Pn536
5 (Waiting time Pn535 Reverse movement Pn531 Waiting time Pn535
Forward movement Pn531) Number of times of movement Pn536
Pn531 Program JOG Movement Distance 1 to 1073741824(230) 1 reference 32768 Immedi- 7.2.4
unit ately
Pn533 Program JOG Movement Speed 1 to 10000 1 min-1 500 Immedi- 7.2.4
ately
Pn534 Program JOG Acceleration/Deceleration 2 to 10000 1 ms 100 Immedi- 7.2.4
Time ately
Pn535 Program JOG Waiting Time 0 to 10000 1 ms 100 Immedi- 7.2.4
ately
Pn536 Number of Times of Program JOG Move- 1 to 1000 1 time 1 Immedi- 7.2.4
ment ately
Pn540 Gain Limit 10 to 20000 0.1 Hz 2000 Immedi- 9.3.2
ately
Pn550 Analog Monitor 1 Offset Voltage -10000 to 10000 0.1 V 0 Immedi- 9.7
ately
Pn551 Analog Monitor 2 Offset Voltage -10000 to 10000 0.1 V 0 Immedi- 9.7
ately
Pn600 Regenerative Resistor Capacity 1 Depends on SERVO- 10 W 0 Immedi- 6.5
PACK Capacity 2 ately
* 1. Normally set to “ 0.” When using an external regenerative resistor, set the capacity (W) of the regenerative resistor.
* 2. The upper limit is the maximum output capacity (W) of the SERVOPACK.
12-44
12.3.3 Monitor Modes

The following list shows monitor modes available.
Parameter
Content of Display Unit
No.
Un000 Motor speed min-1
Un001 Speed reference (displayed only in speed control mode) min-1
Un002 Internal torque reference ( in percentage to the rated torque) %
Un003 Rotation angle 1 (32-bit decimal code) pulse
Un004 Rotation angle 2 (Angle to the zero-point (electrical angle)) deg
Un005 Input signal monitor
Un006 Output signal monitor
Un007 Input reference pulse speed (displayed only in position control mode) min-1
Un008 Error counter (position error amount) (displayed only in position control mode) reference
unit
Un009 Accumulated load ratio (in percentage to the rated torque: effective torque in cycle of 10 sec- %
onds)
Un00A Regenerative load ratio (in percentage to the processable regenerative power: regenerative %
power consumption in cycle of 10 seconds)
Un00B Power consumed by DB resistance %
(in percentage to the processable power at DB activation: display in cycle of 10 seconds)
Un00C Input reference pulse counter (32-bit decimal code) pulse
(displayed only in position control mode)
Un00D Feedback pulse counter (32-bit decimal code) pulse
Un00E Fully-closed Feedback Pulse Counter (32-bit decimal code) pulse
Un00F Fully-closed Feedback Speed (32-bit decimal code) pulse/s
12-45
11 Inspection, Maintenance, and Troubleshooting
11.1.3 Troubleshooting of Alarm and Warning

When an error occurs in SERVOPACKs, an alarm display such as A. and CPF or warning display
such as A.9 appears on the panel operator. However, the display “ A.--” is not an alarm. Refer to the follow-
ing sections to identify the cause of an alarm and the action to be taken.
Contact your Yaskawa representative if the problem cannot be solved by the described corrective action.
For alarms that relate to the fully-closed control, refer to 10.5 Related Alarms.
(1) Alarm Display and Troubleshooting

Table 11.3 Alarm Display and Troubleshooting
Alarm Situation at Alarm
Alarm Name Cause Corrective Actions
Display Occurrence
A.020 Parameter Occurred when the The control power supply ranged from 30 VAC to Correct the power supply, and set Fn005 to initial-
Checksum control power sup- 60 VAC. ize the parameter.
Error ply was turned ON. The power supply was turned OFF while changing Set Fn005 to initialize the parameter and input the
(The data of the the parameter setting. parameter again.
parameter in the The number of times that parameters were written Replace the SERVOPACK.
SERVOPACK is exceeded the limit. For example, the parameter was
incorrect.) changed every scan through the host controller.
The SERVOPACK EEPROM and the related circuit
are faulty.
A.021 Parameter Occurred when the The model number of the SERVOPACK in the soft- Replace the SERVOPACK.
Format Error power was turned ware being used for the SERVOPACK is old and not Change the parameter settings to be compatible
(The data of the ON again after writ- compatible with the current parameters. with the model number in the software being used
parameter is ing the parameter for the SERVOPACK.
incorrect.) with the parameter
copy function of the
digital operator
(JUSP-OP05A) or
with the servo drive
engineering tool,
SigmaWin.
A.022 System Check- Occurred when the The control power supply ranged from 30 VAC to Replace the SERVOPACK.
sum Error control power sup- 60 VAC.
(The data of the ply was turned ON. The power supply was turned OFF while changing
parameter is the parameter setting.
incorrect.) The SERVOPACK EEPROM and the related circuit
are faulty.
A.023 Parameter Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
Password Error control power sup-
(The data of the ply was turned ON.
parameter is
incorrect.)
A.030 Main Circuit Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
Detector Error control power sup-
ply was turned ON
or during operation
A.040 Parameter Occurred when the The SERVOPACK and servomotor capacities do not Select the proper combination of SERVOPACK
Setting Error control power sup- match each other. and servomotor capacities.
(The parameter ply was turned ON. The SERVOPACK EEPROM and the related circuit Replace the SERVOPACK.
setting was out are faulty.
of the allowable The electronics gear ratio is out of the setting range. Set 0.001 < Pn20E/Pn210 < 1000.
setting range.)
A.041 Dividing Pulse Occurred when the The PG dividing pulse set for Pn212 is out of the set- Set Pn212 to the correct value.
Output Setting control power sup- ting range and does not satisfy the setting conditions.
Error ply was turned ON.
11-10
11.1 Troubleshooting
Table 11.3 Alarm Display and Troubleshooting (cont’ d)

Display Occurrence
A.042 Combination of Occurred when the The speed set for Fn004 “ Program JOG Operation” Reduce the electronic gear ratio (Pn20E/Pn210).
parameters out power was turned is below the allowable range because the electronic
of setting range ON after having gear ratio (Pn20E/Pn210) or the servomotor was
changed the elec- changed.
tronic gear ratio
(Pn20E/Pn210) or
the servomotor to
one with a different
number of encoder
pulses.
Occurred after hav- The speed set for Fn004 “ Program JOG Operation” Increase the setting for Pn533 “ Program JOG
ing changed the set- is below the allowable range because of the change Movement Speed.”
ting of Pn533 in Pn533 “ program JOG movement speed.”
“ Program JOG
Movement Speed.”
Occurred when the The movement speed for advanced autotuning is Reduce the electronic gear ratio (Pn20E/Pn210).
power was turned below the allowable range because the electronic
ON to carry out gear ratio (Pn20E/Pn210) or the servomotor was
advanced autotun- changed.
ing (Fn017) after
having changed the
electronic gear ratio
(Pn20E/Pn210) or
the servomotor to
one with a different
number of encoder
pulses.
A.050 Combination Occurred when the The SERVOPACK and servomotor capacities do not Select the proper combination of SERVOPACK
Error control power sup- correspond to each other. and servomotor capacities.
(The SERVO- ply was turned ON. Servomotor capacity / SERVOPACK capacity 1/4
PACK and ser- or servomotor capacity / SERVOPACK capacity 4
vomotor
The parameter that is written in the encoder is incor- Replace the servomotor (encoder).
capacities do not
rect.
correspond.)
A SERVOPACK board fault occurred. Replace the SERVOPACK.
A.051 Unsupported Occurred when the The serial converter unit unsupported was con- Check and then correct the wiring.
Product Alarm control power sup- nected.
ply was turned ON.
A.0b0 Servo ON Occurred when the The servo ON reference was input just when occur- Turn OFF the control power supply and then turn
Reference servo was ON after ring the servo ON reference invalid error. them ON again.
Invalid Alarm having used the
following functions.
JOG operation
(Fn002)
origin search
(Fn003)
program JOG
operation (Fn004)
advanced autotun-
ing (Fn017) ,
EasyFFT(Fn019)
11-7

Display Occurrence
A.100 Overcurrent Occurred when the The overload alarm has been reset by turning OFF Change the method to reset the alarm.
(An overcurrent control power sup- the power too many times.
flowed through ply was turned ON. The connection is faulty between the SERVOPACK Replace the SERVOPACK.
the IGBT) or board and the thermostat switch.
Heat Sink Over- The SERVOPACK board fault occurred.
heated (Heat
Occurred when the The connection between grounding and U, V, or W Check and then correct the wiring.
sink of SERVO-
main circuit power is incorrect.
PACK over- supply was turned The grounding line has contact with other terminals.
heated.) ON or when an
A short circuit occurred between the grounding and Repair or replace the servomotor main circuit
overcurrent
U, V, or W of the servomotor cable. cable.
occurred while the
servomotor was A short circuit occurred between phase U, V, or W of
running. the servomotor cable.
The wiring of the regenerative resistor is incorrect. Check and then correct the wiring.
A short circuit occurred between the grounding and Replace the SERVOPACK.
U, V, or W of the SERVOPACK.
A SERVOPACK fault occurred (current feedback
circuit, power transistor or board fault).
A short circuit occurred between phase U, V, and W Replace the servomotor.
of the servomotor.
A short circuit occurred between the grounding and
U, V, W of the servomotor.
A fault occurred in the dynamic brake circuit. Replace the SERVOPACK, and reduce the load,
or reduce the number of rotations used.
The dynamic brake was activated too frequently, so Replace the SERVOPACK, and reduce the DB
a DB overload alarm occurred. operation frequency.
The overload alarm has been reset by turning OFF Change the method to reset the alarm.
the power too many times.
The overload or regenerative power exceeds the Reconsider the load and operation conditions.
regenerative resistor’ s capacity.
The direction or the distance of the SERVOPACK to The ambient temperature for the SERVOPACK
other devices is incorrect. must be 55 C or less.
Heat radiation of the panel or heat around the panel
occurred.
A SERVOPACK fan fault occurred. Replace the SERVOPACK.
A SERVOPACK fault occurred.
A.300 Regeneration Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
Error Detected control power sup-
(Detected when ply was turned ON
the power to the Occurred when the Pn600 is set to a value other than “ 0” for a servomo- Connect an external regenerative resistor, or set
main circuit was main circuit power tor of 400 W or less, and an external regenerative Pn600 to “ 0” if an external regenerative resistor is
turned ON) supply turned ON. resistor is not connected. not connected.
Check for incorrect wiring or a disconnected wire in Correct the wiring for the external regenerative
the regenerative resistor. resistor.
A SERVOPACK fault occurred, such as regenerative Replace the SERVOPACK.
transistor or a voltage sensor fault.
Occurred during Check for incorrect wiring and disconnection of the Correct the wiring for the external regenerative
normal operation regenerative resistor. resistor.
The jumper between B2 and B3 is removed for a ser- Correct the wiring.
vomotor of 500 W or more.
The regenerative resistor is disconnected, so the Replace the regenerative resistor or replace the
regenerative energy became excessive. SERVOPACK. Reconsider the load and operation
conditions.
A SERVOPACK fault, such as regenerative transis- Replace the SERVOPACK.
tor and voltage sensor fault, occurred.
11-8

Display Occurrence
A.320 Regenerative Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
Overload control power sup-
(Detected when ply was turned ON.
the power to the Occurred when the The power supply voltage is 270 V or more. Correct the input voltage.
main circuit is main circuit power
turned ON) supply was turned
ON
Occurred during The regenerative energy is excessive. Select a proper regenerative resistance capacity, or
normal operation The regenerating state continued. reconsider the load and operation conditions.
(large increase of
regenerative resistor
temperature)
Occurred during The setting of parameter Pn600 is smaller than the Correct the set value of parameter Pn600.
normal operation external regenerative resistor’ s capacity.
(small increase of A SERVOPACK fault occurred. Replace the SERVOPACK.
temperature)
Occurred at servo- The regenerative energy is excessive. Select a proper regenerative resistance capacity, or
motor deceleration reconsider the load and operation conditions.
A.330 Main Circuit Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
Wiring Error control power sup-
the power to the Occurred when the In the DC power input mode, AC power is supplied For AC power input, Pn001.2=0.
main circuit is main circuit power through L1 and L2 or L1, L2, and L3. For DC power input, Pn001.2=1.
turned ON) supply was turned In the AC power input mode, DC power is supplied
ON.
through B1/ and terminals.
Pn600 is set to 0 if the regenerative resistance is dis- Set Pn600 to 0.
connected.
A.400 Overvoltage Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
(Detected when control power sup-
the ply was turned ON.
SERVOPACK’s Occurred when the The AC power voltage is 290 V or more. The AC power voltage must be within the speci-
main circuit DC main circuit power fied range.
voltage is 410 V supply was turned A SERVOPACK fault occurred. Replace the SERVOPACK.
or more) ON.
(Detected when Occurred during Check the AC power voltage (check if there is no The AC power voltage must be within the speci-
the power to the normal operation. excessive voltage change.) fied range.
main circuit is The motor speed is high and load moment of inertia Check the load moment of inertia and minus load
turned ON) is excessive, resulting in insufficient regenerative specifications. Reconsider the load and operation
capacity. conditions.
A SERVOPACK fault occurred. Replace the SERVOPACK.
Occurred at servo- The motor speed is high, and the load moment of Reconsider the load and operation conditions.
motor deceleration. inertia is excessive.
A.410 Undervoltage Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
the ply was turned ON.
SERVOPACK’s Occurred when the The AC power supply voltage is 120 V or less. The AC power supply voltage must be within the
main circuit DC main circuit power (60 VAC or less with SGDS- B, F A.) specified range.
voltage is 170 V supply was turned The fuse of the SERVOPACK is blown out. Replace the SERVOPACK.
or less.) ON.
The inrush current limit resistor is disconnected, and Replace the SERVOPACK. Check the power sup-
Detected when results in an abnormal power supply voltage or in an ply voltage, and reduce the number of times that
the power to the overload of the inrush current limit resistor. the main circuit is turned ON or OFF.)
main circuit is A SERVOPACK fault occurred. Replace the SERVOPACK.
turned ON.
Occurred during The AC power supply voltage was lowered, and The AC power supply voltage must be within the
Detected normal operation. large voltage drop occurred. specified range.
85 VDC or less
A temporary power failure occurred. Clear and reset the alarm, and restart the opera-
when the SGDS-
tion.
A3B A or
A5B A is The servomotor main circuit cable shorts to ground. Repair or replace the servomotor main circuit
used. cable.
The servomotor shorts to ground. Replace the servomotor.
11-9

Display Occurrence
A.510 Overspeed Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
the feedback ply was turned ON.
speed is the max- Occurred when ser- The order of phases U, V, and W in the servomotor Correct the servomotor wiring.
imum motor vomotor was ON. wiring is incorrect.
speed 1.1 or The encoder wiring is incorrect. Correct the encoder wiring.
more.) Malfunction occurred due to noise interference in Take measures against noise for the encoder wir-
the encoder wiring. ing.
Occurred when the The order of phases U, V, and W in the servomotor Correct the servomotor wiring.
servomotor started wiring is incorrect.
running or in a high The encoder wiring is incorrect. Correct the encoder wiring.
speed run.
Malfunction occurred due to noise interference in Take measures against noise for the encoder wir-
the encoder wiring. ing.
The position or speed reference input is too large. Reduce the reference value.
The setting of the reference input gain is incorrect. Correct the reference input gain setting.
A.511 Dividing Pulse Occurred while the The output frequency of the dividing pulse exceeds Lower the setting of the PG dividing pulse
Output Over- servomotor was 1.6 MHz. (Pn212).
speed running. Reduce the servomotor speed.
A.520 Vibration Alarm Occurred while the Abnormal vibration was detected. Reduce the servomotor speed.
servomotor was Reduce the speed loop gain (Pn100).
running.
A.521 Autotuning Occurred during Vibration at the motor speed was detected during Use the JOG mode operation (Fn002) or the pro-
Alarm normal autotuning. operation by input reference to the SERVOPACK. gram JOG operation (Fn004) and operate the ser-
The moment of vomotor by the trapezoidal reference when the
inertia ratio calcu- speed reference or deceleration time is 20 ms and
lation error the number of the maximum rotation is
occurred. 2000 min-1.
Execute advanced autotuning.
Calculate the moment of inertia ratio with the
machine specifications without using normal
autotuning and set to Pn103.
Occurred during Vibration at the motor speed was detected during Calculate the moment of inertia ratio with the
advanced autotun- operation. machine specifications without using advanced
ing. autotuning and set to Pn103.
A.710 Overload Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
A.710: control power sup-
A.720
High load ply was turned ON.
A.720: Occurred when the The servomotor wiring is incorrect or the connection Correct the servomotor wiring.
Low load servo was turned is faulty.
ON.
Occurred when the The encoder wiring is incorrect or the connection is Correct the encoder wiring.
servo was turned faulty.
ON. A SERVOPACK fault occurred. Replace the SERVOPACK.
Occurred when the The servomotor wiring is incorrect or the connection Correct the servomotor wiring.
servomotor did not is faulty.
run by the refer- The encoder wiring is incorrect or the connection is Correct the encoder wiring.
ence input. faulty.
The starting torque exceeds the maximum torque. Reconsider the load and operation conditions, or
reconsider the servomotor capacity.
Occurred during The actual torque exceeds the rated torque or the Reconsider the load and operation conditions, or
normal operation. starting torque largely exceeds the rated torque. reconsider the servomotor capacity.
11-10

Display Occurrence
A.730 Dynamic Brake Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
Overload control power sup-
A.731 ply was turned ON.
(Detected with
SERVOPACK of Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
500 W or more.) servomotor was
running and in a sta-
tus other than servo
OFF.
Occurred when the The rotating energy at a DB stop exceeds the DB Reduce the servomotor speed,
servomotor was resistance capacity. Reduce the load moment of inertia, or
running in servo Reduce the number of times of the DB stop
OFF status. operation.
A.740 Overload of Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
Surge Current control power sup-
Limit Resistor ply was turned ON.
(Detected when Occurred during A SERVOPACK board fault occurred. Replace the SERVOPACK.
the number of operations other
times that the than the turning
main circuit’ s ON/OFF of the
power is turned main circuit.
ON or OFF more Occurred at the The inrush current limit resistor operation frequency Reduce the number of times that main circuit’ s
than 10 times/2 main circuit power at the main circuit power supply ON/OFF operation power supply can be turned ON/OFF to 5 times/
seconds.) supply ON/OFF exceeds the allowable range. min. or less.
operation. A SERVOPACK fault occurred. Replace the SERVOPACK.
A.7A0 Heat Sink Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
Overheated control power sup- The overload alarm has been reset by turning OFF Change the method to reset the alarm.
(Detected when ply was turned ON the power too many times.
the heat sink Occurred when the The load exceeds the rated load. Reconsider the load and operation conditions, or
temperature main circuit power reconsider the servomotor capacity.
exceeds 100 C.) supply was turned The SERVOPACK ambient temperature exceeds The ambient temperature must be 55 C or less.
ON or while the ser- 55 C.
vomotor was run-
ning.
The overload alarm has been reset by turning OFF Change the method to reset the alarm.
the power too many times.
The connection of the SERVOPACK board and the Replace the SERVOPACK.
thermostat switch is incorrect.
The overload or regenerative energy exceeds the Reconsider the load and operation conditions.
resistor capacity.
The SERVOPACK (direction and distance to the The ambient temperature for SERVOPACK must
peripheral devices) is mounted incorrectly. be 55 C or less.
Heat radiation from the panel or heat around the
SERVOPACK)
A SERVOPACK fan fault occurred. Replace the SERVOPACK.
A.810 Encoder Occurred when the A SERVOPACK board fault occurred when an abso- Replace the SERVOPACK.
Backup Error control power sup- lute encoder is used with the setting for incremental
(Detected on the ply was turned ON. encoder.
encoder side) (Setting:
(Only when an Pn002.2=1)
absolute encoder Occurred when the Alarm occurred when the power to the absolute Set up the encoder.
is connected.) control power sup- encoder was initially turned ON.
ply was turned ON The encoder cable had been disconnected once. First confirm the connection and set up the
using an absolute encoder.
encoder. (Setting:
The power from both the PG power supply (+5 V) Replace the battery or take similar measures to
Pn002.2=0)
and the battery power supply from the SERVO- supply power to the encoder, and set up the
PACK is not being supplied. encoder.
An absolute encoder fault occurred. If the alarm cannot be reset by setting up the
encoder again, replace the encoder.
11-11

Display Occurrence
A.820 Encoder Occurred when the A fault occurred in the encoder and was detected by Set up the encoder. If this alarm occurs fre-
Checksum control power sup- encoder self-diagnosis. quently, replace the servomotor.
Error ply was turned ON A SERVOPACK fault occurred. Replace the SERVOPACK.
(Detected on the or during an opera-
encoder side.) tion
A.830 Absolute When the control When the absolute encoder was used as an incre- Replace the SERVOPACK.
Encoder power supply was mental encoder, a SERVOPACK board fault
Battery Error turned ON. occurred.
(Detected when (Setting:
Pn002.2=1)
the battery volt-
age is lower than When the control The battery connection is incorrect. Reconnect the battery.
the specified power supply was The battery voltage is lower than the specified value Replace the battery, and then turn the control
value 2 to 4 sec- turned ON using an 2.7 V. power supply OFF and then ON again.
onds after the absolute encoder.
control power (Setting:
Pn002.2=0)
supply is turned
ON.)
(Only when an
absolute encoder
is connected.)
A.840 Encoder Data Occurred when the A malfunction occurred in the encoder. Turn the control power supply OFF and then ON
Error control power sup- again. If this alarm occurs frequently, replace the
(Detected on the ply was turned ON. servomotor.
encoder side) A SERVOPACK board fault occurred. Replace the SERVOPACK.
Occurred during A malfunction occurred in the encoder. Correct the wiring around the encoder by separat-
operation. ing the encoder cable from the power line, or by
checking the grounding and other wiring.)
An encoder fault occurred. If this alarm occurs frequently, replace the servo-
motor.
A.850 Encoder Over- Occurred when the When the control power supply was turned OFF and Turn the control power supply OFF and then ON
speed control power sup- then ON again, the servomotor runs at 200 min-1 or again when the servomotor runs at a speed less
(Detected when ply was turned ON. more. than 200 min-1.
the control An encoder fault occurred. Replace the servomotor.
power supply
was turned OFF
Occurred during An encoder fault occurred. Replace the servomotor.
and then ON
operation. A SERVOPACK board fault occurred. Replace the SERVOPACK.
again.)
(Detected on the
encoder side.)
A.860 Encoder Occurred when the An encoder fault occurred. Replace the servomotor.
Overheated control power sup- A SERVOPACK board fault occurred. Replace the SERVOPACK.
(Only when an ply was turned ON.
absolute encoder Occurred during The ambient temperature around the servomotor is The ambient temperature must be 40 C or less.
is connected) operation. too high.
(Detected on the The servomotor load is greater than the rated load. The servomotor load must be within the specified
encoder side.) range.
An encoder fault occurred. Replace the servomotor.
A.b10 Speed Refer- Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
ence Input control power sup-
Read Error ply was turned ON.
(Detected when Occurred during A malfunction occurred in reading section of the Clear and reset the alarm and restart the operation.
the Servo is operation. speed reference input.
turned ON.) A SERVOPACK board fault occurred. Replace the SERVOPACK.
11-12

Display Occurrence
A.b11 Speed Refer- Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
ence A/D Data control power sup-
Occurred when a A malfunction occurred when the detection section After the alarm has been cleared and reset, restart
speed reference of the speed input A/D conversion data was the operation.
greater than 0V was detected.
input when the
servo was turned
OFF.
Occurred during A malfunction occurred in the reading section of the After the alarm reset is executed, restart the opera-
operation. speed reference input. tion.
A.b20 Torque Refer- Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
ence Input control power sup- A malfunction occurred in the reading section of the Clear and reset the alarm and restart the operation.
Read Error ply was turned ON torque reference input.
(Detected when or during operation.
the servo is ON.)
A.b31 Current Detec- The current detection circuit for the Phase U is Replace the SERVOPACK.
tion Error 1 faulty.
A.b32 Current Detec- The current detection circuit for the Phase V is
tion Error 2 faulty.
A.b33 Current Detec- Occurred when the The detection circuit for the current is faulty. Replace the SERVOPACK.
tion Error 3 servo was ON. The servomotor main circuit cable is disconnected. Check the motor wiring.
A.bF0 System Alarm Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
0 control power sup-
(Internal pro- ply was turned ON.
gram processing
error)
A.bF1 System Alarm
1
(Internal pro-
gram error)
A.bF2 System Alarm
2
(Current control
processing pro-
gram error)
A.bF3 System Alarm
3
(Encoder inter-
face processing
error)
A.bF4 System Alarm
4
(CPU watchdog
timer error)
A.C10 Servo Overrun Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
Detected control power sup-
the servo is ON.) Occurred when the The order of phase-U, -V, and -W in the servomotor Correct the servomotor wiring.
servo was ON or a wiring is incorrect.
reference was input. An encoder fault occurred. Replace the servomotor.
A.C80 Absolute Occurred when the An encoder fault occurred. Replace the servomotor.
Encoder Clear control power sup- A SERVOPACK board fault occurred. Replace the SERVOPACK.
Error and Multi- ply was turned ON.
turn Limit Set- Occurred when an An encoder fault occurred. Replace the servomotor.
ting Error encoder alarm was A SERVOPACK board fault occurred. Replace the SERVOPACK.
cleared and reset.
11-13

Display Occurrence
A.C90 Encoder Com- Occurred when the The encoder wiring and the contact are incorrect. Correct the encoder wiring.
munications control power sup- Noise interference occurred due to incorrect encoder Use tinned annealed copper twisted-pair or
Error ply was turned ON cable specifications. twisted-pair shielded wire with a core of at least
or during operation.
0.12 mm2.
Noise interference occurred because the wiring dis- The wiring distance must be 20m max.
tance for the encoder cable is too long.
A.C91 Encoder Com- The noise interference occurred on the signal line Correct the encoder cable layout.
munications because the encoder cable is bent and the sheath is
Position Data damaged.
Error The encoder cable is bundled with a high-current Correct the encoder cable layout so that no surge
line or near a high-current line. is applied.
The FG potential varies because of influence from Make the grounding for the machine separately
machines on the servomotor side, such as the welder. from PG side FG.
A.C92 Encoder Com- Noise interference occurred on the signal line from Take a measure against noise for the encoder wir-
munications the encoder. ing.
Timer Error Excessive vibration and shocks were applied to the Reduce the machine vibration or mount the servo-
encoder. motor securely.
A.CA0 Encoder Occurred when the An encoder fault occurred. Replace the servomotor.
Parameter control power sup- A SERVOPACK board fault occurred. Replace the SERVOPACK.
A.Cb0 Encoder Echo- Occurred when the The encoder wiring and contact are incorrect. Correct the encoder wiring.
back Error control power sup- Noise interference occurred due to incorrect encoder Use tinned annealed copper twisted-pair or
ply was turned ON cable specifications. twisted-pair shielded wire with a core of at least
or during operation.
0.12 mm2.
Noise interference occurred because the wiring dis- The wiring distance must be 20m max.
tance for the encoder cable is too long.
Noise interference occurred on the signal line, Correct the encoder cable layout.
because the encoder cable is bent and the sheath is
damaged.
The encoder cable is bundled with a high-current Correct the encoder cable layout so that no surge
line or near a high-current line. is applied.
The FG potential varies because of influence from Ground the machine separately from PG side FG.
the servomotor side machines, such as the welder.
Noise interference occurred on the signal line from Take measures against noise for the encoder wir-
the encoder. ing.
Excessive vibration and shocks were applied to the Reduce the machine vibration or mount the servo-
encoder. motor securely.
A.CC0 Multi-turn Limit Occurred when the The parameter settings for the SERVOPACK are Correct the setting of Pn205 (0 to 65535).
Disagreement control power sup- incorrect.
ply was turned ON. The multiturn limit value for the encoder is not set or Execute Fn013 at the occurrence of alarm.
was changed.
Occurred during A SERVOPACK board fault occurred. Replace the SERVOPACK.
operation.
11-14

Display Occurrence
A.d00 Position Error Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
Pulse Overflow control power sup-
(In servo ON sta- ply was turned ON.
tus, the position Occurred at the ser- The contact in the servomotor U, V, and W wirings Correct the servomotor wiring.
error pulses vomotor high-speed is faulty. Correct the encoder wiring.
exceed the over- operation.
flow level set in
The servomotor did Wirings of the servomotor U, V, and W are incorrect. Correct the servomotor wiring.
the parameter
not run with posi- A SERVOPACK board fault occurred. Replace the SERVOPACK.
Pn520.)
tion reference input.
Normal movement, The SERVOPACK gain adjustment is improper. Increase the speed loop gain (Pn100) and position
but occurred with a loop gain (Pn102).
long distance refer- The position reference pulse frequency is too high. Adjust slowly the position reference pulse fre-
ence input. quency.
Apply the smoothing function.
Correct the electronic gear ratio.
Setting of the parameter Pn520 (Position Error Pulse Set the parameter Pn520 to proper value.
Overflow Alarm Level) is incorrect.
The servomotor specifications do not meet the load Reconsider and correct the load and servomotor
conditions such as torque and moment of inertia. capacity.
A.d01 Position Error Occurred when the • Excessive position error pulse accumulated while Do not run the servomotor in servo OFF status.
Pulse Over- control power sup- the servo is OFF Make the setting so that the position error pulse
flow Alarm at ply was turned ON. • With the setting not to clear the position error are cleared while the servo is OFF.
Servo ON pulse while the servo is OFF, the servomotor was
Adjust the detection level.
running.
A.d02 Position Error Occurred when the The servo turned ON with accumulated position Do not run the servomotor in servo OFF status.
Pulse Over- servomotor was error pulse, and reference pulse was input during Make the setting so that the position error pulse
flow Alarm by running. operation at the speed limit, therefore, the position are cleared while the servo is OFF.
Speed Limit at error pulse exceeded the Position Error Pulse Over-
Correct the detection level.
Servo ON flow Alarm Level (Pn520).
Adjust the speed limit level (Pn529) when servo
turns ON.
A.F10 Power Line Occurred when the A SERVOPACK fault occurred. Replace the SERVOPACK.
Open Phase control power sup-
(In the main ply was turned ON.
power supply Occurred when the The three-phase power supply wiring is incorrect. Correct the power supply wiring.
ON status, the main circuit power The three-phase power supply is unbalanced. Balance the power supply by changing phases.
voltage stays low supply was turned
for 1 second or ON.
more at one of Occurred when the The contact in three-phase power supply wiring is Correct the power supply wiring.
the phases R, S, servomotor was faulty.
and T.) running. Three-phase power supply is unbalanced. Balance the power supply.
(Detected when A SERVOPACK fault occurred. Replace the SERVOPACK.
the main circuit
power supply
turns ON.)
CPF00 Digital Opera- Occurred when the The contact between the digital operator and the Insert securely the connector, or replace the cable.
tor Transmis- power supply was SERVOPACK is faulty.
sion Error 1 *1 turned ON with dig- The external noise interference occurred to the digi- Do not lay the cable near noise source.
ital operator con- tal operator or cable. Install digital operator far from noise source.
nected or (The digital operator connection cable is near noise
when connecting source)
digital operator with
CPF01 Digital Opera- the power supply
A digital operator fault occurred. Replace the digital operator.
tor Transmis- was turned ON. A SERVOPACK fault occurred. Replace the SERVOPACK.
sion Error 2 *2
* 1. This alarm occurs when the communications is still disabled five seconds after digital opera-
tor power supply is ON.
* 2. This alarm occurs when digital operator received data error occurs consecutively five times,
or when the state that digital operator receives no data from SERVOPACK for one second or
more occurs consecutively three times.
11-15
(2) Warning Display and Troubleshooting

Table 11.4 Warning Display and Troubleshooting
Warning Warning Name Situation at Warning Cause Corrective Actions
Display Occurrence
A.900 Position Error Occurred during opera- A SERVOPACK board fault occurred. Replace the SERVOPACK.
Pulse Overflow tion. Wiring is incorrect or the contact of servomotor Correct the servomotor wiring.
U, V, and W is faulty. Correct the encoder wiring.
The SERVOPACK gain adjustment is improper. Increase the speed loop gain (Pn100) and
position loop gain (Pn102).
The position reference pulse frequency is too Decrease slowly the position reference
high. pulse frequency.
Apply the smoothing function.
Adjust the electronic gear ratio.
Setting of the parameter Pn520 (Position Error Set the parameter Pn520 to a value other
Pulse Alarm Level) is improper. than “ 0” .
The servomotor specifications do not meet the Reconsider and correct the load and ser-
load conditions (torque, moment of inertia). vomotor capacity.
A.901 Position Error Occurs when the servo • Position error pulse accumulated excessively Do not run the servomotor in servo OFF
Pulse Overflow at was ON. in servo OFF status status.
Servo ON • With the setting not to clear the position error Make the setting so that the position error
pulse while the servo is OFF, the servomotor pulse are cleared in servo OFF status.
was running. Adjust the detection level.
A.910 Overload: Occurs when the servo Wiring is incorrect and the contact in servomotor Correct the servomotor wiring.
Before warning for was ON. wiring is faulty.
the alarms A710 Wiring is incorrect and the contact in encoder Correct the encoder wiring.
and A720 occurs wiring is faulty.
In either of the fol- A SERVOPACK fault occurred. Replace the SERVOPACK.
lowing cases: The servomotor did not Servomotor wiring is incorrect and the contact is Correct the servomotor wiring.
1. 20% of the overrun with a reference faulty.
load detection level input. Encoder wiring is incorrect and the contact is Correct the encoder wiring.
of A710 faulty.
2. 20% of the over- The starting torque exceeds the maximum torque. Reconsider the load and operation condi-
load detection level tions. Or, check the servomotor capacity.
of A720. A SERVOPACK fault occurred. Replace the SERVOPACK.
Occurred during opera- The effective torque exceeds the rated torque. Reconsider the load and operation condi-
tion. tions. Or, check the servomotor capacity.
Temperature in the SERVOPACK panel is high. Reduce the in-panel temperature to 55 C
or less.
A.911 Vibration Occurred during nor- SERVOPACK gain is improper. To adjust the gain, decrease the speed
mal operation. loop gain (Pn100) and position loop gain
(Pn101), and increase the filter time con-
stants such as torque reference filter
(Pn401).
A.920 Regenerative Occurred when the con- A SERVOPACK fault occurred. Replace the SERVOPACK.
Overload: trol power supply was
Before warning for turned ON.
the alarm A320 Occurred during nor- Regenerative energy is excessive. Check the regenerative resistor capacity,
occurs mal operation Regenerative status continues. or reconsider the load and operation con-
(Large increase of ditions.
temperature.)
Occurred during nor- The setting of parameter Pn600 is smaller than Correct the setting of parameter Pn600.
mal operation the external regenerative resistor capacity.
(Small increase of A SERVOPACK fault occurred. Replace the SERVOPACK.
temperature).
Occurred at servomo- Regenerative energy is excessive. Check the regenerative resistor capacity,
tor deceleration. or reconsider the load and operation con-
ditions.
11-16
Table 11.4 Warning Display and Troubleshooting (cont’ d)

Warning Warning Name Situation at Warning Cause Corrective Actions
Display Occurrence
A.921 Regenerative Occurred when the con- A SERVOPACK fault occurred. Replace the SERVOPACK.
Overload: trol power supply was
Before warning for turned ON.
the alarm A731 Occurred when the ser- Rotational energy at a DB stop exceeds the DB Reduce the motor speed,
occurs vomotor was running in resistor capacity. Reduce the load moment of inertia, or
servo OFF status.
Reduce the number of times of the DB
stop operation.
A.930 Absolute Encoder Occurred when the con- A SERVOPACK board fault occurred. (The abso- Replace the SERVOPACK.
Battery Warning trol power supply was lute encoder is used in the incremental encoder
(The battery voltage turned ON setting.)
stays below the (Setting: Pn002.2=1)
specified value 4 Occurred 4 seconds or The battery connection is incorrect or faulty. Connect correctly the battery.
seconds after the more after the control The battery voltage is lower than the specified Replace the battery, and turn the control
control power sup- power supply was value 2.7 V. power supply OFF and then ON again.
ply was turned ON.) turned ON
(Only when an (Setting: Pn002.2=0)
absolute encoder is When an absolute
connected.) encoder was used
A.941 Change of Param- Occurred after having To validate new setting of this parameter, turn Turn OFF the power and ON again.
eters Requires the changed parameter set- OFF the power and ON again.
Setting Validation ting.
11-17

Sơ đồ đấu dây thông số cài đặt mã lỗi driver servo yaskawa sgds

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6.3 Examples of I/O Signal Connections

35 PBO PG dividing ratio output

Servo ON /S-ON 40 (SI0)

42 (SI2) (SO2) 27 /TGON+

* 1. represents twisted-pair wires.

6.3.2 Position Control Mode

BAT (+) 21 33 PAO

Servo ON /S-ON 40 (SI0)

P-OT 42 (SI2) (SO2) 27 /TGON+

Forward current limit /P-CL 45 (SI5) 31 ALM+

* 1. represents twisted-pair wires.

6.3.3 Torque Control Mode

35 PBO PG dividing ratio output

Servo on /S-ON 40 (SI0)

Forward run prohibited P-OT 42 (SI2) (SO2) 27 /TGON+

/P-CL 45 (SI5) 31 ALM+

* 1. represents twisted-pair wires.

12.3 List of Parameters

4th 3rd 2nd 1st

0 Sets CCW as forward direction.

2 to 3 Reserved (Do not use.)

Control Method Selection

0 Speed control (analog reference)

Reserved (Do not change)

Parameter Factory Setting Reference

4th 3rd 2nd 1st

0 Stops the motor by applying DB (dynamic brake).

Overtravel (OT) Stop Mode *2

0 Same setting as Pn001.0 (Stops the motor by applying DB or by coasting).

AC/DC Power Input Selection

Warning Code Output Selection

0 ALO1, ALO2, and ALO3 output only alarm codes.

* 1. Used if alarm occurs in the torque control mode.

Parameter Factory Setting Reference

4th 3rd 2nd 1st

Torque Control Option (V-REF Terminal Allocation)

Absolute Encoder Usage

0 Uses absolute encoder as an absolute encoder.

Fully-closed Encoder Usage

0 Do not use fully-closed encoder.

Parameter Factory Setting Reference

4th 3rd 2nd 1st

00 Motor speed (1 V/1000 min-1 )

Analog Monitor 1 Signal Multiplication Selection

Reserved (Do not change)

Analog monitor 1 output voltage

Parameter Factory Setting Reference

00 Motor speed (1 V/1000 min-1)

Analog Monitor 2 Signal Multiplication Selection

Reserved (Do not change)

Pn008 Function Selection Application Switch 8 0000 After

4th 3rd 2nd 1st

0 Outputs alarm (A.830) for lowered battery voltage.

Reserved (Do not change)

Warning Detection Selection

Reserved (Do not change)

Pn100 Speed Loop Gain 10 to 20000 0.1 Hz 400 Immedi- 9.5.4

Parameter Factory Setting Reference

4th 3rd 2nd 1st

0 Uses internal torque reference as the condition (Level setting: Pn10C)

3 Uses position error pulse as the condition (Level setting: Pn10F)